JP2017012586A - Swing data arithmetic device, swing data arithmetic system, swing data arithmetic method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a swing data arithmetic system capable of executing swing analysis without stopping an operation of a user before starting the swing.SOLUTION: A swing data arithmetic device 2 includes: a data acquisition part 200 for acquiring measurement data of an inertia amount generated according to an exercise including swing; determination part 201 for determining swing data related to the swing on the basis of the measurement data; a reference setup part 202 for setting a reference for calculating the swing data on the basis of measurement data for a prescribed period before starting a period related to the swing data; and a swing arithmetic part 203 for calculating the swing data on the basis of the reference.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a swing data calculation device, a swing data calculation system, a swing data calculation method, and a program.

  Patent Document 1 describes a swing evaluation support device that generates evaluation information related to a swing of a golf club using the output of a gyro sensor attached to the golf club.

JP 2008-73210 A

  By the way, a swing analysis device using an inertial sensor such as an acceleration sensor or an angular velocity sensor calculates a speed, an angle, a position, and the like by integrating output values of acceleration and angular velocity, and obtains a head speed and a swing locus based on these. be able to. Here, since the measurement error component is included in the output values of acceleration and angular velocity, the error is accumulated (superimposed) by the integration calculation. Therefore, in general, the user stops the motion before starting the swing so that the zero point bias of the inertial sensor can be specified. Then, by correcting the output value of the inertial sensor during the swing operation period based on the identified zero point bias, more accurate analysis can be performed.

  However, the swing analysis apparatus as described above is not convenient because the user needs to stop the operation before starting the swing. In addition, once the operation is stopped before the start of the swing, the user may not be able to swing as usual, and in this case, the desired analysis result cannot be obtained.

  Therefore, an object of the present invention is to make it possible to perform a swing analysis without stopping a user's movement before starting a swing.

  One aspect of the present invention that solves the above problem is a swing data calculation device, which is a data acquisition unit that acquires measurement data of an inertia amount generated according to a motion including a swing, and the measurement data based on the measurement data. A determination unit that determines swing data related to a swing; a reference setting unit that sets a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data; and And a swing calculator for calculating the swing data based on the swing data. Thereby, even when the user does not stop the operation before the start of the swing, the swing analysis can be performed with high accuracy.

  In the swing data calculation device, the reference may include a reference value for correcting the swing data, and the swing calculation unit may correct the swing data based on the reference value. Thereby, even when the user's movement before the start of the swing is different each time, the measurement error component corresponding to the movement can be reduced and the swing analysis can be performed with high accuracy.

  In the swing data calculation device, the reference may include a reference position serving as a base point of the swing, and the swing calculation unit may calculate the swing data based on the reference position. Thereby, even when the user's movement before the start of the swing is different each time, it is possible to set the reference position according to the movement and perform the swing analysis with high accuracy.

  In the swing data calculation apparatus, the reference may include a reference posture serving as a base point of the swing, and the swing calculation unit may calculate the swing data based on the reference posture. Thereby, even when the user's movement before the start of the swing is different every time, the reference posture corresponding to the movement can be set and the swing analysis can be performed with high accuracy.

  In the swing data calculation apparatus, the reference setting unit may specify characteristics of the measurement data for the predetermined period and set a reference according to the characteristics. Thereby, even when the user's movement before the start of the swing is different every time, the reference can be set with high accuracy.

  In the swing data calculation device, the characteristic may be a function or a value range representing a time-series change pattern of measurement data in the predetermined period. Thereby, the characteristic according to a user's movement can be specified based on measurement data.

  In the swing data calculation device, the reference setting unit sets, as the reference value, an average value of the measurement data for the predetermined period or an average value of data for the period in which the characteristic of the measurement data for the predetermined period appears. Also good. Thereby, the dispersion | variation in the reference value of each swing can be reduced.

  In the swing data calculation device, the determination unit determines an impact, a top period, and a backswing period, which are events during the swing, based on an angular velocity included in the measurement data, and starts the backswing period. The timing may be determined as the start timing of the period related to the swing data. Thereby, for example, when a backswing is clearly captured like a golf swing, the start timing of the swing can be accurately determined.

  In the swing data calculation device, the determination unit determines an impact that is an event during the swing and a top period based on an angular velocity included in the measurement data, and determines a start timing of the top period as the swing data. You may determine as the start timing of the period which concerns. Thereby, even when the backswing does not appear clearly as in baseball, for example, the start timing of the swing can be accurately determined.

  The swing data calculation device may include an output unit that notifies a user of the start of the swing. Thereby, the user can know the timing of the swing, and can swing as usual without stopping.

  Another aspect of the present invention that solves the above problem is a swing data calculation system that measures an inertia amount generated according to a motion including a swing, and outputs the measurement data as an inertia sensor. A data acquisition unit that acquires from the inertial sensor; a determination unit that determines swing data related to the swing based on the measurement data; and the swing based on measurement data for a predetermined period before the start of the period related to the swing data. A reference setting unit that sets a reference for calculating data; and a swing calculation unit that calculates the swing data based on the reference. Thereby, even when the user does not stop the operation before the start of the swing, the swing analysis can be performed with high accuracy.

