WO2016114126A1 - 検出装置、検出システム、運動解析システム、記録媒体、および解析方法 - Google Patents

検出装置、検出システム、運動解析システム、記録媒体、および解析方法 Download PDF

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Publication number
WO2016114126A1
WO2016114126A1 PCT/JP2016/000110 JP2016000110W WO2016114126A1 WO 2016114126 A1 WO2016114126 A1 WO 2016114126A1 JP 2016000110 W JP2016000110 W JP 2016000110W WO 2016114126 A1 WO2016114126 A1 WO 2016114126A1
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Prior art keywords
unit
analysis
motion
exercise
image
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PCT/JP2016/000110
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English (en)
French (fr)
Japanese (ja)
Inventor
野村　和生
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セイコーエプソン株式会社
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Priority claimed from JP2015005652A external-priority patent/JP2016129642A/ja
Priority claimed from JP2015005653A external-priority patent/JP2016129643A/ja
Priority claimed from JP2015005654A external-priority patent/JP2016129644A/ja
Application filed by セイコーエプソン株式会社 filed Critical セイコーエプソン株式会社
Priority to US15/541,440 priority Critical patent/US20170354844A1/en
Priority to CN201680005516.2A priority patent/CN107106900A/zh
Publication of WO2016114126A1 publication Critical patent/WO2016114126A1/ja

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Definitions

  • the present invention relates to a detection device, a detection system, a motion analysis system, a recording medium on which an analysis program is recorded, and an analysis method.
  • Patent Document 1 discloses a motion detection device and an analysis method using an optical motion capture device. This device captures an image of a measurement control object (specimen or exercise tool) attached with a marker using an infrared camera or the like, and analyzes the movement by calculating the movement locus of the marker using the captured image. is there.
  • Patent Document 2 detects motion of a test object accompanying swing of a motion instrument with an inertial sensor attached to the test object, and the subject output from the inertial sensor
  • a motion detection device and analysis method are disclosed that analyze motion based on motion data of a test object.
  • Such an apparatus is advantageous in that it is easy to handle because it does not require motion capture means such as an infrared camera.
  • motion capture means such as an infrared camera.
  • the bias is a generic term including zero bias in the initial state where the angular velocity is zero before the start of the movement of the test subject, and drift due to external factors such as power supply fluctuation and temperature fluctuation.
  • it is necessary to determine the bias value in the initial state. For example, in a swing analysis of a golf club, a stationary period in which the subject is stationary before the swing starts is set. Then, the bias value in the initial state is determined based on the signal output from the angular velocity sensor or the like during a predetermined period triggered by the detection of the stationary state. That is, the origin of the movement of the subject is determined.
  • an angular velocity sensor or the like that defines the detection direction according to the assumed coordinate system is used as an inertial sensor that acquires motion data, so
  • the inertial sensor when the inertial sensor is attached to the subject, it is necessary to match the motion direction of the subject with the movement direction assumed by the inertial sensor. For example, when a mark indicating the movement direction assumed by the inertial sensor is attached to the inertial sensor and the inertial sensor is attached to the test object, the direction indicated by the mark and the movement direction of the test object are visually observed. It matched it.
  • the stationary state of the test object is detected based on the signal output from the angular velocity sensor or the like, when the test object moves at a very low speed, the stationary state of the test object is erroneously detected.
  • the motion state of the subject can not be correctly analyzed and the wrong motion state may be notified because the origin is incorrectly determined and the bias value in the stationary state can not be accurately determined.
  • the distance between the impact surface of the golf club and the golf ball is not constant in the stationary state of the test object, there is a problem that the motion state can not be analyzed with high accuracy.
  • the movement direction of the inspection object is clearly indicated by the method in which the direction indicated by the mark attached to the inertial sensor matches the movement direction of the inspection object visually. If it is not or if it is clearly separated from the mark of the inertial sensor, adjust the direction indicated by the mark and the movement direction of the object under inspection based on visual observation, and match it precisely The problem is that it takes a lot of time to adjust the installation.
  • the present invention has been made to solve at least a part of the above-described problems, and can be realized as the following modes or application examples.
  • the detection apparatus is characterized by including a sensor unit which is attached to an exercise apparatus and detects a swing movement of the exercise apparatus, and an imaging unit which images a region of interest.
  • the analysis is performed as compared with only the sensor unit. , The movement state of the exercise equipment can be analyzed with high accuracy.
  • the detection apparatus further includes a notification unit that notifies the exercise state of the exercise device analyzed based on at least one of the output signal from the sensor unit and the captured image captured by the imaging unit. Also good.
  • the region of interest is a striking portion that strikes by the swing motion of the exercise device.
  • the exercise state includes a stationary state of the exercise apparatus determined based on a plurality of photographed images obtained by photographing the striking part according to the passage of time.
  • the stationary state of the exercise apparatus can be determined based on a plurality of photographed images obtained by photographing the striking part according to the passage of time.
  • the stationary state may be a state in which the exercise device is stationary before the exercise device starts the swing movement.
  • the exercise apparatus may be a golf club, and the sensor unit and the imaging unit may be attached to a shaft or a grip of the golf club.
  • the sensor unit and the imaging unit may be housed in the same housing.
  • Application Example 8 In the detection apparatus according to the application example, the exercise apparatus includes the region of interest, and a predetermined reference image is extracted from the captured image of the region of interest captured by the imaging unit, and the extracted exercise information is based on the extracted predetermined reference image And a determination unit that determines the quality of the mounting position at which the sensor unit is mounted on the exercise apparatus.
  • the sensor attached to the exercise device is photographed based on the photographed predetermined image of the region of interest of the exercise device, the predetermined reference image extracted from the photographed image of the region of interest taken, Whether the mounting position of the unit is good or bad is determined. Therefore, since the quality of the mounting position of the sensor unit is determined based on the predetermined reference image extracted from the photographed image, the mounting position of the sensor unit can be adjusted quickly and accurately as compared with the case of visual adjustment. .
  • the exercise analysis system includes an analysis unit that analyzes the exercise state of the exercise device based on a captured image captured by the imaging unit and an output signal from the sensor unit. I assume.
  • the analysis is performed as compared with only the sensor unit. , The movement state of the exercise equipment can be analyzed with high accuracy.
  • the detection device transmits the captured image and the output signal to the analysis unit, and the analysis unit performs analysis based on the captured image and the output signal, Preferably, a trigger signal indicative of the exercise state of the exercise equipment is output.
  • the detection device when the detection device receives the trigger signal indicating the state of the output signal in the analysis unit, the detection device can output the motion state in the analysis unit based on the trigger signal.
  • the analysis unit determines the stillness of the exercise device based on the captured image and analyze the swing exercise based on the output signal.
  • the stationary state of the exercise device can be accurately determined by determining the stationary state of the exercise device based on the captured image.
  • the detection system includes an imaging unit configured to capture a region of interest of an exercise device on which a sensor unit configured to detect swing motion is mounted, and a predetermined reference image from a captured image of the region of interest captured by the imaging unit. And a determination unit that determines the quality of the mounting position at which the sensor unit is mounted on the exercise apparatus based on the predetermined reference image extracted and extracted.
  • the sensor attached to the exercise device is photographed based on the photographed predetermined image of the region of interest of the exercise device, the predetermined reference image extracted from the photographed image of the region of interest taken, Whether the mounting position of the unit is good or bad is determined. Therefore, since the quality of the mounting position of the sensor unit is determined based on the predetermined reference image extracted from the photographed image, the mounting position of the sensor unit can be adjusted quickly and accurately as compared with the case of visual adjustment. .
  • the imaging unit preferably images the site of interest from a direction in which the site of interest is viewed from the sensor unit attached to the exercise apparatus.
  • the attachment condition of the sensor unit can be accurately acquired.
  • the determination unit determines whether the mounting position is good or bad based on a difference between a direction specified based on the predetermined reference image and a reference direction set in advance. Is preferred.
  • the quality of the mounting position of the sensor unit can be accurately determined based on the difference between the direction of the predetermined reference image and the direction as the reference.
  • the detection system according to the application example preferably includes a notification unit that notifies the result determined by the determination unit.
  • the predetermined reference image may be an image of a reference mark that the exercise device has.
  • the detection system according to the application example described above preferably includes a projection unit that projects the predetermined reference image on the region of interest.
  • the predetermined reference image since the predetermined reference image is projected on the region of interest, the predetermined reference image can be set regardless of the region of interest.
  • the detection system includes a sensor unit and an analysis unit connected to the sensor unit via communication, the sensor unit includes the sensor unit and the imaging unit, and the analysis is performed.
  • the unit includes the determination unit.
