JP2018126238A - Motion analysis device, motion analysis system, and motion analysis method - Google Patents

Abstract

An analysis apparatus for analyzing a swing according to a ground condition is provided.
A motion analysis apparatus 20 that analyzes a swing using a golf club 3 analyzes position information and sensor information acquisition unit 210 that acquires output of the sensor unit 10 and attribute information of the ground surface based on the position information. A ground attribute analysis unit 215 and a motion analysis unit 211 that analyzes a swing based on the output of the sensor unit 10, and the motion analysis unit 211 determines an analysis method based on the attribute information of the ground surface.
[Selection] Figure 3

Description

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

In sports such as tennis, baseball, and golf, by capturing the ball at a sweet spot of an exercise equipment (ball striking tool), the speed and distance of the ball can be increased and the competitiveness can be improved. Conventionally, the athlete has mastered the swing for catching the ball at the sweet spot by repeatedly practicing the swing. However, whether or not the ball hits the sweet spot is left to the subjective judgment of the competitors and coaches, so it may not always be an efficient practice.
On the other hand, as shown in Patent Document 1 below, based on the triaxial angular velocity data acquired by the triaxial angular velocity sensor attached to the golf club, a composite value of the angular velocities around the three axes is calculated, and the composite value is calculated. An apparatus is disclosed in which the timing of impact of a swing is specified by using and the timing of address, finish, etc. is analyzed based on the timing. In such an analysis, parameters for analysis are determined on the assumption that the golf ball is placed on a plane.

Japanese Patent Laid-Open No. 2006-209282

However, the place where the golf club is swung on the golf course varies greatly depending on the ground on which the golf ball flies, such as a bunker, rough, and fairway.
The present invention has been made in view of the above-described problems, and an object of the present invention is to analyze a swing according to the condition of the ground.

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

[Application Example 1]
The motion analysis apparatus according to this application example is a motion analysis apparatus that analyzes a swing using an exercise tool, an acquisition unit that acquires position information and an output of an inertial sensor, and attribute information of the ground surface based on the position information And an analysis unit that analyzes the swing based on an output of the inertial sensor, and the analysis unit determines an analysis method based on attribute information of the ground surface. .

  According to such a configuration, the ground surface attribute information is determined based on the position information, and the analysis method for analyzing the swing based on the output of the inertial sensor is determined based on the ground surface attribute information. The swing can be analyzed in consideration of

[Application Example 2]
In the motion analysis apparatus according to the application example, it is preferable that the inertial sensor outputs at least one of acceleration and angular velocity.

  According to such a configuration, the swing can be analyzed with high accuracy based on acceleration and angular velocity.

[Application Example 3]
In the motion analysis apparatus according to the application example, it is preferable that the position information is calculated based on a satellite signal transmitted from a positioning satellite.

  According to such a configuration, since the position information is calculated based on the satellite signal transmitted from the positioning satellite, it can be calculated with high accuracy.

[Application Example 4]
In the motion analysis apparatus according to the application example described above, it is preferable that the analysis unit determines at least one of an analysis execution and a parameter related to the execution of the analysis based on attribute information of the ground surface.

  According to such a configuration, analysis execution and parameters relating to execution of analysis can be determined according to the attribute information of the ground surface.

[Application Example 5]
In the motion analysis apparatus according to the application example described above, the analysis unit uses at least one of the acceleration and the angular velocity to hit a ball hitting position on the ball hitting surface of the ball hitting portion of the exercise tool, and to the ground of the exercise tool. At least one of the collisions may be analyzed.

[Application Example 6]
In the motion analysis apparatus according to the application example, it is preferable that the determination unit determines attribute information of the ground surface at a position indicated by the position information by referring to map information.

  According to such a configuration, the attribute information of the ground surface at the position indicated by the position information can be accurately determined by referring to the map information.

[Application Example 7]
In the motion analysis apparatus according to the application example, it is preferable that the inertial sensor is attached to a shaft portion of the exercise tool.

  According to such a configuration, the swing of the shaft portion can be accurately analyzed.

[Application Example 8]
The motion analysis apparatus according to the application example described above preferably includes a display unit that displays an analysis result by the analysis unit.

  According to such a structure, the analysis result by an analysis part can be visually recognized on a display part.

[Application Example 9]
In the motion analysis apparatus according to the application example, the exercise tool may be a golf club, and the attribute information on the ground surface may be information indicating any of a bunker, a pond, a rough, a fairway, and a tee green on a golf course. .

[Application Example 10]
The motion analysis system according to this application example is a motion analysis system that analyzes a swing using an exercise tool, an acquisition unit that acquires position information and an output of an inertial sensor, and attribute information on the ground surface based on the position information And an analysis unit that analyzes the swing based on an output of the inertial sensor, and the analysis unit determines an analysis method based on attribute information of the ground surface. .

