U.S. patent application number 15/247615 was filed with the patent office on 2017-03-09 for control device, holder, sensor set, control method, control program, and recording medium.
This patent application is currently assigned to SEIKO EPSON CORPORATION. The applicant listed for this patent is SEIKO EPSON CORPORATION. Invention is credited to Tsutomu TANIGUCHI.
Application Number | 20170065868 15/247615 |
Document ID | / |
Family ID | 58189784 |
Filed Date | 2017-03-09 |
United States Patent
Application |
20170065868 |
Kind Code |
A1 |
TANIGUCHI; Tsutomu |
March 9, 2017 |
CONTROL DEVICE, HOLDER, SENSOR SET, CONTROL METHOD, CONTROL
PROGRAM, AND RECORDING MEDIUM
Abstract
A control device includes a timing control unit that controls a
timing, at which a mark projector for projecting a mark stops the
projection of the mark, based on an output of an inertial sensor
mounted on exercise equipment or a user.
Inventors: |
TANIGUCHI; Tsutomu;
(Shiojiri-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SEIKO EPSON CORPORATION |
Tokyo |
|
JP |
|
|
Assignee: |
SEIKO EPSON CORPORATION
Tokyo
JP
|
Family ID: |
58189784 |
Appl. No.: |
15/247615 |
Filed: |
August 25, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63B 2225/74 20200801;
A63B 71/0619 20130101; A63B 2071/0655 20130101; A63B 2071/0694
20130101; A63B 69/3635 20130101; G06K 9/00342 20130101; A63B
2225/50 20130101; A63B 69/3632 20130101; A63B 69/3614 20130101;
A63B 24/0003 20130101 |
International
Class: |
A63B 69/36 20060101
A63B069/36; A63B 24/00 20060101 A63B024/00 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 7, 2015 |
JP |
2015-175921 |
Claims
1. A control device, comprising: a timing control unit that
controls a timing, at which a mark projector for projecting a mark
stops or starts projection of the mark, based on an output of an
inertial sensor mounted on exercise equipment or a user.
2. The control device according to claim 1, wherein the timing
control unit stops the projection at a timing before the inertial
sensor starts measurement of a swing after start of the
projection.
3. The control device according to claim 2, wherein the timing is a
timing at which a stationary state of the exercise equipment over a
predetermined period is detected.
4. The control device according to claim 1, wherein the timing
control unit starts the projection at a timing, at which the user
performs a predetermined gesture with the exercise equipment, after
start of the inertial sensor.
5. The control device according to claim 1, wherein the timing
control unit starts the projection at a timing, at which a hitting
portion of the exercise equipment faces a ground side, after start
of the inertial sensor.
6. The control device according to claim 1, wherein an optical axis
direction of the mark projector is a detection axis direction of
the inertial sensor.
7-14. (canceled)
15. A control method, comprising: controlling a timing, at which a
mark projector for projecting a mark stops or starts projection of
the mark, based on an output of an inertial sensor mounted on
exercise equipment or a user.
16. The control method according to claim 15, wherein, in the
controlling, the projection is stopped at a timing before the
inertial sensor starts measurement of a swing after start of the
projection.
17. The control method according to claim 16, wherein the timing is
a timing at which a stationary state of the exercise equipment over
a predetermined period is detected.
18. The control method according to claim 15, wherein, in the
controlling, the projection is started at a timing, at which the
user performs a predetermined gesture with the exercise equipment,
after start of the inertial sensor.
19. The control method according to claim 1, wherein, in the
controlling, the projection is started at a timing, at which a
hitting portion of the exercise equipment faces a ground side,
after start of the inertial sensor.
20. A recording medium on which a control program is recorded,
wherein the control program causes a computer to control a timing,
at which a mark projector for projecting a mark stops or starts
projection of the mark, based on an output of an inertial sensor
mounted on exercise equipment or a user.
Description
BACKGROUND
[0001] 1. Technical Field
[0002] The present invention relates to a control device, a holder,
a sensor set, a control method, a control program, and a recording
medium.
[0003] 2. Related Art
[0004] U.S. Pat. No. 8,961,328 discloses a system for calibrating
the swing of a golf club. The system is for projecting a mark,
which is an indicator of a hitting direction, toward a target line
by mounting a beam projector on the golf club shaft. The system is
effective for putting practice or the like in which the accuracy of
the hitting direction is important.
[0005] The "target line" in this specification is a line on a
horizontal plane indicating a target direction specified by the
posture of the face surface of a golf club. For example, the
"target line" is a straight line obtained by projecting a face
normal at a hitting point of the face surface of a golf club onto
the horizontal plane.
[0006] In general, as a projector for projecting a mark onto the
distant plane, a highly directional light source (laser light
source) is used in many cases. For this reason, if light emitted
from the projector is incident on the human eye accidentally, there
is a risk of damaging the eye since the energy density of the light
is high even if the incidence time is short.
SUMMARY
[0007] An advantage of some aspects of the invention is to provide
a control device capable of improving the safety or convenience of
a mark projector fixed to exercise equipment, a user's hand, or the
like, a holder, a sensor set, a control method, a control program,
and a recording medium.
[0008] The invention can be implemented as the following forms or
application examples.
Application Example 1
[0009] A control device according to this application example
includes a timing control unit that controls a timing, at which a
mark projector for projecting a mark stops or starts projection of
the mark, based on an output of an inertial sensor mounted on
exercise equipment or a user.
[0010] The timing control unit controls the timing to stop or start
the projection of the mark based on the inertia amount applied to
the exercise equipment or the user. Therefore, the timing control
unit can improve the safety of the mark projector by stopping the
projection, for example, when the exercise equipment is in a state
in which light emitted from the mark projector is likely to be
incident on the human eye (for example, when a hitting portion does
not face the ground or during the swing). In addition, the timing
control unit can improve the convenience of the mark projector by
starting the projection, for example, when the exercise equipment
is in a state in which light emitted from the mark projector is
difficult to be incident on the human eye (for example, when a
hitting portion faces the ground or when the user starts to take an
address posture).
Application Example 2
[0011] In the control device according to the application example,
the timing control unit may stop the projection at a timing before
the inertial sensor starts measurement of a swing after start of
the projection.
[0012] Since the timing control unit stops the projection at the
timing before starting the measurement of a swing, safety when the
swing is started can be reliably ensured.
Application Example 3
[0013] In the control device according to the application example,
the timing may be a timing at which a stationary state of the
exercise equipment over a predetermined period is detected.
[0014] The timing control unit stops the projection, for example,
when the user takes an address posture. Accordingly, safety when
the swing is started can be reliably ensured.
Application Example 4
[0015] In the control device according to the application example,
the timing control unit may start the projection at a timing, at
which the user performs a predetermined gesture with the exercise
equipment, after start of the inertial sensor.
[0016] The timing control unit starts the projection when the user
performs a predetermined gesture. Accordingly, the user can start
the projection of the mark at a desired timing.
Application Example 5
[0017] In the control device according to the application example,
the timing control unit may start the projection at a timing, at
which a hitting portion of the exercise equipment faces a ground
side, after start of the inertial sensor.
[0018] The timing control unit starts the projection when the
hitting portion of the exercise equipment faces the ground side.
Accordingly, it is possible to start the projection when the
exercise equipment is in a state in which light emitted from the
mark projector is difficult to be incident on the human eye (for
example, when the user starts to take an address posture).
Application Example 6
[0019] A holder according to this application example is used in
order to mount an inertial sensor on exercise equipment. The holder
includes: the control device according to any one of the above
application examples; and the mark projector.