  Still another aspect of the present invention that solves the above problem is a swing data calculation method, a step of acquiring measurement data of an inertia amount generated according to a motion including a swing from an inertia sensor, and the measurement data Determining swing data related to the swing based on the step, setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data, and the reference And calculating the swing data based on. Thereby, even when the user does not stop the operation before the start of the swing, the swing analysis can be performed with high accuracy.

  Still another aspect of the present invention that solves the above problem is a program, the procedure for acquiring measurement data of an inertia amount generated according to an exercise including a swing from an inertial sensor, and the above-described measurement based on the measurement data A procedure for determining swing data related to a swing; a procedure for setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data; and And causing a computer to execute a procedure for calculating swing data. Thereby, even when the user does not stop the operation before the start of the swing, the swing analysis can be performed with high accuracy.

It is a figure which shows an example of the system configuration | structure of the swing data calculating system which concerns on one Embodiment of this invention. It is a block diagram which shows an example of a function structure of a swing data calculating system. It is a figure which shows an example of the angular velocity output from the sensor with which the golf club was mounted | worn. It is a figure which shows an example of the norm of angular velocity. It is a figure which shows an example of the differentiation of the norm of angular velocity. It is a figure which shows an example of the relationship between an XYZ coordinate system and a golf club. It is a figure which shows an example of an angular velocity when a user does not stop before a swing start. It is a figure which shows an example of the data structure of operation | movement pattern information. It is a flowchart which shows an example of a swing data calculation process.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, the description will focus on golf swings, but other sports swings will be described as appropriate.

  FIG. 1 is a diagram showing an example of a system configuration of a swing data calculation system according to an embodiment of the present invention.

  The swing data calculation system includes a sensor unit 1 and a swing data calculation device 2. The sensor unit 1 and the swing data calculation device 2 can communicate with each other by wireless communication or wired communication. FIG. 1 shows a golf club (corresponding to the exercise apparatus of the present invention) C and a user U swinging it.

  The sensor unit 1 includes an inertial sensor, and measures accelerations in the directions of the three axes that are substantially orthogonal to each other and angular velocities generated around the axes of the three axes as inertia amounts. For example, the sensor unit 1 aligns the y-axis of the three detection axes of the x-axis, the y-axis, and the z-axis with the major axis direction of the shaft of the golf club C, and forms a part of the shaft of the golf club C. The acceleration in the three-axis direction generated by the movement of the golf club C including the movement accompanying the swing and the angular velocity around each of the three axes is measured. The sensor unit 1 transmits the measured acceleration and angular velocity (hereinafter also referred to as measurement data) to the swing data calculation device 2.

  The swing data calculation device 2 is a terminal device such as a smartphone or a personal computer. In the example of FIG. 1, the swing data calculation device 2 is a smartphone and is mounted on the waist of the user U.

  The swing data calculation device 2 receives the measurement data transmitted from the sensor unit 1 and performs a calculation by using the measurement data (swing data) related to the swing of the golf club C included in the received measurement data, thereby performing golf. Analyze the swing motion of Club C. For example, the swing data calculation device 2 specifies the locus of the head of the golf club C by analyzing the swing motion.

  In FIG. 1, the sensor unit 1 is mounted on the golf club C, but may be mounted on a part of the body of the user U. For example, the sensor unit 1 may be mounted on the arm portion of the user U, and may measure acceleration and angular velocity generated by the movement of the user U arm portion.

  FIG. 2 is a block diagram illustrating an example of a functional configuration of the swing data calculation system.

  The sensor unit 1 includes a control unit 10, a communication unit 11, an acceleration sensor 12, and an angular velocity sensor 13.

  The control unit 10 controls the sensor unit 1 in an integrated manner. The control unit 10 receives measurement data (acceleration data and angular velocity data) from each of the acceleration sensor 12 and the angular velocity sensor 13, adds a measurement time to the received measurement data, and outputs the measurement data to the communication unit 11.

  The communication unit 11 transmits measurement data (including measurement time) output from the control unit 10 to the swing data calculation device 2. Further, the communication unit 11 receives a control command from the swing data calculation device 2 and outputs the received control command to the control unit 10. The control unit 10 performs various processes according to the control command.

  The acceleration sensor 12 measures acceleration generated in each of the three axial directions that are substantially orthogonal. The acceleration sensor 12 outputs the measured acceleration to the control unit 10 as a digital signal, for example.

  The angular velocity sensor 13 measures an angular velocity generated around each of the three axes that are substantially orthogonal. The angular velocity sensor 13 outputs the measured angular velocity to the control unit 10 as a digital signal, for example.

  The swing data calculation device 2 includes a control unit 20, a communication unit 21, a storage unit 22, an operation unit 23, a display unit 24, an audio output unit 25, and a communication unit 26.