  According to such a configuration, the ground surface attribute information is determined based on the position information, and the analysis method for analyzing the swing based on the output of the inertial sensor is determined based on the ground surface attribute information. Can be analyzed.

[Application Example 11]
The motion analysis method according to this application example is a motion analysis method for analyzing a swing using an exercise tool, which acquires position information and output of an inertial sensor, and determines attribute information on the ground surface based on the position information. An analysis method for analyzing the swing based on the output of the inertial sensor is determined based on attribute information of the ground surface.

  According to such a configuration, the ground surface attribute information is determined based on the position information, and the analysis method for analyzing the swing based on the output of the inertial sensor is determined based on the ground surface attribute information. Can be analyzed.

The figure which shows the outline | summary of a motion analysis system. The figure which shows the example of mounting | wearing of a sensor unit. The block diagram which shows the structural example of a sensor unit and a motion analysis apparatus. The figure explaining a world coordinate system. The figure explaining a sensor coordinate system. The figure explaining the head of a golf club. The figure explaining the head of a golf club. The figure which shows an example of the angular velocity output from a sensor unit. The figure which shows an example of the norm of angular velocity. The figure which shows an example of the differential value of the norm of angular velocity. The flowchart which shows an example of operation | movement of a motion analysis apparatus. The flowchart which showed the calculation process of a hit ball position. The flowchart which showed the determination process of duff.

  Embodiments of the present invention will be described below with reference to the drawings.

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

  The sensor unit 10 can measure the acceleration generated in each of the three axes and the angular velocity generated around each of the three axes, and is attached to the golf club 3 as an example of an exercise tool as shown in FIG.

  As an inertial sensor, the sensor unit 10 can measure the acceleration generated in each of the three axes and the angular velocity generated around each of the three axes. For example, the sensor unit 10 aligns one of the three detection axes (x-axis, y-axis, z-axis), for example, the y-axis with the long axis direction of the shaft portion 3a, so that the shaft portion 3a ( It is attached to a part of FIG. Desirably, the sensor unit 10 is attached at a position close to a grip portion where a shock during a shot is not easily transmitted and a centrifugal force is not applied during a swing. The shaft portion 3a is a handle portion excluding the head 3b (FIG. 6) of the golf club 3, and includes a grip portion.

  The user 2 performs a swing motion of hitting the golf ball 4 according to a predetermined procedure. For example, the user 2 first holds the golf club 3 and takes an address posture so that the long axis of the shaft portion 3a of the golf club 3 is perpendicular to the target line (for example, the target direction of the hit ball). Stand still for a predetermined time or longer (for example, 1 second or longer). Next, the user 2 performs a swing motion and hits the golf ball 4 to fly. Note that the address posture in this specification includes the posture of the user 2 in a stationary state before starting the swing, or the posture in a state where the user 2 swings the exercise tool before starting the swing.

  While the user 2 performs an action of hitting the golf ball 4 according to the above procedure, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined period (for example, 1 ms), and sequentially measures the measured data. Send to. The sensor unit 10 may transmit the measured data immediately, or store the measured data in the internal memory, and transmit the measured data at a desired timing such as after the end of the swing motion of the user 2. It may be. The communication between the sensor unit 10 and the motion analysis device 20 may be wireless communication or wired communication. Alternatively, the sensor unit 10 may store the measured data in a removable recording medium such as a memory card, and the motion analysis apparatus 20 may read the measurement data from the recording medium.

  The motion analysis apparatus 20 analyzes the swing when the golf ball 4 is hit with the golf club 3 using the data measured by the sensor unit 10, and displays the analysis result on the display unit 25 (FIG. 3).

  The motion analysis apparatus 20 is assumed to be, for example, a high-function mobile phone such as a smartphone, a multi-function mobile terminal such as a personal computer or a tablet PC (PC: Personal Computer). Note that the motion analysis apparatus 20 may be mounted on the waist of the user 2 or may be installed at a position that can be viewed from the user 2 performing the swing.

  FIG. 3 is a block diagram illustrating a configuration example of the sensor unit 10 and the motion analysis apparatus 20.

  The sensor unit 10 includes a signal processing unit 16, a communication unit 18, an acceleration sensor 12 (an example of an inertia sensor), and an angular velocity sensor 14 (an example of an inertia sensor).

  The acceleration sensor 12 measures acceleration generated in each of three axis directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the measured three axis acceleration. .

  The angular velocity sensor 14 measures an angular velocity generated around each of three axes that intersect each other (ideally orthogonal), and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three-axis angular velocity. Output.

  The signal processing unit 16 controls the sensor unit 10 in an integrated manner. The signal processing unit 16 has a function of receiving acceleration data and angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, and storing them with time information. Further, the signal processing unit 16 attaches time information to the stored measurement data (acceleration data and angular velocity data), generates packet data that matches the communication format, and outputs the packet data to the communication unit 18.