[0020] The timing control unit controls the timing to stop or start
the projection of the mark based on the inertia amount applied to
the exercise equipment. Therefore, the timing control unit can
improve the safety of the mark projector by stopping the
projection, for example, when the exercise equipment is in a state
in which light emitted from the mark projector is likely to be
incident on the human eye (for example, when a hitting portion does
not face the ground or during the swing). In addition, the timing
control unit can improve the convenience of the mark projector by
starting the projection, for example, when the exercise equipment
is in a state in which light emitted from the mark projector is
difficult to be incident on the human eye (for example, when a
hitting portion faces the ground or when the user starts to take an
address posture).
Application Example 7
[0021] In the holder according to the application example, the mark
projector may project a line-shaped mark onto the ground.
[0022] Therefore, the user can use the projected mark as an
indicator of a hitting direction.
Application Example 8
[0023] A sensor set according to this application example includes:
the holder according to the application example; and the inertial
sensor.
Application Example 9
[0024] A control method according to this application example
includes controlling a timing, at which a mark projector for
projecting a mark stops or starts projection of the mark, based on
an output of an inertial sensor mounted on exercise equipment or a
user.
[0025] In the controlling, the timing to stop or start the
projection of the mark is controlled based on the inertia amount
applied to the exercise equipment or the user. Therefore, it is
possible to improve the safety of the mark projector by stopping
the projection, for example, when the exercise equipment is in a
state in which light emitted from the mark projector is likely to
be incident on the human eye (for example, when a hitting portion
does not face the ground or during the swing). In addition, it is
possible to improve the convenience of the mark projector by
starting the projection, for example, when the exercise equipment
is in a state in which light emitted from the mark projector is
difficult to be incident on the human eye (for example, when a
hitting portion faces the ground or when the user starts to take an
address posture).
Application Example 10
[0026] In the control method according to the application example,
in the controlling, the projection may be stopped at a timing
before the inertial sensor starts measurement of a swing after
start of the projection.
[0027] Since the projection is stopped at the timing before
starting the measurement of a swing in the controlling, safety when
the swing is started can be reliably ensured.
Application Example 11
[0028] In the control method according to the application example,
the timing may be a timing at which a stationary state of the
exercise equipment over a predetermined period is detected.
[0029] In the controlling, the projection is stopped, for example,
when the user takes an address posture. Accordingly, safety when
the swing is started can be reliably ensured.
Application Example 12
[0030] In the control method according to the application example,
in the controlling, the projection may be started at a timing, at
which the user performs a predetermined gesture with the exercise
equipment, after start of the inertial sensor.
[0031] In the controlling, the projection is started when the user
performs a predetermined gesture. Accordingly, the user can start
the projection of the mark at a desired timing.
Application Example 13
[0032] In the control method according to the application example,
in the controlling, the projection may be started at a timing, at
which a hitting portion of the exercise equipment faces a ground
side, after start of the inertial sensor.
[0033] In the controlling, the projection is started when the
hitting portion of the exercise equipment faces the ground side.
Accordingly, it is possible to start the projection when the
exercise equipment is in a state in which light emitted from the
mark projector is difficult to be incident on the human eye (for
example, when the user starts to take an address posture).
Application Example 14
[0034] A control program according to this application example
includes: a procedure of controlling a timing, at which a mark
projector for projecting a mark stops or starts projection of the
mark, based on an output of an inertial sensor mounted on exercise
equipment or a user.
[0035] In the procedure of controlling, the timing to stop or start
the projection of the mark is controlled based on the inertia
amount applied to the exercise equipment or the user. Therefore, it
is possible to improve the safety of the mark projector by stopping
the projection, for example, when the exercise equipment is in a
state in which light emitted from the mark projector is likely to
be incident on the human eye (for example, when a hitting portion
does not face the ground or during the swing). In addition, it is
possible to improve the convenience of the mark projector by
starting the projection, for example, when the exercise equipment
is in a state in which light emitted from the mark projector is
difficult to be incident on the human eye (for example, when a
hitting portion faces the ground or when the user starts to take an
address posture).
Application Example 15
[0036] A recording medium according to this application example is
a medium on which a control program is recorded. The control
program causes a computer to execute a procedure of controlling a
timing, at which a mark projector for projecting a mark stops or
starts projection of the mark, based on an output of an inertial
sensor mounted on exercise equipment or a user.
[0037] In the procedure of controlling, the timing to stop or start
the projection of the mark is controlled based on the inertia
amount applied to the exercise equipment or the user. Therefore, it
is possible to improve the safety of the mark projector by stopping
the projection, for example, when the exercise equipment is in a
state in which light emitted from the mark projector is likely to
be incident on the human eye (for example, when a hitting portion
does not face the ground or during the swing). In addition, it is
possible to improve the convenience of the mark projector by
starting the projection, for example, when the exercise equipment
is in a state in which light emitted from the mark projector is
difficult to be incident on the human eye (for example, when a
hitting portion faces the ground or when the user starts to take an
address posture).
BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The invention will be described with reference to the
accompanying drawings, wherein like numbers reference like
elements.
[0039] FIG. 1 is a diagram showing an overview of a swing analysis
system of the present embodiment.
[0040] FIG. 2 is a diagram showing how a sensor set projects a mark
onto the ground.
[0041] FIG. 3 is an external perspective view of a golf club on
which an attachment is mounted.
[0042] FIG. 4 is an enlarged view of a range indicated by reference
numeral A in FIG. 3, and is a schematic diagram showing how a
sensor unit is fitted to the attachment.
[0043] FIG. 5 is an external perspective view of the
attachment.
[0044] FIG. 6 is an external perspective view showing the
relationship between the attachment and the sensor unit mounted on
the golf club.
[0045] FIG. 7 is a diagram showing the diffusion direction of laser
beams emitted from the attachment.
[0046] FIG. 8 is a diagram showing an example of the mounting
position and direction of the sensor unit with respect to the golf
club.
[0047] FIG. 9 is a diagram showing the relationship of the mounting
position and direction between the sensor unit and a laser
marker.
[0048] FIG. 10 is a diagram showing the procedure of movement
performed until a user hits a ball.
[0049] FIG. 11 is a diagram showing an example of the configuration
of a swing analysis system.
[0050] FIG. 12 is a flowchart showing an example of the procedure
of swing analysis processing (swing analysis method).
[0051] FIG. 13 is a diagram showing an example of a predetermined
gesture.
[0052] FIG. 14 is a diagram showing an example of a temporal change
waveform corresponding to a predetermined gesture.
[0053] FIG. 15 is a flowchart showing an example of the procedure
of swing analysis processing (swing analysis method) in a second
embodiment.
[0054] FIG. 16 is a diagram showing a state in which the sole of
the head faces the ground side.
[0055] FIG. 17 is a diagram showing a state in which the sole of
the head does not face the ground side.
DESCRIPTION OF EXEMPLARY EMBODIMENTS
[0056] Hereinafter, preferred embodiments of the invention will be
described in detail with reference to the accompanying diagrams.
The embodiments described below are not intended to limit the
contents of the invention defined by the appended claims. In
addition, all of the configurations described below are not
necessarily essential components of the invention.
1. First Embodiment
1-1. Overview of Exercise Equipment and a Holder
[0057] The present embodiment is an embodiment of a swing analysis
system. In the swing analysis system, exercise equipment on which a
holder and an inertial sensor are mounted is used.