  • the sensor unit detects the swing motion of the exercise equipment and shoots the region of interest according to the exercise equipment, and the analysis unit determines whether the mounting position of the sensor unit is good or bad. It can be miniaturized.
  • the analysis system is mounted on an exercise apparatus, and a sensor unit that detects exercise information of the exercise apparatus, an imaging unit that images a part including a region of interest of the exercise apparatus, and the imaging unit An image processing unit that acquires distance information related to a distance from the region of interest to a predetermined target based on a captured image; an analysis unit that analyzes swing motion of the exercise apparatus based on the motion information; And a correction unit that corrects at least one of the motion information and the analysis result of the analysis unit.
  • the imaging unit based on the captured image of the region of interest captured by the imaging unit, distance information from the region of interest to the predetermined target is acquired, and based on the exercise information acquired by the sensor unit Since the swing motion is analyzed and the distance information is used to correct at least one of the motion information and the analysis result, the error of the motion information is improved, and the motion state of the exercise device can be analyzed accurately.
  • the image processing unit analyzes the image subjected to the image processing and calculates the distance information by counting the number of pixels constituting the image. .
  • the distance information can be accurately calculated because the distance information is calculated by counting the number of pixels constituting the image subjected to the image processing.
  • the analysis unit analyzes trajectory information related to a trajectory moved by the exercise device based on the exercise information, and the correction unit uses the distance information to analyze the trajectory information. It is preferable to correct the
  • the analysis unit may determine whether the exercise device is stationary based on the distance information of each of a plurality of captured images captured according to the passage of time. Is preferred.
  • the stationary state of the exercise apparatus can be accurately determined based on the plurality of captured images captured in accordance with the passage of time.
  • the site of interest may be a striking part that strikes the object by swing motion of the exercise device.
  • the analysis system includes a sensor unit attached to the exercise apparatus, and an analysis unit in communication with the sensor unit, and the sensor unit includes the sensor unit and the imaging unit.
  • the analysis unit includes the image processing unit, the correction unit, and the analysis unit, and the motion information and the photographed image are sent from the sensor unit to the analysis unit through the communication. Is preferred.
  • the sensor unit detects the swing motion of the exercise equipment and shoots a region of interest according to the exercise equipment, and the analysis unit is attached to the exercise equipment to analyze the swing motion of the exercise equipment.
  • the sensor unit can be miniaturized.
  • the analysis program according to this application example is an exercise apparatus equipped with a sensor unit for detecting exercise information, and a predetermined area from the region of interest is acquired based on the photographed image of the region of interest of the exercise equipment photographed by the imaging unit.
  • the motion information and the swing using an image processing function of acquiring distance information related to a distance to an object, an analysis function of analyzing swing motion of the exercise equipment based on the motion information, and the distance information
  • An analysis program that causes a computer to execute a correction function that corrects at least one of analysis results of motion is recorded.
  • the imaging unit based on the captured image of the region of interest captured by the imaging unit, distance information from the region of interest to the predetermined target is acquired, and based on the exercise information acquired by the sensor unit Since the swing motion is analyzed and the distance information is used to correct at least one of the motion information and the analysis result, the error of the motion information is improved, and the motion state of the exercise device can be analyzed accurately.
  • the analysis method according to this application example is an exercise apparatus equipped with a sensor unit that detects exercise information, and is based on an imaging step of imaging a region of interest of the exercise device and a photographed image of the region of interest photographed An image processing step of acquiring distance information related to a distance from the region of interest to a predetermined object, an analysis step of analyzing swing motion of the exercise apparatus based on the motion information, and the distance information And a correction step of correcting at least one of the movement information and the analysis result of the swing movement.
  • the distance information from the region of interest to the predetermined target is acquired based on the captured image of the region of interest captured by the imaging unit, and the exercise device is acquired based on the motion information acquired by the sensor unit. Since the swing motion is analyzed and the distance information is used to correct at least one of the motion information and the analysis result, the error of the motion information is improved, and the motion state of the exercise device can be analyzed accurately.
  • FIG. 1 is a schematic view in which a motion detection device according to a first embodiment is applied to a golf club.
  • FIG. 1 is a schematic view in which a motion detection device according to a first embodiment is applied to a golf club.
  • FIG. 1 is a schematic view in which a motion detection device according to a first embodiment is applied to a golf club.
  • FIG. 1 is a schematic view showing a relationship between a golf club to which a motion detection device according to Embodiment 1 is applied and a subject to be inspected.
  • FIG. 8 is a block diagram showing an outline of a motion detection device according to a second embodiment.
  • FIG. 14 is a view for explaining position correction of the head at the time of swing start and at the time of hitting a golf ball in the motion detection device according to the third embodiment of the present invention.
  • FIG. 14 is a view for explaining position correction of the head at the time of swing start and at the time of hitting a golf ball in the motion detection device according to the third embodiment of the present invention.
  • FIG. 14 is a view for explaining position adjustment of a sensor unit attached to a golf club in Embodiment 3.
  • FIG. 14 is a view for explaining position adjustment of a sensor unit attached to a golf club in Embodiment 3.
  • FIG. 13 is a view for explaining position adjustment of a sensor unit attached to a golf club in Embodiment 4.
  • FIG. 13 is a view for explaining position adjustment of a sensor unit attached to a golf club in Embodiment 4.
  • the block diagram which shows the outline of the movement detection apparatus which concerns on Embodiment 5 of this invention.
  • FIG. 16 is a block diagram showing details of a processing unit of an analysis unit according to a fifth embodiment.
  • the block diagram which shows the detail of the storage part of an analysis unit.
  • FIG. 7 is a view for explaining position correction of the head when hitting a golf ball.
  • the flowchart which shows the flow of processing of a movement analysis method.
  • the motion detection device 1 including the sensor unit 10 according to the first embodiment is a device for detecting the motion of the test object M as shown in FIG. 4 and, for example, a golf club 500 as shown in FIG.
  • An exercise form of the subject M such as a swing track of exercise equipment such as a tennis racket and a baseball bat is used for exercise analysis.
  • the motion detection device 1 corresponds to a motion detection system. Below, the case where it applies to the golf club 500 as an example of embodiment of the movement detection apparatus 1 is demonstrated.
  • FIG. 1 is a block diagram showing the outline of the motion detection device 1 according to the first embodiment, and is a view mainly showing the outline of the sensor unit 100 of the sensor unit 10.
  • FIG. 2 is a block diagram showing an outline of the motion detection device 1 according to the present embodiment, and is a view mainly showing an outline of the analysis unit 50.
  • FIG. 3A to 3C are schematic views showing an example in which the motion detection device 1 is applied to a golf club 500, and the analysis unit 50 is omitted.
  • FIG. 4 is a schematic view showing a relationship with the test subject M when the motion detection device 1 is applied to the golf club 500.
  • FIG. 5 is a flowchart showing the process flow of the motion analysis method using the motion detection device 1.
  • FIG. 6 is a diagram showing an example of an evaluation index for determining a stationary state.
  • the motion detection device 1 shown in FIGS. 1 to 3A to 3C includes a sensor unit 10 and an analysis unit 50.
  • the sensor unit 10 is configured to include a sensor unit 100, a housing 130 that houses the sensor unit 100, and a holding unit 200.
  • the sensor unit 100 includes a notification unit 30, a sensor 110, an imaging unit 150, and a control unit 120, and these are provided in the same housing 130.
  • the sensor 110 can detect a given physical quantity associated with motion, and can output a signal corresponding to the detected physical quantity such as acceleration, angular velocity, velocity, or angular acceleration.
  • the sensor 110 is a three-axis detection type acceleration sensor 112x, 112y, 112z (hereinafter collectively referred to as "three-axis acceleration sensor") that detects acceleration in the X-axis, Y-axis, and Z-axis directions. Is provided.
  • the senor 110 is a three-axis detection type gyro sensor (angular velocity sensor) 114x, 114y, 114z (hereinafter collectively referred to as “three-axis gyro sensor” which detects angular velocity in the X-axis, Y-axis, and Z-axis directions). ) Is provided.
  • the sensor 110 is provided as a six-axis detection type motion sensor including a three-axis acceleration sensor and a three-axis gyro sensor.
  • vibration type angular velocity sensors can be used as the three-axis gyro sensors (angular velocity sensors) 114x to 114z.
  • the vibration type angular velocity sensor vibrates the vibrator at a constant frequency.
  • Coriolis force is generated, and the vibrating body vibrates in different directions by the Coriolis force.
  • the configuration of the sensor 110 is not particularly limited, and may be appropriately changed in accordance with the measurement target for motion detection.