  The acceleration sensor 12 and the angular velocity sensor 14 each have three axes that coincide with the three axes (x axis, y axis, z axis) of the orthogonal coordinate system (sensor coordinate system) defined for the sensor unit 10. Although it is ideal to be attached to the unit 10, an error in the attachment angle actually occurs. Therefore, the signal processing unit 16 performs a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system using a correction parameter calculated in advance according to the attachment angle error.

  Further, the signal processing unit 16 may perform temperature correction processing of the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, a temperature correction function may be incorporated in the acceleration sensor 12 and the angular velocity sensor 14.

  The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals. In this case, the signal processing unit 16 converts the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14 to A / Measurement data (acceleration data and angular velocity data) may be generated by D (analog / digital) conversion, and packet data for communication may be generated using these.

  The communication unit 18 performs processing for transmitting the packet data received from the signal processing unit 16 to the motion analysis device 20, processing for receiving a control command from the motion analysis device 20 and sending it to the signal processing unit 16, and the like. The signal processing unit 16 performs various processes according to the control command.

  The motion analysis apparatus 20 includes a processing unit 21, a communication unit 22, an operation unit 23, a storage unit 24, a display unit 25, a sound output unit 26, and a position detection unit 27.

  The communication unit 22 receives the packet data transmitted from the sensor unit 10 and performs processing for sending the packet data to the processing unit 21, processing for transmitting a control command from the processing unit 21 to the sensor unit 10, and the like.

  The operation unit 23 performs a process of acquiring operation data from the user 2 and sending it to the processing unit 21. The operation unit 23 may be, for example, a touch panel display, buttons, keys, a microphone, or the like.

  The storage unit 24 includes, for example, various IC memories such as a ROM (Read Only Memory), a flash ROM, and a RAM (Random Access Memory), a recording medium such as a hard disk and a memory card, and the like.

The storage unit 24 stores programs for the processing unit 21 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like. The storage unit 24 stores a motion analysis program that is read by the processing unit 21 and that executes a motion analysis process (an example of a motion analysis method). The motion analysis program may be stored in advance in a nonvolatile recording medium, or the processing unit 21 may receive the motion analysis program from the server device 30 via the network 40 and store the motion analysis program in the storage unit 24.
The storage unit 24 is used as a work area of the processing unit 21, and temporarily stores data input from the operation unit 23, calculation results executed by the processing unit 21 according to various programs, and the like. Furthermore, the memory | storage part 24 may memorize | store the data which require long-term preservation | save among the data produced | generated by the process of the process part 21. FIG.

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

  The display unit 25 displays the processing results of the processing unit 21 as characters, graphs, tables, animations, and other images. The display unit 25 is, for example, a CRT (Cathode-Ray Tube) display, an LCD (Liquid Crystal Display), an EPD (Electrophoretic Display), a display using an organic light emitting diode (OLED), a touch panel display, or an HMD (head mounted display). It may be. In addition, you may make it implement | achieve the function of the operation part 23 and the display part 25 with one touchscreen type display.

The sound output unit 26 outputs the processing result of the processing unit 21 as sound such as sound or buzzer sound. The sound output unit 26 may be, for example, a speaker or a buzzer.
The position detector 27 detects position information regarding the position where the motion analysis device 20 is located. As a method of detecting position information, 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 can be employed.
The position detection unit 27 receives, for example, GPS signals transmitted from four GPS satellites whose positions in the orbit are known, and based on the propagation time required from when the GPS signal is transmitted until it is received. The current position is calculated.

In addition, as a method for detecting information related to the position, a method based on position information obtained from a WiFi (registered trademark) access point can be assumed.
When the position detection unit 27 receives a radio signal transmitted from an access point that is located on a golf course and has a known position, the position detection unit 27 uses the directivity of the antenna by applying a beam forming technique. Specify the direction.
Further, the position detection unit 27 applies the Chronos technique to the radio signal transmitted from the access point, and calculates the distance from the access point. The position detector 27 can detect the current position based on the direction and distance from the access point.

Information on the position detected by the position detection unit 27 is sent to the sensor information acquisition unit 210 of the processing unit 21.
In the present embodiment, the position detection unit 27 is assumed to be built in the motion analysis apparatus 20, but is not limited thereto.
For example, a mode in which the position detection unit 27 is provided in the wristwatch type information terminal device or the sensor unit 10 and is transmitted to the motion analysis device 20 via short-range wireless communication can be assumed.

  The processing unit 21 performs processing for transmitting a control command to the sensor unit 10 according to various programs, various calculation processing for data received from the sensor unit 10 via the communication unit 22, and various other control processing. In particular, in the present embodiment, the processing unit 21 functions as a sensor information acquisition unit 210, a motion analysis unit 211, an image generation unit 213, an output processing unit 214, and a ground attribute analysis unit 215 by executing a motion analysis program. .