[0058] The exercise equipment has a shape that can be gripped, such
as a rod shape, a columnar shape, or a cylindrical shape, and any
exercise equipment allowing active or passive swing movement can be
used. The swing movement may involve the movement of a spatial
position, a change in shape or posture, rotation, and vibration,
for example. As such exercise equipment, exercise equipment used in
various kinds of sports can be exemplified. For example, a golf
club, a baseball bat, a tennis racket, a bamboo sword, and the like
can be exemplified.
[0059] Hereinafter, a case where the exercise equipment is a golf
club will be described. Although there is no particular limitation
on a golf club, a case where a rubber grip is attached to a shaft
will be described. In the present embodiment, a holder is mounted
on a part of the rubber grip. However, a holder may be mounted on
the shaft, or may be mounted in a boundary portion between the grip
and the shaft.
1-2. Overview of a Swing Analysis System
[0060] FIG. 1 is a diagram showing an overview of a swing analysis
system of the present embodiment, and FIG. 2 is a diagram showing
how a sensor set 100 projects a mark 71 on the ground.
[0061] As shown in FIG. 1, a swing analysis system 1 of the present
embodiment is configured to include the sensor set 100 and a swing
analysis device 30.
[0062] The sensor set 100 is mounted on a golf club 3 (an example
of exercise equipment). The sensor set 100 includes a sensor unit
(an example of an inertial sensor) and an attachment (an example of
a holder) for mounting the sensor unit on the golf club 3, and can
measure acceleration occurring in each axial direction of three
axes and angular velocity occurring around each of the three axes
(an x axis, a y axis, and a z axis).
[0063] The mounting posture of the sensor set 100 with respect to
the golf club 3 is set to a predetermined posture, and the sensor
set 100 projects the predetermined mark 71, which indicates the
position and direction of the target line as shown in FIG. 2, onto
the ground. The "target line" is a line on the horizontal plane
(ground) indicating a target direction specified by the posture of
the face surface of the golf club 3. For example, the "target line"
is a straight line obtained by projecting a face normal at a
hitting point of the face surface of the golf club 3 onto the
horizontal plane.
[0064] For example, a user 2 can hit a golf ball 4 toward a target
(for example, a cup 5) by projecting the mark 71 onto the ground
before a shot or putting and locating the golf club 3 so that the
mark 71 or the extension of the mark 71 and the target (for
example, the cup 5) cross each other.
1-3. Sensor Set
[0065] The sensor set 100 includes an attachment 20 and a sensor
unit 10 as described above.
[0066] FIG. 3 is an external perspective view of the golf club 3 on
which the attachment 20 is mounted, and FIG. 4 is an enlarged view
of a range indicated by reference numeral A in FIG. 3 and is a
schematic diagram showing how the sensor unit 10 is fitted to the
attachment 20.
[0067] As shown in FIG. 3, the attachment 20 is formed using an
elastic member having a curved plate shape (partially cylindrical
shape), for example. A grip portion 200a of the rod-shaped golf
club 3 is gripped by the elastic force of the curved plate-shaped
member. In this state, the attachment 20 is fixed to the golf club
3.
[0068] As shown in FIG. 4, at two ends of the attachment 20
extending in the longitudinal direction of the golf club 3, fitting
portions 20b and 20c are provided as a mechanism for holding the
sensor unit 10. The user 2 attaches the sensor unit 10 to the
attachment 20 by fitting the sensor unit 10 to the fitting portions
20b and 20c of the attachment 20 and sliding the sensor unit 10 in
the longitudinal direction (arrow direction) of the golf club 3.
Accordingly, the mounting position and the mounting posture of the
sensor unit 10 with respect to the golf club 3 are held by the
attachment 20.
1-4. Laser Marker
[0069] FIG. 5 is an external perspective view of the attachment 20.
FIG. 6 is an external perspective view showing the relationship
between the attachment 20 and the sensor unit 10 that are mounted
on the golf club 3. FIG. 7 is a diagram showing the diffusion
direction of laser beams emitted from the attachment 20 (in FIG. 7,
a putter is drawn as the golf club 3).
[0070] As shown in FIG. 5, for example, a substantially cylindrical
laser marker 20d (an example of a projector) is provided on the top
surface of the attachment 20. A highly directional visible light
source, such as a laser diode, and a projection optical system
including a refraction member are mounted in the laser marker 20d
so as to satisfy a predetermined positional relationship. The
longitudinal direction of the laser marker 20d corresponds to the
optical axis direction of the projection optical system, and a
laser beam exit port 20d-1 is located at one end of the laser
marker 20d.
[0071] Here, a mark projected by the laser marker 20d is assumed to
be a line mark. In this case, for example, a light divergence
element (magnifying optical system), such as a cylindrical lens
(cylindrical prism) that diffuses light beams emitted from the
light source in a single direction, is disposed in the exit port
20d-1 of the laser marker 20d.
[0072] As shown in FIG. 6, the posture of the laser marker 20d with
respect to the attachment 20 is set such that the optical axis
direction of the laser marker 20d is along the longitudinal
direction of the golf club 3 and the diffusion direction (direction
in which the surface of a cylindrical lens is curved) of the laser
beam according to the exit port 20d-1 of the laser marker 20d
matches the direction of the target line.
[0073] As shown in FIG. 7, the laser marker 20d in the attachment
20 is disposed such that the exit port 20d-1 of the laser marker
20d faces the hitting point side of the head (an example of a
hitting portion) of the golf club 3, for example. In this case, the
laser marker 20d can project the line mark 71 onto the target line.
FIG. 7 shows the golf club 3 (putter) of the right-handed user 2.
In addition, the line mark 71 is drawn long on the target side, and
is drawn short on the opposite side to the target side.
1-5. An Example of Mounting a Sensor Set
[0074] FIG. 8 is a diagram showing an example of the mounting
position and direction of the sensor unit 10 with respect to the
golf club 3, and FIG. 9 is a diagram showing the relationship of
the mounting position and direction between the sensor unit 10 and
the laser marker 20d.
[0075] As shown in FIG. 8, the mounting posture of the sensor unit
10 with respect to the golf club 3 is set such that one axis
(assumed to be the y axis herein) of three detection axes (the x
axis, the y axis, and the z axis) of the sensor unit 10 is located
along the longitudinal direction (direction from the grip to the
head) of the shaft of the golf club 3.
[0076] In addition, the posture of another one axis (assumed to be
the x axis herein) of the sensor unit 10 with respect to the golf
club 3 is, for example, a posture (hereinafter, referred to as an
"ideal posture") at which the x axis is along the target line
specified from the posture of the face surface.
[0077] It is preferable that the mounting position of the sensor
unit 10 in the golf club 3 is closer to the grip side, on which the
impact at the time of hitting is not easily transmitted and the
centrifugal force at the time of swing is less likely to be
applied, than to the head side. The "shaft" referred to herein
indicates a portion of the shank excluding the head of the golf
club 3, and a grip is also included therein. The "face surface"
indicates the hitting surface of the head of the golf club 3.
[0078] As shown in FIG. 9, the longitudinal direction of the laser
marker 20d (optical axis direction of the projection optical
system) is set to be along the y axis of the sensor unit 10. In
addition, the diffusion direction of laser beams according to the
exit port 20d-1 of the laser marker 20d is set to be along the
x-axis direction of the sensor unit 10.
1-6. Operation of a User
[0079] FIG. 10 is a diagram showing the procedure of movement
performed until the user 2 hits a ball. Hereinafter, steps of FIG.