  The communication unit 21 receives measurement data transmitted from the sensor unit 1. Further, the communication unit 21 outputs the received measurement data to the control unit 20. In addition, the communication unit 21 receives a control command output from the control unit 20. The communication unit 21 transmits the received control command to the sensor unit 1.

  The storage unit 22 stores data used by the control unit 10 for processing. The storage unit 22 can be realized by, for example, a nonvolatile storage device such as a flash ROM (Read Only Memory).

  The operation unit 23 receives a user operation input and outputs an operation signal corresponding to the operation to the control unit 20. The operation unit 23 can be realized by an input device such as a key, a touch sensor, or a touch panel, for example.

  The display unit 24 displays the processing results of the control unit 20 as characters, graphs, tables, animations, and other images. The display unit 24 can be realized by, for example, an LCD (Liquid Crystal Display), an OLED (Organic Electro-Luminescence Display), or the like.

  The voice output unit 25 outputs the processing result of the control unit 20 by voice or buzzer sound. The audio output unit 25 can be realized by, for example, a speaker or a buzzer.

  The communication unit 26 is connected to a network and communicates with a computer such as a server. The communication unit 26 can be realized by a network interface device, for example.

  The control unit 20 controls the swing data calculation device 2 in an integrated manner. The control unit 20 includes a data acquisition unit 200, an event determination unit (corresponding to the determination unit of the present invention) 201, a reference setting unit 202, a swing calculation unit 203, and an output processing unit (corresponding to the output unit of the present invention). 204).

  For example, the control unit 20 connects a CPU (Central Processing Unit) that is an arithmetic device, a RAM (Random Access Memory) that is a volatile storage device, a ROM that is a nonvolatile storage device, and the control unit 20 and other units. It can be realized by a computer provided with an interface (I / F) circuit, a bus for connecting them, and the like. The computer may include various dedicated processing circuits such as an image processing circuit. The control unit 20 may be realized by an ASIC (Application Specific Integrated Circuit) or the like.

  At least some of the functions of the control unit 20 (the data acquisition unit 200, the event determination unit 201, the reference setting unit 202, the swing calculation unit 203, and the output processing unit 204) are, for example, predetermined CPUs stored in a ROM. It can be realized by reading the program into the RAM and executing it. The predetermined program is, for example, an application program that runs on an OS (Operating System), which is read from a portable storage medium and installed in the swing data calculation device 2, or downloaded from a server on the network to calculate the swing data. It can be installed on the device 2. Of course, at least a part of the functions of the control unit 20 may be realized by, for example, a dedicated processing circuit. Further, at least a part of the function of the control unit 20 may be realized by both the CPU and the dedicated processing circuit, for example.

  The data acquisition unit 200 acquires measurement data from the sensor unit 1 via the communication unit 21. For example, the data acquisition unit 200 acquires measurement data at a predetermined sampling cycle and stores the measurement data in a storage device such as a RAM or the storage unit 22.

  The event determination unit 201 determines a series of events (also referred to as “rhythm”) from the start to the end of the swing motion based on the measurement data. The event (rhythm) is, for example, backswing, top, downswing, impact, and follow-through in order from the start to the end of the swing.

  Although the specific event determination procedure is not particularly limited, for example, the following procedure can be adopted.

  First, the event determination unit 201 determines the magnitude of the angular velocity around each axis for each predetermined sampling period for measurement data in a measurement period including at least a period before and after an impact, for example, a period from the start to the end of a swing. Calculate the sum of the values (called norm). In addition, the event determination unit 201 may differentiate the norm of the angular velocity with respect to time for each predetermined sampling period.

  Here, the angular velocities around the three axes (x-axis, y-axis, z-axis) are expressed in a graph as shown in FIG. 3 (an example of an angular velocity output from a sensor mounted on a golf club), for example. appear. In FIG. 3, 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. 4 (a diagram showing an example of the norm of angular velocity), for example. In FIG. 4, the horizontal axis represents time (msec), and the vertical axis represents the norm of angular velocity. Further, the differential of the norm of the angular velocity appears in a graph as shown in FIG. 5 (a diagram showing an example of the differential of the norm of the angular velocity), for example. In FIG. 5, the horizontal axis represents time (msec), and the vertical axis represents the differential value of the norm of angular velocity. 3 to 5 are provided to facilitate understanding of the present embodiment, and do not show accurate values.

  The event determination unit 201 detects the impact timing (timing at which the club head hits the ball) in the swing using the calculated norm of the angular velocity. For example, the event determination unit 201 detects the timing at which the norm of the angular velocity is maximum as the impact timing (T5 in FIG. 4). Alternatively, for example, the event determination unit 201 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 (FIG. 5). T5).

  Further, the event determination unit 201 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 (T3 in FIG. 4). Further, the event determination unit 201 specifies, for example, a continuous period before the impact and the norm of the angular velocity is equal to or less than the first threshold as a top period (a period of accumulation at the top) (T2 to T4 in FIG. 4).