  The processing unit 21 connects, for example, a central processing unit (CPU) that is an arithmetic device, a random access memory (RAM) that is a volatile storage device, a ROM that is a nonvolatile storage device, and the processing unit 21 and other units. It may be realized by a computer including an interface (I / F) circuit to be connected, a bus for connecting these to each other, and the like. The computer may include various dedicated processing circuits such as an image processing circuit. The processing unit 21 may be realized by an ASIC (Application Specific Integrated Circuit) or the like.

The sensor information acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22, and acquires time information and measurement data from the received packet data (an example of an acquisition step). The acquired measurement data includes an angular velocity around the major axis of the shaft portion 3a of the golf club 3 generated by the swing of the user 2. Further, the sensor information acquisition unit 210 stores the acquired time information and measurement data in the storage unit 24 in association with each other.
In addition, the sensor information acquisition unit 210 sends information regarding the position sent from the position detection unit 27 to the ground attribute analysis unit 215.

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

  The image generation unit 213 performs processing for generating image data including information to be displayed on the display unit 25.

  The output processing unit 214 performs processing for causing the display unit 25 to display various images (including characters and symbols in addition to images corresponding to the image data generated by the image generation unit 213). For example, the output processing unit 214 displays an image corresponding to the image data generated by the image generation unit 213 on the display unit 25 automatically after the swing of the user 2 ends or according to the input operation of the user 2. Let Alternatively, a display unit is provided in the sensor unit 10, and the output processing unit 214 transmits image data to the sensor unit 10 via the communication unit 22 to display various images on the display unit of the sensor unit 10. Also good.

  Further, the output processing unit 214 performs processing for causing the sound output unit 26 to output various sounds (including sound and buzzer sound). For example, the output processing unit 214 reads out various types of information stored in the storage unit 24 and outputs a sound automatically or after a predetermined input operation is performed after the user 2 swings. You may make the part 26 output the sound and audio | voice for motion analysis. Alternatively, a sound output unit is provided in the sensor unit 10, and the output processing unit 214 transmits various sound data and sound data to the sensor unit 10 via the communication unit 22, and transmits the sound data to the sound output unit of the sensor unit 10. Various sounds and sounds may be output.

Note that a vibration mechanism may be provided in the motion analysis device 20 or the sensor unit 10, and various information may be converted into vibration information by the vibration mechanism and presented to the user 2.
The ground attribute analysis unit 215 acquires the attribute of the ground surface at the position where the motion analysis device 20 is located based on the information regarding the position detected by the position detection unit 27. The ground surface attribute analysis unit 215 corresponds to a determination unit that determines ground surface attribute information.
For example, when the user 2 carries the motion analysis device 20 and is playing golf on a predetermined golf course, the ground surface attribute analysis unit 215 has a land surface attribute to be hit, that is, the location of the golf ball 4 is a bunker, pond Analyze whether it is rough, fairway or tea green.

In the present embodiment, the ground surface attribute analysis unit 215 acquires and analyzes ground surface information by communicating with the external server device 30 via the network 40 via the communication unit 22. The external server device 30 has a service for holding detailed map information regarding the golf course that the user 2 is rounding, and providing the course information at the location when the location information is received from the motion analysis device 20. ing.
Information regarding the attributes of the ground surface analyzed by the ground surface attribute analysis unit 215 is sent to the motion analysis unit 211.
<Coordinate system>
The motion analysis unit 211 defines a world coordinate system fixed to the ground as shown in FIG. The world coordinate system is used, for example, to represent the trajectory of the golf club 3. As shown in FIG. 4, the origin of the world coordinate system is set to the position of the hitting part (head) 3b (FIG. 6) when the user 2 takes the address posture, and the Z axis of the world coordinate system is the antigravity direction. (Vertically upward), the X axis of the world coordinate system is set to the target direction (hit line direction) of the hit ball, and the Y axis of the world coordinate system is set to a direction orthogonal to the XZ plane. Incidentally, the world coordinate system of FIG. 4 is a right-handed system.

  Further, the motion analysis unit 211 defines a sensor coordinate system fixed to the golf club 3 as shown in FIG. The sensor coordinate system is used, for example, to express the speed, acceleration, and angular velocity of the golf club 3. As shown in FIG. 5, the origin of the sensor coordinate system is set to the position of the sensor unit 10, the y axis of the sensor coordinate system is set to the long axis direction of the shaft portion 3a, and the x axis of the sensor coordinate system is the hit ball The z axis of the sensor coordinate system is set in a direction perpendicular to the xy plane. The positive direction of the y-axis is a direction from the grip portion toward the hitting ball portion (head) 3b. Incidentally, the sensor coordinate system of FIG. 5 is a right-handed system.