10 will be described in order.
[0080] Step S1: the user 2 performs an operation to input the body
information of the user 2, information regarding the golf club 3
that the user 2 uses (golf club information), and the like through
the swing analysis device 30. The body information includes at
least one of information pieces of the height of the user 2, the
length of the arm, and the length of the leg, and may further
include the information of sex or other pieces of information. The
golf club information includes at least one of information pieces
of the length (club length) of the golf club 3 and the type
(number) of the golf club 3.
[0081] Step S2: the user 2 performs a measurement start operation
(operation to make the sensor unit 10 start measurement) through
the swing analysis device 30. Then, the swing analysis device 30
transmits a measurement start command to the sensor unit 10, and
the sensor unit 10 receives the measurement start command to start
the measurement of 3-axis acceleration and 3-axis velocity. The
sensor unit 10 measures the 3-axis acceleration and the 3-axis
velocity at predetermined periods (for example, 1 ms), and
sequentially transmits the measured data to the swing analysis
device 30. Communication between the sensor unit 10 and the swing
analysis device 30 is wireless communications or cable
communication.
[0082] Step S3: the user 2 makes the laser marker 20d start the
projection of the line mark 71 by performing a predetermined
gesture with the golf club 3. Then, the user 2 finds the optimal
posture of the head of the golf club 3 with the line mark 71 as an
indicator. Specifically, the user 2 adjusts the posture of the head
of the golf club 3 so that the line mark 71 (or the extension of
the line mark 71) crosses a target (for example, the cup 5).
[0083] For example, the predetermined gesture is a gesture of
"tapping twice on the ground lightly with the sole of the head of
the golf club 3". The predetermined gesture may be other gestures.
For example, the predetermined gesture may be a gesture of changing
the output (measurement data) of the sensor unit 10 in different
patterns from (1) when the user 2 moves the golf club 3 while
holding it by hand, (2) when the user 2 swings the golf club 3, and
(3) when the user 2 takes an address posture with the golf club 3.
In addition, in order to avoid a situation in which laser beams are
incident on the human eye, it is desirable that the gesture is a
gesture of making the sole of the head of the golf club 3 face the
ground side.
[0084] Step S4: When the posture of the head of the golf club 3 is
determined, the user 2 takes an address posture and stands still
for a predetermined time (for example, 1 second) or more. In the
present embodiment, the gesture of standing still for a
predetermined time or more is a notification of the start of swing
for the swing analysis device 30, and is also a notification of an
instruction to stop the projection of the line mark. Accordingly,
when the user 2 takes an address posture and stands still for a
predetermined time or more, the projection of the line mark 71 is
stopped.
[0085] Step S5: the user 2 determines whether or not a notification
(for example, a notification using voice) allowing the swing has
been received from the swing analysis device 30. In a case where
the notification has been received (Y in S5), the process proceeds
to step S6. In a case where the notification has not been received
(N in S5), the process proceeds to step S4.
[0086] Step S6: the user 2 performs a swing motion to hit the golf
ball 4. Then, the swing analysis device 30 analyzes the swing
motion of the user 2 using the golf club 3 based on the measurement
data of the sensor unit 10.
[0087] In the present embodiment, therefore, the user 2 can start
the projection of the line mark 71 by making a predetermined
gesture, such as a gesture of "tapping twice on the ground lightly
with the sole of the head of the golf club 3", and can stop the
projection of the line mark 71 by making a gesture of "standing
still for a predetermined time or more at an address posture".
1-7. Configuration of a Swing Analysis System
[0088] FIG. 11 is a diagram showing an example of the configuration
of the swing analysis system 1.
[0089] The swing analysis system 1 includes the sensor unit 10 and
the attachment 20, which form the sensor set 100, and the swing
analysis device 30.
[0090] As shown in FIG. 11, the sensor unit 10 is configured to
include an acceleration sensor 12, an angular velocity sensor 14, a
control unit 16, a communication unit 18, a battery 29, and the
like. In the sensor unit 10, however, some of the components may be
appropriately omitted or changed, or other components, such as a
magnetic field sensor, may be appropriately added.
[0091] The acceleration sensor 12 measures acceleration occurring
in each of the three axial directions crossing each other (ideally,
perpendicular to each other), and outputs a digital signal
(acceleration data) corresponding to the magnitude and direction of
the measured 3-axis acceleration.
[0092] The angular velocity sensor 14 measures an angular velocity
occurring around in each of the three axes crossing each other
(ideally, perpendicular to each other), and outputs a digital
signal (angular velocity data) corresponding to the magnitude and
direction of the measured 3-axis velocity.
[0093] The control unit 16 receives the acceleration data and the
angular velocity data from the acceleration sensor 12 and the
angular velocity sensor 14, stores the acceleration data and the
angular velocity data in a storage unit (not shown) together with
time information, generates packet data according to a
communication format by adding the time information to the stored
measurement data (acceleration data and angular velocity data), and
outputs the packet data to the communication unit 18.
[0094] Ideally, the acceleration sensor 12 and the angular velocity
sensor 14 are attached to the sensor unit 10 such that their three
axes match three axes (an x axis, a y axis, and a z axis) of the
orthogonal coordinate system (sensor coordinate system) defined for
the sensor unit 10. In practice, however, error of the mounting
angle occurs. Therefore, the control unit 16 performs processing
for converting the acceleration data and the angular velocity data
into data of the xyz coordinate system using correction parameters
calculated in advance according to the error of the mounting
angle.
[0095] In addition, the control unit 16 may perform temperature
correction processing of the acceleration sensor 12 and the angular
velocity sensor 14. Alternatively, the acceleration sensor 12 and
the angular velocity sensor 14 may be made to have a temperature
correction function.
[0096] In addition, the acceleration sensor 12 and the angular
velocity sensor 14 may output an analog signal. In this case, the
control unit 16 may generate measurement data (acceleration data
and angular velocity data) by performing A/D conversion of the
output signal of the acceleration sensor 12 and the output signal
of the angular velocity sensor 14, and generate packet data for
communication using the measurement data.
[0097] A timing control section 161 is included in the control unit
16. When a projection start command is received from the swing
analysis device 30, the timing control section 161 inputs a
projection start signal to the control unit 26 of the attachment
20. When a projection stop command is received from the swing
analysis device 30, the timing control section 161 inputs a
projection stop signal to the control unit 26 of the attachment
20.
[0098] Control terminals 10e and 20e are provided in portions (for
example, the fitting portions 20b and 20c described above) where
the sensor unit 10 and the attachment 20 are in contact with each
other in a state in which the sensor unit 10 and the attachment 20
are mounted on the golf club 3, the input of control signals (a
projection start signal and a projection stop signal) from the
sensor unit 10 to the attachment 20 is performed through the
terminals 10e and 20e. Although a contact method is adopted as a
method of inputting a control signal from the sensor unit 10 to the
attachment 20, a non-contact method may be adopted.
[0099] The communication unit 18 performs processing for
transmitting the packet data received from the control unit 16 to
the swing analysis device 30, processing for receiving various
control commands (a projection start command and a projection stop
command), such as a measurement start command, from the swing
analysis device 30 and transmitting the various control commands to
the control unit 16. The control unit 16 performs various kinds of
processing corresponding to the control commands.
[0100] The battery 29 supplies electric power to each component of
the sensor unit 10 and the attachment 20.