  • the imaging unit 150 corresponds to an imaging unit, captures an image of a subject, and outputs the captured image data to the control unit 120.
  • the imaging unit 150 is assumed to be a digital camera including an imaging element that outputs an electrical signal according to an image formed by an optical component.
  • the imaging unit 150 is accommodated on the first side of the housing 130. That is, as shown to FIG. 3B, when applying the motion detection apparatus 1 to the golf club 500, the imaging part 150 is mounted in the housing
  • the control unit 120 includes a data processing unit 120A, a power supply unit 120B, and a communication unit 120C.
  • the control unit 120 is connected to the sensors 112x to 112z and 114x to 114z, the imaging unit 150, the notification unit 30, and the analysis unit 50.
  • the data processing unit 120A performs packet data conversion on the output signals of the sensors 112x to 112z and 114x to 114z, for example, together with time information (time base). Further, the data processing unit 120A transmits the packet data converted signal to the communication unit 120C. Further, the data processing unit 120A performs packet data conversion on an image signal of a captured image captured by the imaging unit 150 together with time information (time base). In addition, the data processing unit 120A transmits the packet signal converted image signal to the communication unit 120C.
  • a signal obtained by converting the output signals of the sensors 112x to 112z and 114x to 114z and the image signal of the imaging unit 150 into packet data is referred to as "motion signal 70".
  • the communication unit 120C performs processing of transmitting the motion signal 70 (packet data) transmitted from the data processing unit 120A to the analysis unit 50.
  • the transmission method between the sensor unit 10 and the analysis unit 50 is not particularly limited, and wireless communication such as WiFi (registered trademark) can be used.
  • the control unit 120 is provided with a power supply unit 120B, and supplies power necessary for operations of the sensor 110, the imaging unit 150, the control unit 120, and the like.
  • the configuration of the power supply unit 120B is not particularly limited, and a primary battery (for example, a dry battery or a lithium battery) or a secondary battery (a nickel hydrogen battery or a lithium ion battery) can be used.
  • the power supply unit 120B may be provided in the analysis unit 50 to supply power to the sensor unit 100.
  • the holding unit 200 is an attachment for attaching the sensor unit 100 to the exercise device in order to detect a swing path of the exercise device which is a detection target of the motion detection device 1.
  • the holding unit 200 is an attachment for attaching the sensor unit 100 to exercise equipment such as the golf club 500 when the motion detection device 1 is applied to the golf club 500 as shown in FIG. 3B.
  • the shape of the holding portion 200 is not particularly limited. However, when applied to the golf club 500, the sensor portion 100 may be provided on the shaft 500s or the grip 500g, and the sensor portion 100 may be detachably fitted. It should be possible. In addition, it is preferable that the sensor unit 100 be attached to the golf club 500 so that the notification unit 30 described later faces in the same direction as the end of the grip 500g. In addition, you may change the holding
  • the notification unit 30 is provided in the sensor unit 100 as shown in FIGS. 1 and 2.
  • the notification unit 30 includes a light emitting unit 132 as shown in FIGS. 3A to 3C.
  • the notification unit 30 is provided to visually notify the subject M of the state of the output signal of the sensor unit 100 and the various states of the motion detection device 1.
  • the notifying unit 30 notifies the inspection object M of the state of the output signal of the sensor unit 100 and the various states of the motion detection device 1 by blinking of the light emitting unit 132.
  • the notification unit 30 of the motion detection device 1 according to the first embodiment includes, as an example, the first light emitting unit 132 a and the second light emitting unit 132 b.
  • the first light emitting unit 132a and the second light emitting unit 132b can emit light of a plurality of colors (for example, red and green) by using a light emitting element such as a light emitting diode. Therefore, the notification unit 30 can notify of the state of the motion signal 70 and the various states detected by the motion detection device 1 according to the difference in emission color of the light emitting unit 132.
  • a light emitting element such as a light emitting diode. Therefore, the notification unit 30 can notify of the state of the motion signal 70 and the various states detected by the motion detection device 1 according to the difference in emission color of the light emitting unit 132.
  • the notification unit 30 is preferably provided on the second side facing the first side in the housing 130 of the sensor unit 100, that is, on the upper surface side when mounted on the golf club 500.
  • the notification unit 30 is provided only on the surface of the housing 130. It may interfere with visual recognition (awareness). Therefore, by providing the notification unit 30 on the other side surface of the housing 130, the light emission of the notification unit 30 can be visually recognized (detected) by the test object M regardless of the mounting method of the sensor unit 10.
  • the notification unit 30 be provided at both ends in the width direction of the housing 130 of the sensor unit 10 (for example, the direction intersecting with the direction in which the shaft 500s extends). In the swing of the golf club 500, the light emission of the notification unit 30 can be visually recognized (aware) regardless of the dominant arm.
  • the analysis unit 50 includes a processing unit (CPU) 201, a communication unit 210, an operation unit 220, a ROM 230, a RAM 240, a non-volatile memory 250, and a display unit 260.
  • CPU processing unit
  • ROM read-only memory
  • RAM random access memory
  • non-volatile memory 250 a display unit 260.
  • the communication unit 210 receives the motion signal 70 (packet data) transmitted from the sensor unit 10 and performs processing for transmitting the motion signal 70 to the processing unit 201.
  • the operation unit 220 performs processing of acquiring operation data from the inspection object M and an assistant (not shown) and transmitting the operation data to the processing unit 201.
  • the ROM 230 stores programs for the processing unit 201 to perform various calculation processes and control processes, and various programs and data for realizing application functions.
  • the RAM 240 is used as a work area of the processing unit 201, and programs and data read from the ROM 230, data input from the operation unit 220, calculation results executed by the processing unit 201 according to various programs, application functions, etc. It is a storage unit for temporarily storing.
  • the display unit 260 displays the processing result of the processing unit 201 as characters, graphs, and other images.
  • the display unit 260 is, for example, a CRT, an LCD, a touch panel display, or the like.
  • the functions of the operation unit 220 and the display unit 260 may be realized by one touch panel display.
  • the processing unit 201 includes an operation unit 202, a determination unit 204, and an analysis unit 206.
  • the processing unit 201 performs various kinds of calculation processing, analysis processing, determination processing, and the like on the motion signal 70 received from the sensor unit 10 via the communication unit 210 according to the program stored in the ROM 230.
  • the processing unit 201 performs arithmetic processing of the motion signal 70 transmitted from the sensor unit 10 in the arithmetic unit 202.
  • the determination unit 204 determines, based on the result of the calculation process, whether the test subject M is in a stationary state, in other words, whether the golf club 500 to which the sensor unit 10 is attached is in the swing origin state. Furthermore, the determination unit 204 stores the bias value in the RAM 240 when it is determined to be in the stationary state. In the first embodiment, the determination of the stationary state based on the image signal included in the motion signal 70 is assumed, but in addition to the determination based on the image signal, the stationary based on the calculation result of the output signal output from the sensor 110 The determination of the state may be used in combination.
  • the stillness determination is performed based on the calculation result of the output signal of the sensor 110, and when the speed of the golf club 500 transitions to low speed, Stillness determination may be performed based on the image signal.
  • the arithmetic unit 202 also performs arithmetic processing of the motion signal 70 transmitted from the sensor unit 10.
  • the analysis unit 206 analyzes the motion of the measurement target based on the calculation processing result.
  • the determination unit 204 determines whether the motion detection is appropriate or not and determines the completion of the motion analysis result based on the motion analysis result and the like.
  • the processing unit 201 transmits a trigger (result) signal 80 such as the determination of the stationary state, the determination of the appropriateness of motion detection, the completion of the motion analysis result, and the like to the sensor unit 10 and transmits it to the notification unit 30.
  • the analysis unit 50 can employ a personal computer having the above-described functions, a high-performance mobile phone (smart phone), a multi-function mobile terminal (tablet terminal), and the like.
  • FIG. 3A is a schematic view showing the appearance of the sensor unit 100 constituting the sensor unit 10.
  • the sensor 110 and the control unit 120 that constitute the sensor unit 100 are accommodated in a housing 130.
  • a first light emitting unit 132a and a second light emitting unit 132b that constitute the notifying unit 30 are provided on the second side surface of the housing 130.
  • FIG. 3B and FIG. 3C are diagrams showing a state in which the sensor unit 10 is attached to the golf club 500 as an example of the embodiment of the motion detection device 1.
  • the sensor unit 100 is attached to the golf club 500 using the holding unit 200.
  • the sensor unit 100 is attached so as to be fitted to the holding part 200 attached to the shaft 500s or the grip 500g of the golf club 500.