  The motion analysis unit 211 defines the face coordinate system as shown in FIGS. The face coordinate system is used, for example, to represent the hitting ball position on the hitting surface (face surface) 3c of the hitting ball part (head) 3b.

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

  The portion of the hitting ball portion (head) 3b close to the shaft portion 3a is called “heel”, and the portion of the hitting ball portion (head) 3b away from the shaft portion 3a is called “toe”. being called. Also, the portion of the hitting ball portion (head) 3b in the address posture that is close to the ground is called “sole (sole)”, and the portion of the hitting ball portion (head) 3b that is away from the ground is “crown (top)”. being called.

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

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

In the present embodiment, a region of v> 0 in the hitting surface (face surface) 3c is referred to as “crown side”, and a region of v <0 in the hitting surface (face surface) 3c is referred to as “sole side”. A region of h> 0 in the surface (face surface) 3c is referred to as “heel side”, and a region of h <0 in the hitting surface (face surface) 3c is referred to as “toe side”. In the following, the h-axis direction is referred to as “horizontal direction”, and the v-axis direction is referred to as “vertical direction” (the h-axis may be slightly deviated from the direction along the actual horizontal plane, The v-axis and the h-axis do not have to be completely orthogonal to each other.
Note that the shape of the hitting portion (head) 3 b of the golf club 3 is determined by the specifications of the golf club 3. The shape of the hit ball portion (head) 3b can be substantially specified by the lie angle and the loft angle.

  The lie angle of the golf club 3 is such that the ground line and the center line (long axis) of the shaft portion 3a when the sole of the hitting ball portion (head) 3b contacts the ground, as shown by a partial arc-shaped arrow in FIG. The golf club 3 has a loft angle, as shown by a partial arc-shaped arrow in FIG. 7, and the center line (long axis) of the shaft portion 3a of the hit ball portion (head) 3b and the hit ball surface (face surface) 3c. Is the angle formed by

<Processing of motion analysis unit>
The motion analysis unit 211 first calculates the offset amount included in the measurement data using the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 when the user 2 is stationary (at the time of addressing). . Next, the motion analysis unit 211 performs bias correction by subtracting the offset amount from the measurement data after the start of the swing stored in the storage unit 24, and the user 2 is performing the swing operation using the measurement data corrected for bias. The position and orientation of the sensor unit 10 are calculated.

  For example, the motion analysis unit 211 uses the acceleration data measured by the acceleration sensor 12, the club specification information, and the sensor mounting position information, for example, an XYZ coordinate system (for example, a ball hitting unit (head) when the user 2 is stationary (addressing)). User 2 in a coordinate system (hereinafter also referred to as a global coordinate system) in which the position 3b is the origin, the target direction of the hit ball is the X axis, the axis on the horizontal plane perpendicular to the X axis is the Y axis, and the vertical direction is the Z axis. The position (initial position) of the sensor unit 10 at a stationary time is calculated, and the subsequent acceleration data is integrated to calculate a change in position from the initial position of the sensor unit 10 in time series. Since the user 2 stops at a predetermined address posture, the X coordinate of the initial position of the sensor unit 10 is zero.

  Further, the y-axis of the sensor unit 10 coincides with the long axis direction of the shaft of the golf club 3, and when the user 2 is stationary, the acceleration sensor 12 measures only the gravitational acceleration. Can be used to calculate the tilt angle of the shaft (tilt with respect to the horizontal plane (XY plane) or vertical plane (XZ plane)). Then, the motion analysis unit 211 uses the tilt angle of the shaft, club specification information (shaft length), and sensor mounting position information (distance from the grip end) to determine the Y coordinate and Z coordinate of the initial position of the sensor unit 10. And the initial position of the sensor unit 10 can be specified. Alternatively, the motion analysis unit 211 may calculate the coordinates of the initial position of the sensor unit 10 using the coordinates of the position of the grip end of the golf club 3 and the sensor mounting position information (distance from the grip end).

In addition, the motion analysis unit 211 uses the acceleration data measured by the acceleration sensor 12 to calculate the posture (initial posture) of the sensor unit 10 when the user 2 is stationary (addressing) in the XYZ coordinate system (global coordinate system). Then, the rotation calculation using the angular velocity data measured by the angular velocity sensor 14 is performed, and the change in posture of the sensor unit 10 from the initial posture is calculated in time series. The attitude of the sensor unit 10 can be expressed by, for example, rotation angles (roll angle, pitch angle, yaw angle) around the X axis, Y axis, and Z axis, Euler angles, and quarter-on (quaternion). .
Since the acceleration sensor 12 measures only gravitational acceleration when the user 2 is stationary, the motion analysis unit 211 uses the triaxial acceleration data to determine each of the x-axis, y-axis, and z-axis of the sensor unit 10 and the direction of gravity. The angle formed by can be specified. Furthermore, since the user 2 stops at a predetermined address posture, the motion analysis unit 211 identifies the initial posture of the sensor unit 10 because the y axis of the sensor unit 10 is on the YZ plane when the user 2 is stationary. be able to.