  Further, the event determination unit 201 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 timing of starting the swing (T1 in FIG. 4). Further, the event determination unit 201 specifies, for example, from the swing start timing to the top timing (or top period start timing) as the backswing period (T1 to T2 or T1 to T3 in FIG. 4). .

  Further, the event determination unit 201 detects, for example, the timing at which the norm of the angular velocity becomes minimum after the impact as the timing of the end (finish) of the swing (T7 in FIG. 4). Alternatively, the event determination unit 201 may detect, for example, the first timing at which the norm of the angular velocity is equal to or lower than the third threshold after the impact as the end timing of the swing (finish). In addition, the event determination unit 201 specifies, for example, a continuous period after the impact timing and approaching the impact timing and in which the norm of the angular velocity is equal to or less than the fourth threshold as the finish period (T6 to T8 in FIG. 4). ).

  As described above, the event determination unit 201 can detect an event (rhythm) of a swing operation. Further, the event determination unit 201 identifies each period during the swing (for example, a backswing period from the swing start to the top start, a downswing period from the top end to the impact, and a follow-through period from the impact to the swing end). be able to. Note that the event determination unit 201 need not determine all events as long as it can determine at least the start of a swing in addition to the impact.

  According to the event determination procedure described above, when a backswing is clearly captured like a golf swing, the start timing of the swing can be determined with high accuracy. However, when the backswing is not clearly captured as in baseball, for example, the swing start timing cannot be accurately determined.

  Therefore, for example, the control unit 20 receives selection of an operation mode (for example, a golf mode, a baseball mode, etc.) according to the type of sport from the user U via the operation unit 23. Then, the event determination unit 201 switches the event determination procedure according to the accepted operation mode. When the golf mode is selected, the event determination unit 201 performs determination as described above. On the other hand, when the baseball mode is selected, the event determination unit 201 determines, for example, the impact timing, determines the top timing (or top period) based on the impact timing, and determines the top timing (or top time). (Period start timing) is determined as the swing start timing.

  In this way, the start timing of the swing can be accurately determined according to the type of sport. Even when the backswing does not appear clearly as in baseball, the start timing of the swing can be accurately determined. Of course, when the swing data calculation device 2 is scheduled to be used for a specific sport, it is not necessary to select an operation mode, and the operation mode may be fixed to a specific one.

  It should be noted that there is no impact when swinging exercise equipment (waving without hitting the ball). However, even in the case of swinging, the angular velocity around the rotation axis of the swinging motion is considered to increase from the start of swinging to the virtual ball hitting position and then decrease. Therefore, the timing at which the magnitude of the angular velocity around the rotation axis of the swing motion is maximized may be treated as a virtual impact, and the start timing of the swing motion may be determined based on the virtual impact timing. Also in this case, for example, selection of the swing mode is accepted, and the event determination unit 201 may execute an event determination procedure corresponding to the swing mode.

  Returning to the description of FIG. The reference setting unit 202 sets a reference when the swing calculation unit 203 performs calculation using swing data related to the swing motion.

  In the calculation of swing data for analyzing the swing motion, changes in the position and orientation of the sensor unit 1 in the XYZ coordinate system (global coordinate system) are calculated in time series. In this calculation process, integral calculation and rotation calculation of acceleration and angular velocity are performed. Therefore, a reference value (also referred to as zero point bias) for bias correction of the measurement data to be subjected to this calculation process, and the initial position and initial posture of the sensor unit 1 serving as the base point of this calculation process are required. Therefore, the reference setting unit 202 uses a reference value (zero point bias) for bias correction of measurement data (swing data) after the start of the swing, a reference position (initial position) of the sensor unit 1 serving as a base point of the swing motion, and a reference Set posture (initial posture).

  Here, when the user stops before starting the swing, the reference value for bias correction of the swing data, the reference position of the sensor unit 1, and the reference posture can be calculated by the following procedure, for example. .

  For example, as shown in FIG. 6 (an example showing the relationship between the XYZ coordinate system and a golf club), the target line indicating 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 An XYZ coordinate system (global coordinate system) is defined with the upward direction (the direction opposite to the direction of gravitational acceleration) as the Z axis.

  Since the user U stops at a predetermined address posture, the X coordinate of the initial position of the sensor unit 1 is zero. Further, the y-axis of the sensor unit 1 coincides with the long axis direction of the shaft of the golf club C, and when the user U is stationary, the acceleration sensor 12 measures only 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)). The reference setting unit 202 uses the tilt angle of the shaft, club specification information (shaft length), and sensor mounting position information (distance from the grip end, etc.) to determine the Y coordinate and Z of the initial position of the sensor unit 1. Coordinates can be calculated and the initial position of the sensor unit 1 can be specified.

  Since the acceleration sensor 12 measures only gravitational acceleration when the user U is stationary, the reference setting unit 202 uses the triaxial acceleration data and the gravity of each of the x-axis, y-axis, and z-axis of the sensor unit 1. The angle made with the direction can be specified. Furthermore, since the user U stops at a predetermined address posture, the reference unit 202 identifies the initial posture of the sensor unit 1 because the y axis of the sensor unit 1 is on the YZ plane when the user U is stationary. be able to.