  • the light emitting parts 132 (132a, 132b) of the notifying part 30 are attached toward the end of the grip 500g. This is to allow the test object M to easily recognize (know) light emission.
  • FIG. 4 schematically shows a state in which the test subject M grips the golf club 500.
  • the test subject M grips the golf club 500.
  • the swing motion of the golf club 500 by the subject M is detected by the motion detection device 1 and the swing is analyzed by the motion analysis method described later, the light emission of the notification unit 30 is The state of the motion detection device 1 can be recognized by visual recognition.
  • the test object M can swing without shifting the sight line e.
  • the housing 130 of the sensor unit 100 When the housing 130 of the sensor unit 100 enters the field of view (field of view) of the test object M, there is a possibility that the swing may be different from the normal swing by being concerned about the swing. Therefore, it is preferable that the housing 130 of the sensor unit 100 is mounted on the back side of the shaft 500s when viewed from the inspection object M when in a stationary state (at the address time) before swinging the golf club 500. In that case, by providing the notification unit 30 on the other side surface of the case 130 of the sensor unit 100 as described above, the subject M easily recognizes (knows) the presence or absence of light emission of the notification unit 30. Can.
  • the imaging unit 150 When the housing 130 is mounted on the back side of the shaft 500s, the imaging unit 150 is near the head 500h of the golf club 500, more specifically, at a striking unit that strikes a golf ball (not shown) by a swing motion. It is set to image a region of interest near a certain face.
  • photographs by operation of the to-be-tested object M can also be assumed.
  • the shooting direction may be the direction of the target line
  • the location where the swing is performed may be captured
  • the captured landscape image may be associated with the swing data and displayed on the display unit 260 of the analysis unit 50. As a result, it is possible to save time and labor for manually inputting location information and the like.
  • the motion analysis method includes a measurement preparation step, a motion measurement step, a transmission step of transmitting the motion signal 70 obtained in the motion measurement step to the analysis unit 50, and the motion signal 70 transmitted in the transmission step. And an analysis process to analyze.
  • the stationary state notification step of notifying the completion of the measurement preparation step, the measurement completion notification step of notifying the completion of the motion measurement step, and the transmission of the motion signal 70 from the sensor unit 10 to the analysis unit 50 are completed.
  • a transmission completion notification step of notifying that it has been done Each step will be described step by step with reference to a flow chart shown in FIG.
  • description of the movement analysis method demonstrates the movement analysis method which applied the movement detection apparatus 1 mentioned above to the golf club 500.
  • the measurement preparation process is a process of preparing for measurement of movement and measuring the bias of the sensor 110 before the start of movement (swing).
  • the bias is a generic term including a bias in an initial state where the angular velocity is zero before the start of the movement of the test object M, and a drift due to an external factor such as a power supply fluctuation or a temperature fluctuation.
  • step S10 the test object M grips the golf club 500 and acquires the motion signal 70 in the case of a stationary state (a so-called "address state") to the analysis unit 50.
  • the calculation unit 202 performs calculation of the motion signal 70 acquired by the analysis unit 50 in step S20.
  • an image signal is extracted from the motion signal 70 calculated by the calculation unit 202 in step S25, and the extracted image signal is processed to obtain a photographed image of a region including the head 500h of the golf club 500 and the golf ball. Are extracted at predetermined time intervals. Then, in the measurement preparation step, the distance from the predetermined portion (for example, the face surface) of the head 500 h to the golf ball is calculated by image processing the extracted captured image, and the calculated distance information is stored in the non-volatile memory 250. Do.
  • the distance information stored in the non-volatile memory 250 is read, and as shown in FIG. 6, the change of the distance information accompanying the time fluctuation is examined. For example, when the distance L between the face surface and the golf ball changes to L1, L2, L3, the amount of change in distance information becomes less than a predetermined reference value as in L2 and L3, and the amount of change is further predetermined. If the state of becoming less than or equal to the reference value continues for a predetermined time (for example, 3 seconds), the determination unit 204 determines that the golf club 500 is in a stationary state. In the first embodiment, the stationary state is determined by the change in the distance from the face surface to the golf ball, but the present invention is not limited to this. For example, when the golf ball is not set, it may be determined by the change in the distance from the face surface to the golf tee. Also, instead of the golf tee, a predetermined mark or the like drawn on the ground may be used.
  • step S30 when it is determined that the golf club 500 is within the range of the stationary state in step S30 (YES), the process proceeds to the notification of “stationary state detection” in step S41, and the sensor 110 at that time.
  • the output signal of is stored in the RAM 240 as a bias value.
  • the detection of the stationary state in the measurement preparation step is not limited to the method of processing the image captured by the imaging unit 150 to determine the stationary state, and a mode in which the output signal of the sensor 110 is analyzed is also conceivable.
  • the motion signal 70 computed by the computing unit 202 in step S30 The value of the motion signal 70 in the resting state, which is the first threshold recorded, is compared with the value of the motion signal 70 in the resting state, which is the first threshold in a fixed period, The first determination is performed by the determination unit 204.
  • the fixed period to determine is suitably set by the measuring object, and the period of this embodiment is 3 seconds. If it is determined in step S30 that the motion signal 70 is within the range of the stationary state (YES), the process proceeds to the notification of "stationary state detection" in step S41, and the motion signal 70 at that time is used as a bias value to the RAM 240 Remember.
  • the stationary state notifying step notifies the determination result as to whether or not the test subject M holding the golf club 500 and the golf club 500 is in the stationary (address) state based on the motion signal 70 in the above-described measurement preparation step.
  • the stationary state notification step determines that “static state detection is performed by step S41 when it is determined that the golf club 500 and the test subject M holding the golf club 500 are stationary on the basis of the motion signal 70 in step S30. "Notify”. The notification is also a notification of the start of exercise to be measured. Further, in the stationary state notifying step, when it is determined that the test subject M holding the golf club 500 and the golf club 500 is not stationary based on the motion signal 70 in step S30, “stationary state detection is performed in step S42 Make an error notification.
  • the stationary state notifying step is performed by the light emitting unit 132 provided in the notifying unit 30.
  • the notification of the stationary state detection by the notification unit 30 is performed by the blinking of the first light emitting unit 132a and the second light emitting unit 132b and the light emission color.
  • the notification unit 30 can change the light emission color and the blinking pattern according to the information notified to the inspection object M.
  • the notification of “stationary state detection” in step S41 is performed using the light emission color and notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to the "stationary state detection” are determined in advance.
  • the notification of “rest state detection error” in step S42 causes the light emitting unit 132 to emit light differently from the notification of “rest state detection”.
  • the luminescent color and the notification pattern corresponding to the “rest detection error” are determined in advance. As a result, the subject M is notified of the "stationary state detection error", and is urged to maintain the stationary (address) state.
  • the movement measuring step is a step of measuring the movement (swing) of the test subject M holding the golf club 500.
  • the motion measurement step is a step of measuring the motion (swing) of the test object M by the sensor 110 mounted on the sensor unit 10.
  • an acceleration or the like accompanying the motion of the subject M is acquired as a motion signal 70 from the sensor unit 10.
  • the transmission step is a step of transmitting, to the analysis unit 50, the motion signal 70 based on the motion (swing) of the subject M holding the golf club 500 acquired in the motion measurement step.
  • the transmission process transmits the motion signal 70 acquired in step S50 from the sensor unit 10 to the analysis unit 50.
  • step S70 the determination unit 204 performs a second determination on whether the motion signal 70 transmitted to the analysis unit 50 in step S60 includes an error (for example, overrange or missing). Do.
  • step S70 based on the motion signal 70 transmitted to the analysis unit 50 in step S60, the second determination whether the acceleration or the like accompanying the motion exceeds a preset value is determined. It does in 204.
  • the error determination is performed by comparing with the normal motion signal 70 previously recorded in the ROM 230 as a second threshold value.
  • the determination of the acceleration or the like accompanying the exercise is performed by comparing with the exercise signal 70 previously recorded in the ROM 230 as a second threshold value. It should be noted that the determination of the acceleration or the like accompanying the movement may be made by using any value of the movement signal 70 such as the maximum value or the minimum value of the movement signal 70 of the test object M as the second threshold.
  • step S70 If it is determined in step S70 that the motion signal 70 does not contain an error, or if the motion signal 70 exceeds a preset second threshold (if the threshold condition is satisfied) (YES), The process proceeds to the notification of "measurement good” in step S81. If it is determined in step S70 that the motion signal 70 contains an error (NO), the process proceeds to the notification of "measurement error” in step S82, and the process returns to step S10 to obtain the motion signal 70 in the stationary state again. Perform motion analysis.
  • Notification of “measurement good” in step S81 is performed using the light emission color and notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to "good for measurement” are determined in advance.