  The signal processing unit 16 of the sensor unit 10 may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 12 and the angular velocity sensor 14 may incorporate a bias correction function. It may be. In these cases, bias correction of measurement data by the motion analysis unit 211 is not necessary.

  The motion analysis unit 211 also includes body information (height of the user 2 (arm length)), club specification information (shaft length and center of gravity position), sensor mounting position information (distance from the grip end), golf club 3) A motion analysis model (double pendulum model, etc.) that takes into account the characteristics of 3 (such as a rigid body) and the characteristics of the human body (such as the direction in which the joint bends) is defined. The trajectory of the golf club 3 in the swing of the user 2 is calculated using the information on the position and orientation of 10.

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

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

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

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

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

The motion analysis unit 211 detects the impact timing in the swing using the calculated norm of the angular velocity. For example, the motion analysis unit 211 detects the timing at which the norm of the angular velocity is maximum as the impact timing (reference T5). Alternatively, for example, the motion analysis unit 211 may detect the previous timing as the impact timing among the timing at which the calculated differential value of the norm of the angular velocity is maximized and minimized (reference T5). ).
In the present embodiment, the timing at which the norm difference becomes equal to or greater than the integrated value of the peak difference MaxVal described later and the threshold Th may be detected as the impact timing.

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

  In addition, the motion analysis unit 211 detects, for example, the timing at which the norm of the angular velocity is equal to or lower than the second threshold before the top as the swing start timing (symbol T1).

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

As described above, the motion analysis unit 211 can detect the rhythm of the swing. In addition, the motion analysis unit 211 detects each rhythm to detect each period during the swing (for example, a backswing period from the start of the swing to the top start, a downswing period from the top end to the impact, and from the impact to the end of the swing. Follow-through period) can be specified.
Further, the motion analysis unit 211 can analyze a hit ball (hit ball position, hit direction, hit ball information related to hit ball accuracy) on the golf ball 4 based on information on acceleration and angular velocity in a predetermined period during the swing. In the present embodiment, the calculation of the hitting position on the hitting surface (face surface) 3c of the hitting part (head) 3b of the golf club 3 and the hitting part (head) 3b of the golf club 3 collide with the ground before impact. Analyze the occurrence of the phenomenon (duffle).
When analyzing the swing, the motion analysis unit 211 refers to the information regarding the attribute of the ground surface analyzed by the ground surface attribute analysis unit 215 and determines a processing method to be analyzed.

<Swing analysis processing>
FIG. 11 is a flowchart showing an example of a motion analysis method by the motion analysis device 20.
For example, when the user 2 starts golf play on the golf course, the processing unit 21 of the motion analysis apparatus 20 executes the processing of the flowchart of FIG.
First, the processing unit 21 acquires position information where the user 2 is located (step S100).
Next, the processing unit 21 acquires information regarding the attribute of the ground surface at the place in the acquired position information (step S102).

Next, the processing unit 21 sets an analysis parameter based on information on the attribute of the ground surface (step S104).
In the present embodiment, the ground surface attribute parameter X and the threshold Th are assumed as analysis parameters.
The attribute parameter X of the ground surface indicates bunker, pond, rough, fairway, tea green and the like. For example, when the attribute parameter X of the ground surface indicates a bunker, the threshold Th is set to 0.1. Further, when the attribute parameter X of the ground surface indicates rough, 0.2 is set, and 0.3 is set for other than the bunker and rough, that is, fairway and tee green. Moreover, you may set the parameter based on the inclination of a ground surface as an analysis parameter.
Next, the processing unit 21 analyzes the swing (step S110).
In this embodiment, as the swing analysis, calculation of a hit ball position and analysis of occurrence of duff are assumed, but the present invention is not limited to these.

<Calculation method of hitting ball position>
The motion analysis unit 211 uses the information on the angular velocity generated in the shaft portion 3a of the golf club 3 due to impact (hit ball) and the information on the acceleration generated in the shaft portion 3a of the golf club 3 due to impact. The hitting position on the hitting surface (face surface) 3c of the hitting ball part (head) 3b is calculated.
FIG. 12 is a flowchart showing the calculation process of the hit ball position.
When the calculation of the hit ball position is started, the processing unit 21 determines whether or not the ground surface is a bunker from the ground surface attribute parameter X (step S120).
Here, when it is determined that the ground surface is a bunker (Yes in step S120), the hitting position is not calculated, and the process ends.
On the other hand, if it is determined that the ground surface is not a bunker (No in step S120), the processing unit 21 detects a base point (step S122).