  When the user U is stationary, the acceleration sensor 12 measures only gravitational acceleration, and the angular velocity sensor 13 measures the angular velocity as zero. That is, a substantially constant value is measured. Therefore, the reference setting unit 202 may set, for example, the value of the measurement data at one point just before the start of the swing as the reference value (zero point bias). Of course, the average value of the measurement data for a predetermined period before the start of the swing may be calculated and used as the reference value.

  On the other hand, when the user does not stop before starting the swing, the reference value for bias correction of the swing data, the reference position of the sensor unit 1, and the reference posture cannot be accurately calculated by the above procedure. . The case where the user does not stop before starting the swing is, for example, a case where the head is shaken with a golf club held (a waggle operation) or a bat is shaken with a baseball bat held. That is, the case where the user does not stop before the start of the swing can be said to be a case where the holding state is not stationary.

  FIG. 7 is a diagram illustrating an example of the angular velocity when the user does not stop before the start of the swing. FIG. 7 shows a time-series change in angular velocity. When the user stops before starting the swing, the angular velocity shows a substantially constant value in the period before the start timing of the swing. On the other hand, when the user does not stop before the swing starts, the angular velocity shows various changes in the period before the swing start timing (T1 in FIG. 7). Therefore, the reference cannot be accurately calculated by the above procedure. The same applies to acceleration.

  Therefore, in the present embodiment, for example, the following procedure is used. This procedure can also be applied to the case where the user stops before starting the swing.

  Specifically, the sensor unit 1 is attached to the exercise equipment, and various motion patterns performed before the swing start (for example, a waggle operation that swings the head while holding a golf club, a baseball bat while holding a bat) With respect to a swinging motion or the like, measurement data (for example, measurement data in a period before T1 in FIG. 7) of at least one of acceleration and angular velocity measured when the motion pattern is performed is collected in advance. In addition, the measurement data of a predetermined period (for example, P in FIG. 7) is extracted from the collected measurement data, and the characteristic information expressing the time series change pattern of the extracted measurement data by, for example, a function, a value range, etc. is created. To do. In the example of FIG. 7, for example, the waveform data during the period P may be approximated by one or more functions, and the function formula, wave width, wave height, value range, etc. may be included in the characteristic information. Further, for each operation pattern, a reference value setting process procedure, a reference position and a reference posture setting process procedure are determined in advance. Then, for each motion pattern, motion pattern information in which the time-series change pattern characteristic information of the motion pattern is associated with the reference value, reference position, and reference orientation setting processing procedure is created in advance. The operation pattern information is stored in the storage unit 22, for example. Of course, the operation pattern information may be stored in a storage on the network, for example.

  FIG. 8 is a diagram illustrating an example of the data structure of the operation pattern information. The action pattern information 220 associates, for each action pattern, a characteristic 221 including characteristic information of a time-series change pattern of the action pattern and a reference 222 including a reference value, a reference position, and a reference posture setting processing procedure. Contains information.

  As described above, the characteristic 221 is information in which at least one time-series change pattern of acceleration and angular velocity is specified by, for example, a function, a value range, or the like.

  The reference value (zero point bias) setting process procedure included in the reference 222 is, for example, information indicating the timing of the reference value (for example, a time difference from the swing start timing). Or it is the calculation formula (for example, calculation formula which calculates | requires an average value) for calculating | requiring a reference value from the information which shows the predetermined period (for example, time range before swing start) before a swing start, and the measurement data of the said predetermined period. Or it is the information which shows one time in the period when the above-mentioned characteristic appears. Or it is a calculation formula (for example, calculation formula which calculates | requires an average value) for calculating | requiring a reference value from the measurement data of the period when the above-mentioned characteristic appears.

  The reference position setting processing procedure included in the reference 222 is, for example, a calculation formula for estimating the reference position from the time range of the measurement data before the start of the swing and the measurement data in the time range. Alternatively, for example, a calculation formula for estimating a reference position from measurement data in a period in which the above characteristics appear.

  The reference posture setting processing procedure included in the reference 222 is, for example, a calculation range for estimating the reference posture from the time range of the measurement data before the start of the swing and the measurement data in the time range. Alternatively, for example, a calculation formula for estimating a reference posture from measurement data in a period in which the above characteristics appear.

  The reference setting unit 202 acquires measurement data for a predetermined period before the start timing based on the start timing of the swing motion determined by the event determination unit 201. In addition, the reference setting unit 202 approximates the time series change pattern of the measurement data in the predetermined period with, for example, a function, and obtains characteristics such as a function expression and a value range. Then, the reference setting unit 202 refers to the operation pattern information 220, specifies a characteristic 221 that matches or is similar to the obtained characteristic, and acquires a reference 222 associated with the characteristic 221. That is, the reference setting unit 202 identifies an operation pattern by pattern matching of measurement data before the swing start timing.