  • notification of “measurement error” in step S82 is performed using a light emission color and a notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to the “measurement error” are determined in advance.
  • the subject M is notified of the “measurement error” and urges to perform motion analysis again from the acquisition of the motion signal 70 in the stationary state in step S10.
  • step S90 the determination unit 204 determines the end of transmission of the motion signal 70 transmitted to the analysis unit 50 in step S60.
  • the determination of the end of transmission is made by receiving the start parity and the end parity added by the data processing unit 120A provided in the sensor unit 10 to the motion signal 70 (packet data) to be transmitted.
  • the start parity is received in step S90, when the end parity can be received before the elapse of a predetermined time stored in the ROM 230, it is determined that the transmission is completed, and the process is notified to "transmission complete" notification in step S101. Advance.
  • step S102 If the end parity can not be received before the predetermined time has elapsed, the process proceeds to the notification of "transmission error" in step S102, and the process returns to step S10 to analyze motion from the acquisition of the motion signal 70 in the stationary state again. I do.
  • the notification of “transmission completed” in step S101 is performed using the light emission color and the notification (flashing) pattern.
  • the luminescent color and the notification pattern corresponding to "transmission complete” are determined in advance.
  • the inspection object M is notified of "transmission completed”.
  • the notification of "transmission error” in step S102 is such that the light emission color and notification pattern corresponding to "transmission error” are determined in advance.
  • the "transmission error” is notified to the subject M and the motion analysis is urged to be performed again from the acquisition of the motion signal 70 in the stationary state in step S10.
  • the analysis step is a step of analyzing the motion signal 70 based on the motion (swing) of the test subject M holding the golf club 500 acquired in the motion measurement step transmitted to the analysis unit 50.
  • the analysis process analyzes the movement signal 70 based on the movement (swing) of the test object M transmitted to the analysis unit 50 in step S110 based on a predetermined analysis program stored in the ROM 230. Further, the analysis process displays (outputs) the analysis result on the display unit 260.
  • a technique for analyzing the swing based on the output signal of the sensor 110 included in the motion signal 70 for example, the technique described in the patent publication (Japanese Patent Laid-Open No. 2014-90773) can be adopted.
  • the determination unit 204 determines the result analyzed in step S110 in step S120.
  • the determination of the analysis result is performed based on the analysis result stored in advance in the ROM 230.
  • the analysis step compares the analysis result of the motion signal 70 analyzed in step S110 in step S120 with the analysis result of a predetermined range recorded in advance in the ROM 230 (hereinafter referred to as "standard analysis result"). Then, the determination unit 204 determines whether it is within the range of the standard analysis result. If it is determined in step S120 that the analysis result is within the range of the standard analysis result (YES), the process proceeds to the notification of “analysis completed” in step S131. If it is determined in step S120 that the analysis result is out of the range of the standard analysis result (NO), the process proceeds to the notification of "analysis error” in step S132, and the process returns to step S10 and the motion signal 70 in the stationary state. Do again from the acquisition of.
  • the notification of “analysis completed” in step S131 is performed using the luminescent color and the notification (blinking) pattern.
  • the luminescent color and notification pattern corresponding to "analysis completed” are determined in advance. In this way, the subject M is notified of "analysis completed”.
  • the notification of “analysis error” in step S132 is performed using the light emission color and the notification (blinking) pattern.
  • the luminescent color and the notification pattern corresponding to the "analysis error” are determined in advance. In this way, the subject M is notified of an "analysis error”.
  • the subject M is notified of an “analysis error” and urges to perform motion analysis again from the acquisition of the motion signal 70 in the stationary state in step S10.
  • the motion analysis method completes a series of steps upon notification of "analysis completed” in step S131.
  • each step after the notification of “stationary state detection” in step S41 is performed continuously.
  • the analysis method mentioned above may omit or add the notification by each step after the notification of "rest state detection” in step S41 as appropriate.
  • the following effects can be obtained.
  • a motion detection device 1 it is possible to visually recognize the state of the motion detection device 1 by the light emission of the notification unit 30 without breaking the posture of the test object M holding the exercise apparatus. Therefore, such a motion detection device 1 can perform a swing (swing) without the test object M gripping the exercise equipment and deflecting the sight line e and the attention. Therefore, a natural motion (swing) posture can be detected, and the reliability of motion analysis can be enhanced.
  • FIG. 7 is a schematic view showing an example in which the motion detection device 1 according to the second embodiment is applied to a golf club 500
  • FIG. 8 is a block diagram schematically showing the motion detection device 1 according to the second embodiment.
  • the imaging unit 150 is integrated into the housing 130 in the first embodiment.
  • the imaging unit 150 is separate from the housing 130 without being integrated into the housing 130 and the shaft 500s of the golf club 500 is formed.
  • Adopt the mounting mode That is, as shown in FIG. 7, the shaft 500 s of the golf club 500 is attached to the side closer to the head 500 h than the housing 130 using the holding portion 160.
  • the lens 154 of the camera 156 faces in the direction of the head 500h, and the head 500h and the golf ball can be photographed in detail.
  • the imaging unit 150 includes a communication unit 158, a camera 156, and a control unit 157 that controls functions of the communication unit 158 and the camera 156.
  • the communication unit 158 can perform near field communication with the communication unit 120C.
  • the transmission method is not particularly limited, and for example, a protocol of a near field communication standard such as Bluetooth (registered trademark) can be adopted.
  • Bluetooth registered trademark
  • FIGS. 9A and 9B are diagrams for explaining the position correction of the head 500 h at the time of the swing start and at the time of hitting the golf ball in the motion detection device according to the third embodiment of the present invention.
  • a motion detection device and a detection system according to the present embodiment will be described with reference to these drawings.
  • the same number is used and the overlapping description is abbreviate
  • FIG. 9A shows the locus of the golf club 500 (the locus of the head 500h and the grip 500g) drawn using the position of the head 500h before correction obtained by calculation
  • FIG. 9B shows the position of the head 500h after correction.
  • a trajectory of the golf club 500 to be drawn is shown.
  • a target line indicating a target direction of hitting is X axis
  • an axis on a horizontal plane perpendicular to the X axis is Y axis
  • a vertically upward direction (opposite to the direction of gravity acceleration) is Z axis
  • a system global coordinate system
  • FIGS. 9A and 9B an X axis, a Y axis, and a Z axis are described.
  • S1, HP1 and GP1 indicate the position of the shaft 500s and the head 500h at the start of the swing and the position of the grip 500g, respectively, and S2, HP2 and GP2 indicate the shaft 500s at the impact, respectively.
  • the position of the head 500 h and the position of the grip 500 g are shown.
  • the position HP1 of the head 500h at the start of the swing is made to coincide with the origin (0, 0, 0) of the XYZ coordinate system.
  • the broken line HL1 and the solid line HL2 are the back swing path and down swing path of the head 500h, respectively, and the broken line GL1 and the solid line GL2 are the back swing path and down swing of the grip 500g, respectively. It is a locus.
  • the connection point between the broken line HL1 and the solid line HL2 and the connection point between the broken line GL1 and the solid line GL2 correspond to the position of the head 500h and the position of the grip 500g at the top of the swing (when the swing direction switches).
  • the head 500h is slightly in front of the ball at the beginning of swing and contacts the ball at the time of impact, so in an actual swing, the position of the head 500h should be approximately equal at the beginning of swing and at the time of impact.
  • the position HP2 of the head 500h at the time of impact obtained by calculation is slightly offset from the position HP1 of the head 500h at the start of swing due to the influence of integration error of acceleration and angular velocity.
  • the trajectory of FIG. 9A is a trajectory slightly different from the actual trajectory of the swing. Therefore, in an actual swing, the position of the head 500h should be substantially equal at the swing start and at the impact time.
  • the position of the head 500h becomes equal at the time of swing start and at the time of impact, and a locus closer to the actual swing than in FIG. 9A is obtained. If the position of the head 500h immediately before impact is used, the error can be corrected with higher accuracy than the above.
  • the processing unit 201 of the analysis unit 50 extracts the image signal captured by the imaging unit 150 from the motion signal 70.
  • the computing unit 202 performs image processing based on the extracted image signal to extract an image of a marker of the head 500 h of the golf club 500 corresponding to a predetermined reference image.
  • the analysis unit 206 determines the normal direction PX of the face 500 f from the image of the marker, and calculates an angle R defined by the target line direction (X direction) recognized by the sensor unit 100 and the normal direction PX.
  • the mark 500m When the mark 500m is imprinted on the head 500h, the mark may be adopted as the marker 500m.