[0101] Power supply terminals 10a and 20a are provided in portions
(for example, the fitting portions 20b and 20c described above)
where the sensor unit 10 and the attachment 20 are in contact with
each other in a state in which the sensor unit 10 and the
attachment 20 are mounted on the golf club 3, the supply of
electric power from the sensor unit 10 to the attachment 20 is
performed through the terminals 10a and 20a. Although a contact
method is adopted as a method of supplying the electric power from
the sensor unit 10 to the attachment 20, a non-contact method may
be adopted. Although the battery 29 mounted in the sensor unit 10
is used as a power supply of the attachment 20 herein, a dedicated
battery may be mounted in the attachment 20, and the battery may be
used as a power supply of the attachment 20.
[0102] As shown in FIG. 11, the attachment 20 (an example of a
holder) is configured to include the laser marker 20d (an example
of a mark projector), the control unit 26 (an example of a control
device), and the like. In the attachment 20, however, some of the
components may be appropriately omitted or changed, or other
components may be appropriately added.
[0103] The laser marker 20d is configured to include a projection
optical system 221, which includes the exit port described above, a
light source 222, such as a laser diode.
[0104] The control unit 26 drives the light source 222 by supplying
electric power from the battery 29 to the light source 222. A
timing control section 261 is included in the control unit 26. The
timing control section 261 controls the timing at which the light
source 222 is turned on or off by controlling the timing at which
the supply of electric power to the light source 222 is started or
stopped.
[0105] The timing control section 261 makes the laser marker 20d
start the projection of the line mark 71 by turning on the light
source 222 in response to the projection start signal input from
the sensor unit 10. In addition, the timing control section 261
makes the laser marker 20d stop the projection of the line mark 71
by turning off the light source 222 in response to the projection
stop signal input from the sensor unit 10.
[0106] As shown in FIG. 11, the swing analysis device 30 is
configured to include a processing unit 31, a communication unit
32, an operating unit 33, a storage unit 34, a display unit 35, and
a sound output unit 36. In the swing analysis device 30, however,
some of the components may be appropriately omitted or changed, or
other components may be appropriately added.
[0107] The communication unit 32 performs processing for receiving
the packet data transmitted from the sensor unit 10 and
transmitting the packet data to the processing unit 31 and
processing for transmitting the control commands (including a
projection start command and a projection stop command) from the
processing unit 31 to the sensor unit 10.
[0108] The operating unit 33 performs processing for acquiring data
corresponding to the operation of the user 2 and transmitting the
data to the processing unit 31. For example, the operating unit 33
may be a touch panel type display, buttons, keys, or a
microphone.
[0109] The storage unit 34 is formed using, for example, recording
media, such as various IC memories including a read only memory
(ROM), a flash ROM, and a random access memory (RAM), a hard disk,
and a memory card. The storage unit 34 stores programs required
when the processing unit 31 performs various kinds of calculation
processing or control processing or stores various kinds of
programs, data, and the like for realizing an application
function.
[0110] In the present embodiment, a swing analysis program 340 that
is read out by the processing unit 31 in order to execute swing
analysis processing is stored in the storage unit 34. The swing
analysis program 340 may be stored in advance in a nonvolatile
recording medium (computer-readable recording medium), or may be
stored in the storage unit 34 after being received from a server
(not shown) through a network by the processing unit 31.
[0111] Golf club information 342, body information 344, sensor
mounting position information 346, and swing analysis data 348 are
stored in the storage unit 34. For example, the user 2 may operate
the operating unit 33 to input the specification information (for
example, at least a part of information of the length of the shaft,
the position of the center of gravity, a lie angle, a face angle, a
loft angle, and the like) of the golf club 3 to be used through the
input screen, and the input specification information may be used
as the golf club information 342. Alternatively, the user 2 may
input the model number of the golf club 3 (or select the model
number of the golf club 3 from the model number list) in step S1,
and the specification information of the input model number, among
pieces of specification information for each model number stored in
advance in the storage unit 34, may be used as the golf club
information 342.
[0112] In addition, for example, the user 2 may operate the
operating unit 33 to input body information through the input
screen, and the body information may be used as the body
information 344. In addition, for example, the user 2 may operate
the operating unit 33 to input a distance between the mounting
position of the sensor unit 10 in step S1, and the grip end of the
golf club 3, and the input distance information may be used as the
sensor mounting position information 346. Alternatively, assuming
that the sensor unit 10 is mounted at a predetermined position (for
example, at a distance of 20 cm from the grip end), the information
of the predetermined position may be stored in advance as the
sensor mounting position information 346.
[0113] The swing analysis data 348 is data including the
information of analysis results (indicators) of the swing motion by
the processing unit 31 as well as the time (date and time) at which
a swing has been performed, identification information or sex of
the user 2, and the type of the golf club 3. Swing analysis data is
managed for each golf club and each swing.
[0114] The storage unit 34 is used as a working area of the
processing unit 31, and temporarily stores the data acquired by the
operating unit 33, results of calculations performed according to
various programs by the processing unit 31, and the like. In
addition, the storage unit 34 may store data, which needs to be
stored for a long period of time, among the pieces of data
generated by the processing of the processing unit 31.
[0115] The display unit 35 displays the processing result of the
processing unit 31 using characters, graphs, tables, animations,
and other images. For example, the display unit 35 may be a CRT, an
LCD, a touch panel type display, a head mounted display (HMD), or a
display unit provided in list equipment. The functions of the
operating unit 33 and the display unit 35 may be realized using one
touch panel type display.
[0116] The sound output unit 36 outputs the processing result of
the processing unit 31 as a sound, such as voice or buzzer sound.
For example, the sound output unit 36 may be a speaker or a
buzzer.
[0117] The processing unit 31 performs processing for transmitting
a control command to the sensor unit 10 through the communication
unit 32 and various kinds of calculation processing on data, which
is received from the sensor unit 10 or the attachment 20 through
the communication unit 32, according to various programs. In
addition, the processing unit 31 performs various kinds of other
control processes.
[0118] In particular, in the present embodiment, when executing the
swing analysis program 340, the processing unit 31 appropriately
functions as a data acquisition section 310, an image data
generating section 312, a display processing section 314, a swing
analysis section 311, a storage processing section 313, a sound
output processing section 315, and a timing control section 316,
and performs processing for analyzing the swing motion of the user
2 (swing analysis processing).
[0119] The data acquisition section 310 performs processing for
receiving the packet data, which has been received from the sensor
unit 10 through the communication unit 32, acquiring time
information and measurement data from the received packet data, and
transmitting the time information and the measurement data to the
storage processing section 313.
[0120] The timing control section 316 transmits a projection start
command or a projection stop command to the sensor unit 10 through
the communication unit 32, and controls the start or stop timing of
the projection of the line mark 71 by the attachment 20 through the
sensor unit 10.
[0121] The storage processing section 313 performs processing for
reading/writing various kinds of programs or data from/into the
storage unit 34. For example, the storage processing section 313
performs processing for storing the time information and the
measurement data received from the data acquisition section 310 in
the storage unit 34 so as to be associated with each other or
processing for storing various kinds of information or the swing
analysis data 348 calculated by the swing analysis section 311 in
the storage unit 34.
[0122] The swing analysis section 311 performs processing for
analyzing the swing motion of the user 2 using the measurement data
output from the sensor unit 10 (measurement data stored in the
storage unit 34), data from the operating unit 33, or the like and
generating the swing analysis data 348 including the time (date and
time) at which a swing has been performed, identification
information or sex of the user 2, the type of the golf club 3, and
the information of analysis results of the swing motion. In
addition, the swing analysis section 311 calculates the value of
each indicator of the swing as at least a part of the information
of the analysis results of the swing motion.