  Then, the reference setting unit 202 sets a reference value, a reference position, and a reference posture based on the acquired reference 222.

  For the reference value, for example, the reference setting unit 202 sets the reference value by acquiring the reference value at a predetermined timing from the measurement data before the start of the swing. Alternatively, for example, the reference setting unit 202 sets the reference value by acquiring measurement data for a predetermined period from the measurement data before the start of the swing and performing a predetermined calculation. Alternatively, for example, the reference setting unit 202 sets the reference value by acquiring a reference value at a predetermined timing from measurement data for a predetermined period in which the above-described characteristics appear before the start of the swing. Alternatively, for example, the reference setting unit 202 sets the reference value by acquiring measurement data for a predetermined period in which the above-described characteristics appear before the start of the swing and performing a predetermined calculation.

  For the reference position, for example, the reference setting unit 202 sets the reference position by acquiring measurement data for a predetermined period from the measurement data before the start of the swing and performing a predetermined calculation. Alternatively, for example, the reference setting unit 202 sets the reference position by acquiring measurement data for a predetermined period in which the above characteristics appear before the start of the swing and performing a predetermined calculation.

  For the reference posture, for example, the reference setting unit 202 sets the reference posture by acquiring measurement data for a predetermined period from the measurement data before the start of the swing and performing a predetermined calculation. Alternatively, for example, the reference setting unit 202 sets the reference posture by acquiring measurement data for a predetermined period in which the above characteristics appear before the start of the swing and performing a predetermined calculation.

  In this way, by performing the reference setting process according to the time series change pattern of the operation before the start of the swing, the reference value, the reference position, and the reference posture can be set even when the user does not stop before the start of the swing. Can be calculated accurately.

  The swing calculation unit 203 analyzes the swing motion of the user U by performing calculations using swing data related to the swing motion.

  Here, the swing calculation unit 203 uses the reference value (zero point bias) set by the reference setting unit 202 as an offset amount, and subtracts the offset amount from measurement data (swing data) after the start of the swing to correct the bias. The calculation is performed using the bias-corrected swing data, and the swing motion is analyzed.

  In addition, the swing calculation unit 203 integrates subsequent acceleration data (acceleration data included in the swing data after bias correction) based on the reference position (initial position) set by the reference setting unit 202, for example. A change in the position of the unit 1 from the reference position is calculated in time series.

  Further, the swing calculation unit 203, for example, based on the reference posture (initial posture) set by the reference setting unit 202, performs rotation calculation using subsequent angular velocity data (angular velocity data included in the swing data after bias correction). To change the posture of the sensor unit 1 from the reference posture in time series.

  The swing calculation unit 203 includes, for example, body information (height of the user U (arm length)), club specification information (shaft length and center of gravity position), sensor mounting position information (distance from the grip end), Define a motion analysis model (double pendulum model, etc.) that takes into account the characteristics of the golf club C (such as a rigid body) and the characteristics of the human body (such as the direction of bending of the joint). The trajectory of the golf club C in the swing of the user U is calculated using the position and orientation information of the sensor unit 1.

  Note that the swing calculation unit 203 uses, for example, the motion analysis model and information on the position and orientation of the sensor unit 1, and the head speed, the incident angle at the time of hitting (club path), the face angle, the shaft rotation (during the swing) Information such as the amount of change in the face angle), the deceleration rate of the golf club C, or information on the variation of each information when the user U performs a plurality of swings may be generated.

  The output processing unit 204 generates a screen showing the analysis result (for example, the head trajectory, head speed, etc.) analyzed by the swing calculation unit 203, and outputs and displays the screen on the display unit 24. The output processing unit 204 outputs the generated screen to an external device such as a PC (Personal Computer), a tablet PC, a smartphone, or an HMD (Head Mount Display) via the communication unit 26 to display the screen. Also good. Further, the output processing unit 204 may generate a sound indicating the analysis result, and output the sound to the sound output unit 25 to output the sound. The sensor unit 1 may be provided with a light emitting unit such as an LED, an audio output unit, a display unit, and the like, and the output processing unit 204 may cause the sensor unit 1 to output an analysis result.

  The output processing unit 204 may output a notification of the start of a measurement period for acquiring measurement data for swing analysis, or may output a notification that prompts a swing action. For example, the output processing unit 204 causes the audio output unit 25 to output sounds such as “the measurement period has started” and “start swing”. The output processing unit 204 may cause the display unit 24 to display an image that notifies the start of the measurement period or an image that prompts the start of the swing. The sensor unit 1 may be provided with a light emitting unit such as an LED, an audio output unit, a display unit, and the like, and the output processing unit 204 may cause the sensor unit 1 to output a notification of the start of the measurement period or a notification that prompts the start of the swing. . After confirming the output as described above, the user U may swing as usual at a desired timing.

  FIG. 9 is a flowchart illustrating an example of the swing data calculation process. The operation pattern information 220 is stored in advance in, for example, the storage unit 22 or a storage on the network.