In the present embodiment, the motion analysis unit 211 calculates the difference (displacement) in the y-axis direction acceleration included in the measurement data for each sampling point, and sets the sampling point (timing) at which the absolute value of the difference is maximum to the peak position. It is defined as MaxIndex, and the difference (displacement) at the peak position MaxIndex is calculated as the peak difference MaxVal.
Furthermore, the motion analysis unit 211 refers to the difference between a plurality of samples before the peak position MaxIndex, and detects the sampling point (timing) that first reaches the value obtained by adding the threshold value Th to the peak value MaxVal as the base point BaseIndex. To do.
Next, the processing unit 21 determines in the horizontal direction (step S124).
In this embodiment, the motion analysis unit 211 determines the hitting ball position and reliability A in the horizontal direction (h-axis direction) of the hitting surface (face surface) 3c, the angular velocity around the y-axis of the golf club 3, and the acceleration in the x-axis direction. Calculate based on The reliability A is an index representing the high calculation accuracy of the hit ball position in the horizontal direction.

Next, the processing unit 21 determines in the vertical direction (step S126).
In the present embodiment, the motion analysis unit 211 determines the hitting ball position and reliability B in the vertical direction (v-axis direction) of the hitting surface (face surface) 3c, the angular velocity around the z-axis of the golf club 3, and the acceleration in the x-axis direction. Calculate based on The reliability B is an index representing the high accuracy of calculating the hitting ball position in the vertical direction.
Next, the processing unit 21 calculates a total reliability (step S128).

In the present embodiment, the motion analysis unit 211 calculates the total reliability of the hit ball position by calculating the added value of the reliability A of the determination in the horizontal direction and the reliability B of the determination in the vertical direction.
Next, the processing unit 21 outputs a determination result including the hitting position in the horizontal direction, the hitting position in the vertical direction, the reliability, and the like to the user 2 and ends the process (step S130).
The determination result is output, for example, by displaying an image on the display unit 25 (the image includes a character image, a pattern, a mark, an icon, flashing light, etc.), and outputting a sound from the sound output unit 26 (the sound includes: Sound, alarm sound, buzzer sound, vibration, etc.).

<Diffusion occurrence analysis method>
The motion analysis unit 211 determines whether the first peak generated after the base point is a negative peak or a positive peak based on the temporal change in acceleration in the y-axis direction after the base point. If it is determined that there is a duff on the swing, and if it is a positive peak, it is determined that no duff has occurred on the swing. In order to determine whether the peak is positive or negative, it can be simply determined whether or not the acceleration after the base point has decreased to the negative side.
FIG. 13 is a flowchart showing a duffing determination process.
When analysis of occurrence of duffing is started, the processing unit 21 detects a base point (step S140).
In the present embodiment, the motion analysis unit 211 calculates the difference (displacement) in the y-axis direction acceleration included in the measurement data for each sampling point, and sets the sampling point (timing) at which the absolute value of the difference is maximum to the peak position. It is defined as MaxIndex, and the difference (displacement) at the peak position MaxIndex is calculated as the peak difference MaxVal.

Furthermore, the motion analysis unit 211 refers to the difference between a plurality of samples before the peak position MaxIndex, and detects the sampling point (timing) that first reaches the value obtained by adding the threshold value Th to the peak value MaxVal as the base point BaseIndex. To do.
Next, the processing unit 21 determines a duff (step S142).

  In the present embodiment, the motion analysis unit 211 calculates an acceleration decrease amount based on the acceleration value at the base point for each of a predetermined number (for example, four) of sampling points after the base point in the acceleration data in the y-axis direction. Then, the sum of these reduction amounts is calculated as the feature amount AY. Then, the motion analysis unit 211 determines whether or not the feature amount AY exceeds a threshold value Th defined by the attribute parameter X of the ground surface. If the feature amount AY exceeds the threshold value Th, the motion analysis unit 211 determines that duff has occurred. It is determined that no duff has occurred.

Next, the processing unit 21 outputs the above determination result, that is, the result of the duffing process to the user 2 (step S144), and ends the process.
The output of this result is, for example, an image display on the display unit 25 (the image includes a character image, a pattern, a mark, an icon, light flashing, etc.), and an audio output from the sound output unit 26 (the audio includes Sound, alarm sound, buzzer sound, vibration, etc.).

According to the embodiment described above, the following effects can be obtained.
(1) The attribute of the ground surface on which the golf ball 4 is placed is determined based on the position information, and an analysis method for analyzing the swing of the golf club 3 from the output signal of the sensor unit 10 is determined according to the attribute of the ground surface. Therefore, the swing can be analyzed considering the attributes of the ground surface.
(2) The swing of the golf club 3 can be accurately analyzed based on the acceleration data and angular velocity data output from the sensor unit 10.
(3) The position information can be accurately calculated based on the satellite signal transmitted from the GPS satellite.
(4) Execution of analysis and parameters relating to execution of analysis can be determined according to the attributes of the ground surface.
(5) By referring to the map information, the attribute of the ground surface at the position indicated by the position information can be accurately determined.