[0123] The image data generating section 312 performs processing
for generating image data corresponding to the image displayed on
the display unit 35. For example, the image data generating section
312 generates image data based on the various kinds of information
received from the data acquisition section 310.
[0124] The display processing section 314 performs processing for
displaying various images (not only images corresponding to the
image data generated by the image data generating section 312 but
also characters, symbols, and the like are included) on the display
unit 35. For example, the display processing section 314 displays
various kinds of screens or the like on the display unit 35 based
on the image data generated by the image data generating section
312. In addition, for example, the image data generating section
312 may display an image, characters, or the like for sending a
notification to the user 2 on the display unit 35. In addition, for
example, the display processing section 314 may display text
information, such as characters or symbols indicating the analysis
result of the swing analysis section 311, on the display unit 35
automatically or in response to the input operation of the user 2
after the end of the swing motion of the user 2. Alternatively, a
display unit may be provided in the sensor unit 10, so that the
display processing section 314 may transmit image data to the
sensor unit 10 through the communication unit 32 and display
various images, characters, or the like on the display unit of the
sensor unit 10.
[0125] The sound output processing section 315 performs processing
for outputting various sounds (including voice or buzzer sound) to
the sound output unit 36. For example, the sound output processing
section 315 may output a sound for sending a notification to the
user 2 from the sound output unit 36. In addition, for example, the
sound output processing section 315 may output a sound or voice,
which indicates the analysis result of the swing analysis section
211, from the sound output unit 36 automatically or in response to
the input operation of the user 2 after the end of the swing motion
of the user 2. Alternatively, a sound output section may be
provided in the sensor unit 10, so that the output processing
section 315 may transmit various kinds of sound data or voice data
to the sensor unit 10 through the communication unit 32 and output
various kinds of sound or voice to the sound output section of the
sensor unit 10.
[0126] In addition, a vibration mechanism may be provided in the
swing analysis device 30 or the sensor unit 10, so that various
kinds of information may be converted into vibration information by
the vibration mechanism and the user 2 may be notified of the
vibration information.
1-8. Calculation of a Position and a Posture
[0127] The position and posture of the sensor unit 10 are basically
calculated as follows.
[0128] First, the swing analysis section 311 expresses the initial
position of the sensor unit 10 at the start of swing in the global
coordinate system, and expresses the position of the sensor unit 10
at each time as a relative value with respect to the value of the
initial position. The position of the sensor unit 10 at each time
of the swing can be calculated by performing time integration of
acceleration data, which is output from the sensor unit 10 during
the swing, over a period from the start of the swing to the
relevant time, for example.
[0129] In addition, the swing analysis section 311 expresses the
initial posture of the sensor unit 10 at the start of swing as a
value in the global coordinate system, and expresses the posture of
the sensor unit 10 at each time as a relative value with respect to
the value of the initial posture. The posture of the sensor unit 10
at each time of the swing can be calculated by performing a
rotation operation of angular velocity data, which is output from
the sensor unit 10 during the swing, over a period from the start
of the swing to the relevant time, for example.
[0130] The swing analysis section 311 calculates the position of a
predetermined part (for example, a head or a grip) of the golf club
3 at each time of the swing based on the position of the sensor
unit 10 at the same time, the posture of the sensor unit 10 at the
same time, and a positional relationship in a region from the
sensor unit 10 to the predetermined part (expressed by the sensor
mounting position information 346 and the golf club information
342).
[0131] In addition, the swing analysis section 311 calculates the
posture of the predetermined part of the golf club 3 at each time
of the swing based on the posture of the sensor unit 10 at the same
time.
[0132] In addition, since the measurement data (acceleration data
and angular velocity data at each time) output from the sensor unit
10 is biased, the swing analysis section 311 may calculate the
offset amount of the measurement data and perform bias correction
of the measurement data. The acceleration sensor 12 and the angular
velocity sensor 14 of the sensor unit 10 may be made to have a
function of bias correction, or the swing analysis section 311 may
be made to have a function of bias correction.
1-9. Detection of a Timing
[0133] The swing analysis section 311 detects the hitting timing
(timing of impact) of the user 2 using the measurement data. For
example, the swing analysis section 311 may calculate a sum value
of the measurement data (acceleration data or angular velocity
data), and detect the timing (time) of impact based on the sum
value.
[0134] Specifically, first, the swing analysis section 311
calculates a sum value n.sub.0(t) of the angular velocity at each
time t using angular velocity data (angular velocity data after
bias correction at each time t).
[0135] Then, the swing analysis section 311 converts the sum value
n.sub.0(t) of the angular velocity at each time t into a sum value
n(t) by normalizing (scale conversion) the sum value n.sub.0(t) in
a predetermined range. For example, assuming that the maximum value
of the sum value of the angular velocity in a measurement data
acquisition period is max(n.sub.0), the swing analysis section 311
converts the sum value n.sub.0(t) of the angular velocity into the
sum value n(t) by normalizing the sum value n.sub.0(t) in the range
of 0 to 100.
[0136] Then, the swing analysis section 311 calculates a
differential dn(t) of the sum value n(t) after the normalization at
each time t.
[0137] Then, the swing analysis section 311 detects an earlier one
of a time, at which the value of the differential dn(t) of the sum
value is maximized, and a time, at which the value of the
differential dn(t) of the sum value is minimized, as an impact time
(timing of impact) t.sub.impact. In a typical golf swing, it is
thought that the swing speed is the maximum at the moment of
impact. In addition, it is thought that the sum value of the
angular velocity also changes according to the swing speed.
Accordingly, the swing analysis section 311 can regard a timing at
which the differential value of the sum value of the angular
velocity is maximized or minimized in a series of swing motion
(that is, a timing at which the differential value of the sum value
of the angular velocity becomes a positive maximum value or a
negative minimum value) as the timing of impact. Since the golf
club 3 is vibrated by the impact, it is thought that the timing at
which the differential value of the sum value of the angular
velocity is maximized and the timing at which the differential
value of the sum value of the angular velocity is minimized occurs
in a pair. However, the earlier timing is thought to be the moment
of impact.
[0138] Then, the swing analysis section 311 detects a time of a
minimum point, at which the sum value n(t) approaches 0, before the
time t.sub.impact of impact, as a time t.sub.top of the top (timing
of the top). In a typical golf swing, it is thought that, after the
start of a swing, the movement is once stopped at the top and then
the swing speed gradually increases to reach the impact.
Accordingly, the swing analysis section 311 can regard a timing, at
which the sum value of the angular velocity approaches 0 to become
minimized, before the timing of impact, as the timing of the
top.
[0139] Then, the swing analysis section 311 determines a section,
in which the sum value n(t) is equal to or less than a
predetermined threshold value, before and after the time t.sub.top
of the top, as a top section, and detects the last time, at which
the sum value n(t) becomes equal to or less than the predetermined
threshold value, before the start time of the top section as a time
t.sub.start of swing start (backswing start). In a typical golf
swing, it is considered that the swing motion starts from a
stationary state and hardly stops before the top. Therefore, the
swing analysis section 311 can regard the last timing, at which the
sum value of the angular velocity becomes equal to or less than the
predetermined threshold value, before the top section, as the start
timing of the swing motion. In addition, the swing analysis section
311 may detect a time of a minimum point, at which the sum value
n(t) approaches 0, before the time t.sub.top of the top, as the
time t.sub.start of swing start.