  • the head 500h of the golf club 500 is used as a marker, and the computing unit 202 extracts the face 500f by performing image processing based on the extracted image signal. It is good.
  • the analysis unit 206 calculates an angle R defined by the target line direction (X direction) recognized by the sensor unit 100 and the normal direction PX of the face 500 f of the golf club 500.
  • the processing unit 201 transmits notification information to the notification unit 30 according to the calculated difference in angle.
  • the notification unit 30 notifies the user of the direction of deviation and the degree of deviation between the target line and the normal direction of the head 500 h based on the notification information.
  • FIG. 10A shows that the target line direction and the normal direction PX form an angle R1 in one direction, that is, the mounting angle of the holding unit 200 deviates by about the angle R1.
  • FIG. 10B shows that the target line direction and the normal direction PX substantially match, that is, the holding unit 200 is correctly attached.
  • FIG. 10C the target line direction and the normal direction PX form an angle R2 in the other direction opposite to the one direction, that is, the mounting angle of the holding unit 200 deviates by about the angle R2. Show that.
  • the light emitting unit 132 notifies the user by changing the light emitting portion in accordance with the deviation direction of the mounting angle and the degree of the deviation.
  • the notification unit 30 can guide the state of alignment. Therefore, the user can easily and precisely attach the sensor unit 100 to the golf club 500 according to the guidance of the notification unit 30. Thereby, the reliability of the motion analysis of the swing by the motion detection device 1 can be enhanced.
  • FIG. 11 is a schematic view of the sensor unit 10
  • FIGS. 12A and 12B are diagrams for explaining the position adjustment of the sensor unit 10 mounted on the golf club 500.
  • the sensor unit 100 further includes a projection unit 153.
  • the projection unit 153 mounts the holding unit 200 on the golf club 500 and drives the sensor unit 100 in a state of being mounted on the holding unit 200.
  • the projection unit 153 projects a pattern image 155 indicating the target line direction recognized by the sensor unit 100 on the upper surface of the head 500 h, that is, the same surface as the marked mark 500 m.
  • the pattern image 155 adopts a cross line image indicating the target line direction and the orthogonal direction orthogonal thereto, but is not limited thereto.
  • the pattern image 155 may be a line image generated by a laser light source. The user visually recognizes the pattern image 155 projected on the upper surface of the head 500h, and adjusts the holding unit 200 so that the orthogonal direction of the pattern image 155 and the plane direction of the face 500f become parallel.
  • the fourth embodiment described above in addition to the same effects as the third embodiment, there is no need to visually recognize the light emission state of the light emitting portion 132 when adjusting the attachment between the golf club 500 and the holding portion 200. Becomes easier.
  • the embodiment of the present invention has been described with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like within the scope of the present invention are also included.
  • blinking of light by the light emitting unit 132 is adopted as the notifying unit 30, the present invention is not limited thereto.
  • notification by sound or vibration can be assumed.
  • the aspect displayed on the display part 260 of the analysis unit 50 can also be assumed.
  • the adjustment is not limited to the adjustment of rotating the holding unit 200 in accordance with the normal direction PX of the face 500 f of the golf club 500, and the angle R formed by the target line direction (X direction) and the normal direction PX.
  • an apparatus implementing the above-described method may be realized by a single apparatus or may be realized by combining a plurality of apparatuses, and includes various aspects. For example, the aspect which performs the analysis processing function by analysis unit 50 only with sensor unit 10 can be assumed.
  • FIG. 13 is a block diagram schematically showing a motion detection apparatus 1 ′ according to the fifth embodiment, and is a view showing the relationship between the sensor unit 10 and the analysis unit 50 ′.
  • 14 is a block diagram showing the details of the processing unit 201 of the analysis unit 50 '
  • FIG. 15 is a block diagram showing the details of the storage unit 350 of the analysis unit 50'.
  • FIG. 16 is a figure which shows the outline of the sensor unit 10 in motion detection apparatus 1 '.
  • FIG. 16A is a view showing the track of the golf club 500 before the correction
  • FIG. 16B is a view showing the track of the golf club 500 after the correction.
  • FIG. 17 is a flowchart showing the process flow of the motion analysis method.
  • the motion detection device 1 ′ includes a sensor unit 10 and an analysis unit 50 ′.
  • the sensor unit 10 is configured to include a sensor unit 100, a housing 130 that houses the sensor unit 100, and a holding unit 200.
  • the sensor unit 100 includes a notification unit 30, a sensor 110, an imaging unit 150, and a control unit 120, and these are provided in a housing 130.
  • the analysis unit 50 ′ includes a processing unit (CPU) 201, a communication unit 210, an operation unit 220, a storage unit 350, and a display unit 260.
  • the analysis unit 50 ′ assumes, for example, a personal computer, a high-performance mobile phone (smart phone), a multi-function mobile terminal (tablet terminal), and the like.
  • the storage unit 350 assumes a ROM, a RAM, a non-volatile memory, and the like, and stores programs for the processing unit 201 to perform various calculation processes and control processes, and various programs and data for realizing application functions. It temporarily stores programs and data read out, data input from the operation unit 220, various programs executed by the processing unit 201, calculation results executed according to application functions, and the like.
  • the processing unit 201 includes an operation unit 202, a determination unit 204, and an analysis unit 206.
  • the processing unit 201 performs various calculation processing, analysis processing, determination processing, and the like on the motion signal 70 received from the sensor unit 10 via the communication unit 210 according to the program stored in the storage unit 350.
  • the processing unit 201 performs arithmetic processing of the motion signal 70 transmitted from the sensor unit 10 in the arithmetic unit 202.
  • the determination unit 204 Based on the result of the arithmetic processing, the determination unit 204 performs determination of whether the mounting position of the sensor unit 10 attached to the golf club 500 is good or not, and various determinations associated with motion analysis.
  • the processing unit 201 transmits a trigger (result) signal 80 such as the determination result to the sensor unit 10 and transmits the signal to the notification unit 30.
  • the arithmetic unit 202 performs arithmetic processing of the motion signal 70 transmitted from the sensor unit 10.
  • the analysis unit 206 analyzes the motion of the measurement target based on the calculation processing result.
  • the determination unit 204 has a determination function of performing determination of suitability for motion detection, determination of each timing of motion, and the like based on the motion analysis result by the analysis unit 206.
  • FIG. 14 is a block diagram showing the details of each function of the processing unit 201.
  • FIG. 15 is a diagram showing details of the information stored in the storage unit 350. As shown in FIG.
  • the calculation unit 202 includes an image processing unit 203, a position calculation unit 304, a position correction unit 205, and a velocity calculation unit 306.
  • the analysis unit 206 further includes a motion analysis information generation unit 208 having an analysis function.
  • the position calculation unit 304, the position correction unit 205, the velocity calculation unit 306, and the motion analysis information generation unit 208 correspond to a correction unit having a correction function.
  • the storage unit 350 also stores a swing analysis program 251, a stillness determination program 252, a distance calculation program 253, club specification information 254, and sensor attachment position information 255.
  • the stillness determination program 252 and the distance calculation program 253 are subset programs called from the swing analysis program 251.
  • the user can update or uninstall the swing analysis program 251, the stillness determination program 252, and the distance calculation program 253 stored in the storage unit 350. Also, users can install other subset programs as needed. For example, a golf ball hit by the swing of the golf club 500 is photographed, image processing is performed on the photographed image, a collision state with the face 500 f is analyzed, and a flying direction and a flying distance of the golf ball are estimated. Such subset programs can also be envisioned.
  • the image processing unit 203 has an image processing function. That is, the image processing unit 203 extracts an image signal from the motion signal 70, applies a known pattern matching technique, for example, to the image represented by the extracted image signal, and obtains the head 500h of the golf club 500 and the golf ball. Extract the captured image of the area including Then, the image processing unit 203 subjects the extracted captured image to image processing such as known edge extraction technology to generate a processed image, analyzes the processed image, and extracts a predetermined portion of the head 500 h (for example, a face). From 500f), the distance is calculated by counting the number of pixels to the golf ball which is a predetermined target.
  • image processing such as known edge extraction technology
  • the image processing unit 203 outputs the calculated distance information and data of the photographed image subjected to the image processing in response to a request from another functional unit.
  • the position calculation unit 304 performs processing of calculating the position of the head 500 h of the golf club 500 in the swing (coordinates of the position in the XYZ coordinate system) using the measurement data output from the sensor unit 10.
  • the position calculation unit 304 also uses the measurement data output from the sensor unit 10 to calculate the position of the grip 500g of the golf club 500 in the swing (coordinates of the position in the XYZ coordinate system).