(6) Since the sensor unit 10 is attached to the shaft portion 3a of the golf club 3, the swing of the shaft portion 3a can be analyzed accurately.
(7) Since the analysis result is displayed on the display unit 25, the user 2 can visually recognize the analysis result.
As mentioned above, although this invention was demonstrated based on embodiment shown in figure, this invention is not limited to this embodiment, The modification as described below can also be assumed.
The golf club 3 as an exercise tool may be a driver, an iron, or a putter.
In the case of a putter, the suitability of the putter may be determined from the attribute information at the time of hitting such as the tilt, the distance to the cup, and the strength of hitting detected by the sensor unit 10.

In the present embodiment, the motion analysis system 1 that analyzes a golf swing is taken as an example, but the present invention is also applicable to other exercise tools that hit a ball placed on the ground, such as a hockey stick. Can do.
Moreover, the apparatus which implements the above methods may be realized by a single apparatus or may be realized by combining a plurality of apparatuses, and includes various aspects.
Each functional unit of the processing unit 21 illustrated in FIG. 3 indicates a functional configuration realized by cooperation of hardware and software, and a specific mounting form is not particularly limited. Therefore, it is not always necessary to mount hardware corresponding to each function unit individually, and it is of course possible to realize a function of a plurality of function units by one processor executing a program. In addition, in the above embodiment, 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.

  DESCRIPTION OF SYMBOLS 1 ... Motion analysis system, 2 ... User, 3 ... Golf club, 3a ... Shaft part, 3b ... Head, 3c ... Face surface, 4 ... Golf ball, 10 ... Sensor unit, 12 ... Acceleration sensor, 14 ... Angular velocity sensor, 16 Signal processing unit, 18 communication unit, 20 motion analysis apparatus, 21 processing unit, 22 communication unit, 23 operation unit, 24 storage unit, 25 display unit, 26 sound output unit, 27 position Detection unit, 30 ... server device, 40 ... network, 210 ... sensor information acquisition unit, 211 ... motion analysis unit, 213 ... image generation unit, 214 ... output processing unit, 215 ... ground attribute analysis unit.

Claims (11)

A motion analysis device for analyzing a swing using an exercise tool,
An acquisition unit for acquiring position information and output of the inertial sensor;
A determination unit for determining attribute information of the ground surface based on the position information;
An analysis unit that analyzes the swing based on an output of the inertial sensor,
The motion analysis apparatus, wherein the analysis unit determines an analysis method based on attribute information of the ground surface. The motion analysis apparatus according to claim 1,
The inertial sensor outputs at least one of acceleration and angular velocity. The motion analysis apparatus according to claim 1,
The motion analysis apparatus characterized in that the position information is calculated based on a satellite signal transmitted from a positioning satellite. The motion analysis apparatus according to any one of claims 1 to 3,
The motion analysis device, wherein the analysis unit determines at least one of an analysis execution and a parameter related to the execution of the analysis based on attribute information of the ground surface. The motion analysis apparatus according to any one of claims 2 to 4,
The analysis unit uses at least one of the acceleration and the angular velocity to analyze at least one of a hitting position on a hitting surface of the hitting part of the exercise tool and a collision of the exercise tool with the ground. Characteristic motion analysis device. The motion analysis apparatus according to any one of claims 1 to 4,
The determination unit determines attribute information of the ground surface at a position indicated by the position information by referring to map information. The motion analysis apparatus according to any one of claims 1 to 6,
The inertial sensor is attached to a shaft portion of the exercise tool. The motion analysis apparatus according to any one of claims 1 to 7,
A motion analysis apparatus comprising a display unit for displaying an analysis result by the analysis unit. The motion analysis apparatus according to any one of claims 1 to 7,
The exercise equipment is a golf club;
The ground surface attribute information is information indicating any of a bunker, a pond, a rough, a fairway, and a tee green on a golf course. A motion analysis system for analyzing a swing using exercise equipment,
An acquisition unit for acquiring position information and output of the inertial sensor;
A determination unit for determining attribute information of the ground surface based on the position information;
An analysis unit that analyzes the swing based on an output of the inertial sensor,
The motion analysis system, wherein the analysis unit determines an analysis method based on attribute information of the ground surface. A motion analysis method for analyzing a swing using exercise equipment,
Get position information and inertial sensor output,
Determine the attribute information of the ground surface based on the position information,
A motion analysis method, wherein an analysis method for analyzing the swing based on an output of the inertial sensor is determined based on attribute information of the ground surface.

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