  First, the data acquisition unit 200 acquires measurement data of a measurement period including a swing period from the sensor unit 1 (step S10).

  Then, the event determination unit 201 determines a series of events from the start to the end of the swing motion based on the measurement data acquired in step S10 (step S20).

  Then, the event determination unit 201 determines whether an event has been detected (step S30). For example, the event determination unit 201 determines that an event has been detected when at least the impact and swing start timings can be determined. If it is determined that no event has been detected (N in step S30), the event determination unit 201 ends the process of the flowchart illustrated in FIG.

  When it is determined that an event has been detected (Y in step S30), the reference setting unit 202 specifies the characteristics of the time-series change pattern of the measurement data based on the measurement data of a predetermined period before the swing start timing. (Step S40).

  Then, the reference setting unit 202 sets a reference according to the characteristic specified in step S40 (step S50). For example, the reference setting unit 202 refers to the operation pattern information 220, specifies a characteristic 221 that matches or is similar to the characteristic specified in step S40, and acquires the reference 222 associated with the characteristic 221. Further, the reference setting unit 202 sets a reference value, a reference position, and a reference posture based on the acquired reference 222.

  Then, the swing calculation unit 203 performs calculation using the measurement data (swing data) after the start of the swing based on the reference (reference value, reference position, and reference posture) set in step S50 (step S60). . For example, the swing calculation unit 203 performs bias correction by subtracting the offset amount from the swing data using the set reference value (zero point bias) as the offset amount. Further, for example, the swing calculation unit 203 integrates subsequent acceleration data (acceleration data included in the swing data after bias correction) based on the set reference position (initial position), and the reference position of the sensor unit 1. The change in position from is calculated in time series. Further, for example, the swing calculation unit 203 performs rotation calculation using subsequent angular velocity data (angular velocity data included in the swing data after bias correction) based on the set reference posture (initial posture), and performs the sensor unit. A change in posture from one reference posture is calculated in time series. After performing the calculation using the swing data, the swing calculation unit 203 ends the process of the flowchart shown in FIG.

  The embodiment of the present invention has been described above. According to the present embodiment, the swing analysis can be performed without stopping the user's operation before the start of the swing.

  For example, in the present embodiment, the swing data calculation device 2 determines a period related to the swing from the measurement data, and performs a calculation using the swing data after the start of the swing based on the measurement data before the start of the period. A reference is set, and swing data is calculated based on this reference. Thereby, even when the user does not stop the operation before the start of the swing, the swing analysis can be performed with high accuracy.

  Further, for example, in the present embodiment, the swing data calculation device 2 specifies the characteristics of the measurement data for a predetermined period before the start of the swing, and sets a reference according to the characteristics. Thereby, even when the user's movement before the start of the swing is different every time, the reference can be set with high accuracy.

  For example, in the present embodiment, the swing data calculation device 2 sets a reference value for bias correction according to the characteristics of the measurement data for a predetermined period before the start of the swing. Thereby, even when the user's movement before the start of the swing is different each time, the measurement error component corresponding to the movement can be reduced and the swing analysis can be performed with high accuracy. In addition, for example, by setting an average value of measurement data for a predetermined period or an average value of measurement data for a period in which a characteristic appears as a reference value, variation in reference values of individual swings can be reduced.

  Further, for example, in this embodiment, the swing data calculation device 2 sets a reference position that is a base point of swing analysis calculation (a base point of swing motion) according to the characteristics of measurement data in a predetermined period before the start of the swing. Thereby, even when the user's movement before the start of the swing is different each time, it is possible to set the reference position according to the movement and perform the swing analysis with high accuracy.

  Further, for example, in this embodiment, the swing data calculation device 2 sets a reference posture that becomes a base point of swing analysis calculation (a base point of swing motion) according to the characteristics of measurement data in a predetermined period before the start of the swing. Thereby, even when the user's movement before the start of the swing is different every time, the reference posture corresponding to the movement can be set and the swing analysis can be performed with high accuracy.

  Further, for example, in this embodiment, the swing data calculation device 2 detects a swing motion based on the output of the angular velocity sensor. Thereby, with a simple system configuration, it is possible to specify the timing of the start of the swing and specify measurement data for a predetermined period before the start of the swing.

  Further, for example, in this embodiment, the swing data calculation device 2 first determines the impact timing at which the norm value of the angular velocity is normally the largest, and based on this timing, determines other events such as the swing start timing. judge. Thereby, the swing start timing can be determined more accurately.

  Further, for example, in the present embodiment, the swing data calculation device 2 outputs a notification of the start of the measurement period and a notification that prompts the start of the swing to the user. Thereby, the user can know the timing of the swing, and can swing as usual without stopping.

  The present invention is not limited to the above-described embodiments, and can be implemented in various modes without departing from the scope of the invention. For example, the following modifications may be added to the above embodiments. Moreover, you may combine 2 or more suitably for each embodiment and each modification.

  For example, in the above embodiment, the event determination unit 201 determines the event based on the angular velocity, but may determine the event based on acceleration instead of the angular velocity or based on both the angular velocity and acceleration. .