  • the target line indicating the target direction of the hitting ball is X axis
  • the axis on the horizontal plane perpendicular to the X axis is Y axis
  • the vertically upward direction is opposite to the direction of gravity acceleration
  • Z axis Define a coordinate system (global coordinate system).
  • the position calculation unit 304 first uses the measurement data (acceleration data and angular velocity data) when the user is at rest (at the address) stored in the storage unit 350, and the offset amount included in the measurement data.
  • the position calculation unit 304 subtracts the offset amount from the measurement data after the start of the swing stored in the storage unit 350 to correct the bias, and uses the measurement data subjected to the bias correction during the swing operation of the user.
  • the position and attitude (attitude angle) of the sensor unit 10 are calculated.
  • the position calculation unit 304 acquires the distance information output from the image processing unit 203, and determines the still state in the address state of the user when the variation of the distance falls within a predetermined range. Further, the position calculation unit 304 uses the acceleration data measured by the three-axis acceleration sensor 112, and the club specification information 242 and the sensor attachment position information 244 stored in the storage unit 350, in the sensor unit 10 in the XYZ coordinate system. A position (initial position) is calculated, and thereafter acceleration data is integrated to calculate a change in position from the initial position of the sensor unit 10 in time series.
  • the position calculation unit 304 calculates the attitude (initial attitude) of the sensor unit 10 at rest (at address) of the user in the XYZ coordinate system using the acceleration data measured by the three-axis acceleration sensor 112, and then The rotation calculation is performed using the angular velocity data measured by the three-axis gyro sensor 114, and the change in attitude from the initial attitude of the sensor unit 10 is calculated in time series.
  • the position correction unit 205 is a golf club 500 acquired from measurement data of the sensor unit 10 based on the difference between the position of the head 500 h of the golf club 500 at the start of the swing and the position of the head 500 h of the golf club 500 at the time of impact. A process of correcting the position information of the head 500h of Here, correction of the position of the head 500h of the golf club 500 will be described with reference to FIGS. 16A and 16B.
  • 16A shows the trajectory of the golf club 500 (the trajectory of the head 500h and the grip 500g) drawn using the position of the head 500h before correction obtained by calculation
  • FIG. 16B shows the position of the head 500h after correction.
  • a trajectory of the golf club 500 to be drawn is shown.
  • S1, HP1 and GP1 indicate the position of the shaft 500s and the head 500h at the beginning of the swing and the position of the grip 500g, respectively
  • S2, HP2 and GP2 indicate the shaft 500s at the impact, respectively.
  • the position of the head 500 h and the position of the grip 500 g are shown.
  • the position HP1 of the head 500h at the start of the swing is made to coincide with the origin (0, 0, 0) of the XYZ coordinate system.
  • the broken line HL1 and the solid line HL2 are the back swing path and down swing path of the head 500h, respectively, and the broken line GL1 and the solid line GL2 are the back swing path and down swing of the grip 500g, respectively. It is a locus.
  • the connection point between the broken line HL1 and the solid line HL2 and the connection point between the broken line GL1 and the solid line GL2 correspond to the position of the head 500h and the position of the grip 500g at the top of the swing (when the swing direction switches).
  • the head 500h is slightly in front of the ball at the beginning of swing and contacts the ball at the time of impact, so in an actual swing, the position of the head 500h should be approximately equal at the beginning of swing and at the time of impact.
  • the position HP2 of the head 500h at the time of impact obtained by calculation is slightly offset from the position HP1 of the head 500h at the start of swing due to the influence of integration error of acceleration and angular velocity. . That is, the trajectory of FIG. 16A is a trajectory slightly different from the actual trajectory of the swing. Therefore, in an actual swing, the position of the head 500h should be substantially equal between the swing start and impact time. For example, the position of the head 500h at one of the swing start and impact times in FIG. If correction is made to match the position of the head, as shown in FIG. 16B, the position of the head 500h becomes the same at the time of swing start and at the time of impact, and a locus closer to the actual swing than in FIG. 16A is obtained.
  • the position correction unit 205 analyzes the captured image output from the image processing unit 203, and calculates the distance XL between the head 500h of the golf club 500 and the golf ball at the time of addressing.
  • the position correction unit 205 also takes into account the calculated distance XL, and uses the position of the head 500 h of one of the golf clubs 500 at the start of swing and at the time of impact to use the head 500 h of the other golf club 500. Correct the position of.
  • the velocity calculation unit 306 is a golf club 500 acquired from measurement data of the sensor unit 10 based on the difference between the position of the head 500 h of the golf club 500 at the beginning of the swing and the position of the head 500 h of the golf club 500 at the time of impact. Correct the speed information of the head 500h. In the present embodiment, the speed of the head 500 h is calculated using the time-series information of the position of the corrected head 500 h generated by the position correction unit 205.
  • the motion analysis information generation unit 208 analyzes the swing using the position information after correction or the speed information after correction and performs processing of generating motion analysis information which is information of an analysis result.
  • the exercise analysis information generation unit 208 indicates trajectory information (image of the movement of the golf club 500 in a predetermined period of swing) (image Generate data).
  • the motion analysis information generation unit 208 sequentially connects the positions (coordinates) of the head 500h from the swing start time to the impact time by lines, and similarly, the position (coordinates) of the grip 500g from the swing start time to the impact time Are sequentially connected by lines to generate trajectory information including the trajectory of the head (HL1 and HL2 in FIG. 16B) from the swing start time to the impact time and the grip trajectory (GL1 and GL2 in FIG. 16B).
  • the motion analysis information generation unit 208 may correct the generated trajectory information based on the motion signal 70. That is, the target to be corrected in the present embodiment assumes at least one of motion information such as acceleration and angular velocity based on the motion signal 70, and information such as analyzed velocity and trajectory.
  • the motion analysis method includes a measurement preparation step, a motion measurement step, a transmission step of transmitting the motion signal 70 obtained in the motion measurement step to the analysis unit 50 ′, and a motion signal 70 transmitted in the transmission step. And an analysis step of analyzing The motion analysis method also includes a stationary state notification step for notifying completion of the measurement preparation step, a measurement completion notification step for notifying completion of the motion measurement step, and transmission of the motion signal 70 from the sensor unit 10 to the analysis unit 50 '. And a transmission completion notification step of notifying completion.
  • the motion analysis method of the present embodiment using the motion detection device 1 ′ will be described step by step with reference to the flowchart shown in FIG. In addition, description of the movement analysis method demonstrates the movement analysis method which applied movement detection apparatus 1 'mentioned above to the golf club 500.
  • the measurement preparation process is a process of preparing for measurement of movement and measuring the bias of the sensor 110 before the start of movement (swing).
  • bias is a generic term including bias in an initial state where the angular velocity is zero before the user's exercise starts, and drift due to external factors such as power supply fluctuation and temperature fluctuation.
  • step S10 the user grips the golf club 500 and acquires an exercise signal 70 in the case of a stationary state (a so-called "address state") to the analysis unit 50 '.
  • the measurement preparation process includes an imaging process in which the imaging unit 150 images the head 500 h of the golf club 500.
  • the calculation unit 202 performs calculation of the motion signal 70 acquired by the analysis unit 50 'in step S20.
  • step S20 the stillness determination program 252 and the distance calculation program 253 stored in the storage unit 350 are read and executed. That is, the distance calculation program 253 extracts an image signal from the motion signal 70 calculated by the calculation unit 202 in step S20, and processes the extracted image signal, thereby processing the head 500h of the golf club 500 and the golf ball. Photographed images of the area including the image are extracted at predetermined time intervals. Then, the distance calculation program 253 performs image processing on the extracted captured image to calculate the distance XL from the head 500 h to the golf ball, and stores the calculated distance information in the storage unit 350.
  • the stationary state determination program 252 reads out the distance information stored in time series, and examines the change of the distance information with the passage of time. For example, when the change amount of the distance XL becomes equal to or less than the predetermined reference value and the change amount becomes equal to or less than the predetermined reference value continues for a predetermined time (for example, 3 seconds), the golf club 500 is stationary. It is determined that In the measurement preparation step, when it is determined in step S30 that the golf club 500 is in the stationary state (YES), the process proceeds to the notification of “stationary state detection” in step S41, and the motion signal 70 at that time is set to the bias value.
  • YES the stationary state
  • step S30 If it is determined in step S30 that the golf club 500 is not in the stationary state (NO), a notification of "stationary state detection error" in step S42 is given, and the process returns to step S10 to obtain motion signal 70 in the stationary state again. Do. Note that the detection of the stationary state is not limited to the analysis of the output signal of the sensor 110, and a mode in which the image captured by the imaging unit 150 is processed to determine the stationary state can also be assumed.