[0140] Even if 3-axis acceleration data is used, the swing analysis
section 311 can similarly detect the timing of swing start, the
timing of the top, and the timing of impact.
1-10. Swing Analysis Processing
[0141] FIG. 12 is a flowchart showing an example of the procedure
of swing analysis processing (swing analysis method). The
processing unit 31 performs swing analysis processing, for example,
in the procedure of the flowchart shown in FIG. 12, by executing
the swing analysis program 340 stored in the storage unit 34.
Hereinafter, the flowchart shown in FIG. 12 will be described.
[0142] Step S10: the processing unit 31 waits until the user 2
performs a measurement start operation (N in S10). When a
measurement start operation is performed (Y in S10), the processing
unit 31 proceeds to step S12.
[0143] Step S12: the processing unit 31 transmits a measurement
start command to the sensor unit 10 to start the acquisition of
measurement data from the sensor unit 10.
[0144] Step S14: the timing control section 316 of the processing
unit 31 monitors whether or not a predetermined change pattern is
included in a temporal change waveform of the measurement data
based on the measurement data transmitted from the sensor unit 10.
In a case where the predetermined change pattern is included (Y in
S14), the timing control section 316 determines that the user 2 has
performed a predetermined gesture with the golf club 3, and the
process proceeds to step S16. In a case where the predetermined
change pattern is not included (N in S14), step S14 is executed
again.
[0145] Specifically, in a case where the predetermined gesture is a
gesture of "tapping twice on the ground lightly with the sole of
the head of the golf club 3" as shown in FIG. 13, for example, a
large peak appears twice successively in the graph showing the
magnitude of z-axis acceleration as shown in FIG. 14. In FIG. 14,
the horizontal axis indicates time, and the vertical axis indicates
z-axis acceleration.
[0146] Accordingly, in step S14, the timing control section 316
stores a standard temporal change waveform (standard change
pattern) when a predetermined gesture has been performed in the
storage unit 34, and monitors a difference between the standard
time waveform and a temporal change waveform in the magnitude of
the z-axis acceleration included in the measurement data
transmitted from the sensor unit 10. The timing control section 316
determines that a predetermined gesture has been performed in a
case where the monitored difference is equal to or less than a
threshold value, and determines that a predetermined gesture has
not been performed in a case where the monitored difference exceeds
the threshold value. Here, the determination regarding whether or
not a predetermined gesture has been performed is performed based
on the z-axis acceleration. However, instead of or in addition to
the z-axis acceleration, the determination regarding whether or not
a predetermined gesture has been performed may be performed based
on acceleration in other axial directions. Instead of or in
addition to the acceleration, the determination regarding whether
or not a predetermined gesture has been performed may be performed
based on the angular velocity.
[0147] Step S16: the timing control section 316 of the processing
unit 31 transmits a projection start command to the sensor unit 10.
In response to the projection start command, the control unit 16 of
the sensor unit 10 inputs a projection start signal to the
attachment 20. Then, the timing control section 261 of the
attachment 20 makes the laser marker 20d start the projection of
the line mark 71.
[0148] Step S18: the timing control section 316 of the processing
unit 31 determines whether or not the golf club 3 is in a
stationary state using the measurement data acquired from the
sensor unit 10. When it is detected that the golf club 3 is in a
stationary state (Y in S18), the process proceeds to step S20.
Otherwise, the timing control section 316 waits (N in S18).
[0149] Step S20: the timing control section 316 of the processing
unit 31 transmits a projection stop command to the sensor unit 10.
In response to the projection stop command, the timing control
section 161 of the sensor unit 10 inputs a projection stop signal
to the attachment 20. Then, the timing control section 261 of the
attachment 20 makes the laser marker 20d stop the projection of the
line mark 71.
[0150] Step S22: the processing unit 31 notifies the user 2 of the
permission of swing start. The processing unit 31 notifies the user
2 of the permission of swing start, for example, by outputting a
predetermined sound or by turning on an LED provided in the sensor
unit 10, and the user 2 starts the swing motion after confirming
the notification.
[0151] Step S24: the timing control section 316 of the processing
unit 31 monitors whether or not a predetermined change pattern is
included in a temporal change waveform of the measurement data
based on the measurement data transmitted from the sensor unit 10.
In a case where the predetermined change pattern is included (Y in
S24), the timing control section 316 determines that the user 2 has
performed a predetermined gesture with the golf club 3, and the
process proceeds to step S16. In a case where the predetermined
change pattern is not included (N in S24), the process proceeds to
step S26. The determination method in step S24 is the same as the
determination method in step S14.
[0152] Step S26: When the processing unit 31 detects the start of
swing based on the measurement data transmitted from the sensor
unit 10 (Y in S26), the process proceeds to step S28. Otherwise (N
in S26), the process proceeds to step S24. Determination regarding
whether or not a swing has started can be performed, for example,
according to whether or not the sum value of the 3-axis angular
velocity included in the measurement data exceeds a predetermined
threshold value or according to whether or not the sum value of the
3-axis acceleration included in the measurement data exceeds a
predetermined threshold value.
[0153] Step S28: the processing unit 31 calculates the initial
position and the initial posture of the sensor unit 10 in the
global coordinate system based on the measurement data that the
sensor unit 10 outputs when the golf club 3 is in a stationary
state in step S18.
[0154] Step S30: the processing unit 31 detects the timing of the
swing start, top, impact, or the like using the measurement data
acquired from the sensor unit 10 after the end of the swing motion
of the user 2 or before the end of the swing motion. The processing
unit 31 may determine the timing detected in step S26 as a swing
start timing as it is, or may detect the swing start timing based
on other timings.
[0155] Step S32: the processing unit 31 calculates the position and
posture of the sensor unit 10 during the swing motion of the user 2
in parallel with the processing of step S30 or before and after the
processing of step S30.
[0156] Step S34: the processing unit 31 calculates indicators of
the swing using at least some of the measurement data and the
timing of impact acquired from the sensor unit 10 and the position
and posture of the sensor unit 10 calculated in step S28.
[0157] Step S36: When swing analysis data including one or a
plurality of indicators calculated in step S34 is generated, the
processing unit 31 stores the swing analysis data in the swing
analysis data 348 as swing analysis data of the golf club 3, and
ends the flow.
[0158] In the flowchart shown in FIG. 13, the order of the steps
may be appropriately changed to the extent possible, or some of the
steps may be deleted or changed, or other steps may be added.
2. Second Embodiment
[0159] Hereinafter, a swing analysis system of a second embodiment
will be described. Here, differences from the first embodiment will
be described. The difference is the swing analysis processing. The
same components as described in the first embodiment will be
described with the same reference numerals being given thereto.
[0160] FIG. 15 is a flowchart showing an example of the procedure
of swing analysis processing (swing analysis method) in the second
embodiment. The processing unit 31 performs swing analysis
processing, for example, in the procedure of the flowchart shown in
FIG. 15, by executing the swing analysis program 340 stored in the
storage unit 34. Hereinafter, the flowchart shown in FIG. 15 will
be described.
[0161] Step S10: the processing unit 31 waits until the user 2
performs a measurement start operation (N in S10). When a
measurement start operation is performed (Y in S10), the processing
unit 31 proceeds to step S12.
[0162] Step S12: the processing unit 31 transmits a measurement
start command to the sensor unit 10 to start the acquisition of
measurement data from the sensor unit 10.