  In each of the embodiments described above, at least some of the functions of the data acquisition unit 200, the event determination unit 201, the reference setting unit 202, the swing calculation unit 203, and the output processing unit 204 are performed by the control unit 10 of the sensor unit 1. It may be realized. Moreover, you may make it provide output parts, such as a display part, an audio | voice output part, and a light emission part, in the sensor unit 1. FIG.

  The configuration of the swing data calculation system shown in FIG. 2 is classified according to the main processing contents in order to facilitate understanding of the configuration of the swing data calculation system. The present invention is not limited by the way of classification and names of the constituent elements. The configuration of the swing data calculation system can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware. Further, the processing or function sharing of each component is not limited to the above as long as the object and effect of the present invention can be achieved. For example, in the above embodiment, the sensor unit 1 and the swing data calculation device 2 have been described as separate units. However, the function of the swing data calculation device 2 may be mounted on the sensor unit 1 or vice versa. Good.

  Further, the processing unit of the flowchart shown in FIG. 9 is divided according to the main processing contents in order to facilitate understanding of the processing of the swing data calculation device 2. The present invention is not limited by the way of dividing the processing unit or the name. The processing of the swing data calculation device 2 can be divided into more processing units according to the processing content. Moreover, it can also divide | segment so that one process unit may contain many processes. Further, the processing order of the above flowchart is not limited to the illustrated example.

  The present invention is not limited to the exemplified golf and baseball, but can be applied to exercises that swing exercise equipment such as tennis and badminton.

1: sensor unit, 2: swing data calculation device, 10: control unit, 11: communication unit, 12: acceleration sensor, 13: angular velocity sensor, 20: control unit, 21: communication unit, 22: storage unit, 23: operation Unit 24: display unit 25: audio output unit 26: communication unit 200: data acquisition unit 201: event determination unit 202: reference setting unit 203: swing calculation unit 204: output processing unit 220: Operation pattern information, 221: characteristics, 222: reference, C: golf club, P: period, U: user

Claims (13)

A data acquisition unit for acquiring measurement data of an inertia amount generated according to an exercise including a swing;
A determination unit that determines swing data related to the swing based on the measurement data;
A reference setting unit for setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data;
A swing data calculation device comprising: a swing calculation unit that calculates the swing data based on the reference. The swing data calculation device according to claim 1,
The reference includes a reference value for correcting the swing data,
The swing calculation unit corrects the swing data based on the reference value. The swing data calculation device according to claim 1 or 2,
The reference includes a reference position serving as a base point of the swing,
The swing calculation unit is a swing data calculation device that calculates the swing data based on the reference position. The swing data calculation device according to any one of claims 1 to 3,
The reference includes a reference posture serving as a base point of the swing,
The swing calculation unit is a swing data calculation device that calculates the swing data based on the reference posture. The swing data arithmetic device according to any one of claims 1 to 4,
The reference setting unit is a swing data calculation device that specifies a characteristic of measurement data of the predetermined period and sets a reference according to the characteristic. The swing data calculation device according to claim 5,
The swing data calculation device, wherein the characteristic is a function or a value range representing a time-series change pattern of measurement data in the predetermined period. The swing data calculation device according to claim 2,
The reference setting unit is a swing data calculation device that sets, as the reference value, an average value of measurement data for the predetermined period or an average value of data for a period in which characteristics of the measurement data for the predetermined period appear. The swing data calculation device according to any one of claims 1 to 7,
The determination unit determines an impact, a top period, and a backswing period, which are events during the swing, based on an angular velocity included in the measurement data, and sets a start timing of the backswing period to a period related to the swing data. Swing data arithmetic device which judges as the start timing. The swing data calculation device according to any one of claims 1 to 7,
The determination unit determines an impact that is an event during the swing and a top period based on an angular velocity included in the measurement data, and determines a start timing of the top period as a start timing of a period related to the swing data. Swing data calculation device. The swing data calculation device according to any one of claims 1 to 9,
A swing data calculation device having an output unit for notifying a user of the start of the swing. An inertial sensor that measures the amount of inertia generated according to the motion including the swing and outputs it as measurement data;
A data acquisition unit for acquiring the measurement data from the inertial sensor;
A determination unit that determines swing data related to the swing based on the measurement data;
A reference setting unit for setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data;
A swing data calculation system including a swing calculation unit that calculates the swing data based on the reference. A step of acquiring measurement data of an inertia amount generated according to an exercise including a swing from an inertial sensor;
Determining swing data related to the swing based on the measurement data;
Setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data;
And a step of calculating the swing data based on the reference. A procedure for acquiring measurement data of the inertia amount generated according to the motion including the swing from the inertia sensor,
Determining swing data related to the swing based on the measurement data;
A procedure for setting a reference for calculating the swing data based on measurement data of a predetermined period before the start of the period related to the swing data;
The program which makes a computer perform the procedure which calculates the said swing data based on the said reference | standard.

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