  • the stationary state notifying step is a step of notifying a determination result as to whether or not the user holding the golf club 500 and the golf club 500 is in a stationary (address) state based on the motion signal 70 in the above-described measurement preparation step. is there.
  • the stationary state notification process notifies “static state detection” by step S41 when it is determined in step S30 that the golf club 500 and the user holding the golf club 500 are stationary based on the motion signal 70. I do.
  • the notification is also a notification of the start of exercise to be measured.
  • “static state detection error” is generated in step S42. Make a notice.
  • the stationary state notifying step is performed by the light emitting unit 132 provided in the notifying unit 30.
  • the notification of the stationary state detection by the notification unit 30 is performed by the blinking of the light emitting unit 132 and the light emission color.
  • the notification unit 30 can change the luminescent color and the blinking pattern according to the information notified to the user.
  • the notification of “stationary state detection” in step S41 is performed using the light emission color and notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to the "stationary state detection” are determined in advance.
  • the notification of “rest state detection error” in step S42 causes the light emitting unit 132 to emit light differently from the notification of “rest state detection”.
  • the luminescent color and the notification pattern corresponding to the “rest detection error” are determined in advance. As a result, the user is notified of the "stationary state detection error", and the user is further urged to maintain the stationary (address) state.
  • the movement measurement step is a step of measuring the movement (swing) of the user holding the golf club 500.
  • the motion measurement step is a step of measuring the motion (swing) of the user by the sensor 110 mounted on the sensor unit 10.
  • an acceleration or the like associated with the motion of the user is acquired as a motion signal 70 from the sensor 110.
  • the transmission step is a step of transmitting, to the analysis unit 50 ′, the motion signal 70 based on the motion (swing) of the user holding the golf club 500 acquired in the motion measurement step.
  • step S60 the acquired motion signal 70 is transmitted from the sensor unit 10 to the analysis unit 50 '.
  • step S70 the second determination as to whether the motion signal 70 transmitted to the analysis unit 50 'in step S60 includes an error (for example, overrange or missing) is determined by the determination unit 204. To do.
  • step S70 based on the motion signal 70 transmitted to the analysis unit 50 'in step S60, the second determination of whether the acceleration or the like accompanying the motion exceeds a preset value is determined. This is performed in the unit 204.
  • the error determination is performed by comparing with the normal motion signal 70 previously recorded in the storage unit 350 as a threshold value.
  • the determination of the acceleration or the like accompanying the exercise is performed by comparing with the exercise signal 70 previously recorded in the storage unit 350 as a threshold value. It should be noted that the determination of the acceleration or the like accompanying the movement may be made by using any value of the movement signal 70 such as the maximum value or the minimum value of the movement signal 70 of the user as a threshold.
  • step S81 is performed. Proceed with the notification of "Good measurement”. If it is determined in step S70 that the motion signal 70 contains an error (NO), the process proceeds to the notification of "measurement error” in step S82, and the process returns to step S10 to obtain the motion signal 70 in the stationary state again. Perform motion analysis.
  • Notification of “measurement good” in step S81 is performed using the light emission color and notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to "good for measurement” are determined in advance.
  • notification of “measurement error” in step S82 is performed using a light emission color and a notification (blinking) pattern of the light emitting unit 132.
  • the luminescent color and the notification pattern corresponding to the “measurement error” are determined in advance.
  • step S90 the determination unit 204 determines the end of transmission of the motion signal 70 transmitted to the analysis unit 50 'in step S60.
  • the determination of the end of transmission is made by receiving the start parity and the end parity added by the data processing unit 120A provided in the sensor unit 10 to the motion signal 70 (packet data) to be transmitted.
  • the start parity is received in step S90, if the end parity can be received by the elapse of a predetermined time stored in storage unit 350 in advance (YES), it is determined that the transmission is completed, and the “transmission is completed” in step S101.
  • step S102 Advance the process to the If the end parity can not be received before the predetermined time has elapsed (NO), the process proceeds to the notification of “transmission error” in step S102, and the process returns to step S10 to obtain motion signal 70 in the stationary state again. Perform motion analysis.
  • the notification of “transmission completed” in step S101 is performed using the light emission color and the notification (flashing) pattern.
  • the luminescent color and the notification pattern corresponding to "transmission complete” are determined in advance.
  • the notification of "transmission error” in step S102 is such that the light emission color and notification pattern corresponding to "transmission error” are determined in advance.
  • the user is notified of the "transmission error”
  • the user is urged to perform the motion analysis again from the acquisition of the motion signal 70 in the stationary state in step S10.
  • the analysis step is a step of analyzing the motion signal 70 based on the motion (swing) of the user holding the golf club 500 acquired in the motion measurement step transmitted to the analysis unit 50 ′.
  • the analysis process analyzes the movement signal 70 based on the movement (swing) of the user transmitted to the analysis unit 50 ′ in step S 110 based on the swing analysis program 251 stored in the storage unit 350. Further, the analysis process displays (outputs) the analysis result on the display unit 260. Further, the correction process of correcting the position of the head 500 h of the golf club 500 may be performed in the swing analysis program 251.
  • the technique for analyzing swing motion based on the output signals (acceleration data and angular velocity data) of the sensor 110 included in the motion signal 70 is, for example, the technique disclosed in the patent publication (Japanese Patent Laid-Open No. 2014-90773). You may apply.
  • the determination unit 204 determines the result analyzed in step S110 in step S120.
  • the analysis process includes the analysis result of the motion signal 70 analyzed in step S110 in step S120, and the analysis result of a predetermined range recorded in advance in storage unit 350 (hereinafter referred to as "standard analysis result"). Are compared, and the determination unit 204 determines whether it is within the range of the standard analysis result. If it is determined in step S120 that the analysis result is within the range of the standard analysis result (YES), the process proceeds to the notification of “analysis completed” in step S131. If it is determined in step S120 that the analysis result is out of the range of the standard analysis result (NO), the process proceeds to the notification of "analysis error” in step S132, and the process returns to step S10 and the motion signal 70 in the stationary state. Do again from the acquisition of.
  • the notification of “analysis completed” in step S131 is performed using the luminescent color and the notification (blinking) pattern.
  • the luminescent color and notification pattern corresponding to "analysis completed” are determined in advance. This notifies the user of "analysis completed”.
  • the notification of “analysis error” in step S132 is performed using the light emission color and the notification (blinking) pattern.
  • the luminescent color and the notification pattern corresponding to the "analysis error” are determined in advance. In this way, the user is notified of an "analysis error”. As a result, the user is notified of the "analysis error” and urges the user to perform motion analysis again from the acquisition of the motion signal 70 in the stationary state in step S10.
  • the motion analysis method completes a series of steps upon notification of "analysis completed” in step S131.
  • each step after the notification of “stationary state detection” in step S41 is performed continuously.
  • the analysis method mentioned above may omit or add the notification by each step after the notification of "rest state detection” in step S41 as appropriate.
  • the image of the head 500h of the golf club 500 captured by the imaging unit 150 included in the sensor unit 100 is image processed to obtain information on the stationary state of the head 500h at the time of addressing, the head 500h and the golf ball
  • the swing motion can be analyzed with high accuracy because the information of the distance between the two and the distance between the two is acquired and the swing of the golf club 500 is analyzed using the acquired information.
  • an apparatus implementing the above-described method may be realized by a single apparatus or may be realized by combining a plurality of apparatuses, and includes various aspects.
  • each functional unit shown in FIG. 1, FIG. 2 and FIG. 8 shows a functional configuration realized by cooperation of hardware and software, and the specific implementation form is not particularly limited. Therefore, hardware corresponding to each functional unit does not necessarily have to be mounted, and it is of course possible to realize a function of a plurality of functional units by one processor executing a program.
  • a part of the function realized by software may be realized by hardware, or a part of the function realized by hardware may be realized by software.
  • the detailed configurations of the other parts of the motion detection devices 1 and 1 ' can be arbitrarily changed without departing from the scope of the present invention.
  • holding unit 200 ... holding unit, 201 ... processing unit, 202 ... calculation unit, 204 ... determination unit, 206 ... analysis unit, 210 ... communication unit, 220 ... operation Unit: 230 ROM, 240: RAM, 250: non-volatile memory, 260: display unit, 304: position calculation unit, 306: velocity calculation unit, 350: storage unit, 500: golf club, 500 g: grip, 500 h: head , 500 s ... shaft, 500 f ... face (face surface), M ... inspection object, e ... line of sight.

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PCT/JP2016/000110 2015-01-15 2016-01-12 検出装置、検出システム、運動解析システム、記録媒体、および解析方法 WO2016114126A1 (ja)

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