[0163] Step S14': the timing control section 316 of the processing
unit 31 determines whether or not the sole of the head of the golf
club 3 stably faces the ground side based on the measurement data
transmitted from the sensor unit 10. In a case where the sole of
the head of the golf club 3 stably faces the ground side, for
example, as shown in FIG. 16 (Y in S14'), the process proceeds to
step S16. In a case where the sole of the head of the golf club 3
does not face the ground side or is unstable, for example, as shown
in FIG. 17 (N in S14'), step S14' is executed again.
[0164] Specifically, if the sole of the head stably faces the
ground side as shown in FIG. 16 (for example, if an angle .theta.
between the y axis and the direction of gravitational acceleration
is less than 50.degree. and is in a state close to the stationary
state), y-axis acceleration falls within a predetermined value
range. Accordingly, the sum value of the 3-axis acceleration
becomes a value close to the gravitational acceleration. However,
if the sole of the head does not face the ground side as shown in
FIG. 17 (for example, if the angle .theta. between the y axis and
the direction of gravitational acceleration is equal to or greater
than 50.degree.) or the sole of the head is unstable, the y-axis
acceleration deviates from a predetermined value range, or the sum
value of the 3-axis acceleration becomes a value away from the
gravitational acceleration. In addition, although the threshold
value of the angle .theta. is set to 50.degree. herein, the
threshold value of the angle .theta. may be other values. For
example, the threshold value of the angle .theta. may be set to a
predetermined value in the range of 40.degree. to 50.degree..
[0165] Therefore, in step S14', in a case where the y-axis
acceleration falls within the predetermined value range and the sum
value of the 3-axis acceleration is a value close to the
gravitational acceleration, the timing control section 316
determines that the sole of the head stably faces the ground side.
Otherwise, the timing control section 316 determines that the sole
of the head does not face the ground side or is unstable.
[0166] Step S16: the timing control section 316 of the processing
unit 31 transmits a projection start command to the sensor unit 10.
In response to the projection start command, the control unit 16 of
the sensor unit 10 inputs a projection start signal to the
attachment 20. Then, the timing control section 261 of the
attachment 20 makes the laser marker 20d start the projection of
the line mark 71.
[0167] Step S18: the timing control section 316 of the processing
unit 31 determines whether or not the golf club 3 is in a
stationary state using the measurement data acquired from the
sensor unit 10. When it is detected that the golf club 3 is in a
stationary state (Y in S18), the process proceeds to step S20. In
other cases, the timing control section 316 waits (N in S18).
[0168] Step S20: the timing control section 316 of the processing
unit 31 transmits a projection stop command to the sensor unit 10.
In response to the projection stop command, the timing control
section 161 of the sensor unit 10 inputs a projection stop signal
to the attachment 20. Then, the timing control section 261 of the
attachment 20 makes the laser marker 20d stop the projection of the
line mark 71.
[0169] Step S22: the processing unit 31 notifies the user 2 of the
permission of swing start. The processing unit 31 notifies the user
2 of the permission of swing start, for example, by outputting a
predetermined sound or by turning on an LED provided in the sensor
unit 10, and the user 2 starts the swing motion after confirming
the notification.
[0170] Step S24': the timing control section 316 of the processing
unit 31 determines whether or not the sole of the head of the golf
club 3 stably faces the ground side based on the measurement data
transmitted from the sensor unit 10. In a case where the sole of
the head of the golf club 3 stably faces the ground side, for
example, as shown in FIG. 16 (Y in S24'), the process proceeds to
step S16. In a case where the sole of the head of the golf club 3
does not face the ground side or is unstable, for example, as shown
in FIG. 17 (N in S24'), step S24' is executed again. The
determination method in step S24' is the same as the determination
method in step S14'.
[0171] Step S26: When the processing unit 31 detects the start of
swing based on the measurement data transmitted from the sensor
unit 10 (Y in S26), the process proceeds to step S28. Otherwise (N
in S26), the process proceeds to step S24'. Determination regarding
whether or not a swing has started can be performed, for example,
according to whether or not the sum value of the 3-axis angular
velocity included in the measurement data exceeds a predetermined
threshold value or according to whether or not the sum value of the
3-axis acceleration included in the measurement data exceeds a
predetermined threshold value.
[0172] Step S28: the processing unit 31 calculates the initial
position and the initial posture of the sensor unit 10 in the
global coordinate system based on the measurement data that the
sensor unit 10 outputs when the golf club 3 is in a stationary
state in step S18.
[0173] Step S30: the processing unit 31 detects the timing of the
swing start, top, impact, or the like using the measurement data
acquired from the sensor unit 10 after the end of the swing motion
of the user 2 or before the end of the swing motion. The processing
unit 31 may determine the timing detected in step S26 as a swing
start timing as it is, or may detect the swing start timing based
on other timings.
[0174] Step S32: the processing unit 31 calculates the position and
posture of the sensor unit 10 during the swing motion of the user 2
in parallel with the processing of step S30 or before and after the
processing of step S30.
[0175] Step S34: the processing unit 31 calculates indicators of
the swing using at least some of the measurement data and the
timing of impact acquired from the sensor unit 10 and the position
and posture of the sensor unit 10 calculated in step S28.
[0176] Step S36: When swing analysis data including one or a
plurality of indicators calculated in step S34 is generated, the
processing unit 31 stores the swing analysis data in the swing
analysis data 348 as swing analysis data of the golf club 3, and
ends the flow.
[0177] In the flowchart shown in FIG. 15, the order of the steps
may be appropriately changed to the extent possible, or some of the
steps may be deleted or changed, or other steps may be added.
3. Effects of the Embodiments
[0178] (1) The control device (control unit 26) of the present
embodiment includes a timing control unit (timing control section
261) that controls a timing, at which the mark projector (laser
marker 20d) for projecting a mark stops or starts the projection of
the mark, based on the output of the inertial sensor (sensor unit
10) mounted on the exercise equipment (golf club 3) or the user
2.
[0179] The timing control unit (timing control section 261)
controls the timing to stop or start the projection of the mark
based on the inertia amount applied to the exercise equipment (golf
club 3) or the user 2. Therefore, the timing control unit (timing
control section 261) can improve the safety of the mark projector
(laser marker 20d) by stopping the projection, for example, when
the exercise equipment (golf club 3) is in a state in which light
emitted from the mark projector (laser marker 20d) is likely to be
incident on the human eye (for example, when a hitting portion does
not face the ground or during the swing). In addition, the timing
control unit (timing control section 261) can improve the
convenience of the mark projector (laser marker 20d) by starting
the projection, for example, when the exercise equipment (golf club
3) is in a state in which light emitted from the mark projector
(laser marker 20d) is difficult to be incident on the human eye
(for example, when a hitting portion faces the ground or when the
user 2 starts to take an address posture).
[0180] (2) In the control device (control unit 26) of the present
embodiment, the timing control unit (timing control section 261)
stops the projection at a timing before the inertial sensor starts
the measurement of a swing after the start of the projection (S16)
(S20).
[0181] Since the timing control unit (timing control section 261)
stops the projection at the timing before starting the measurement
of a swing, safety when the swing is started can be reliably
ensured.
[0182] (3) In the control device (control unit 26) of the present
embodiment, the timing is a timing at which a stationary state of
the exercise equipment (golf club 3) over a predetermined period is
detected (Y in S18).
[0183] The timing control unit (timing control section 261) stops
the projection, for example, when the user 2 takes an address
posture. Accordingly, safety when the swing is started can be
reliably ensured.
[0184] (4) In the control device (control unit 26) of the present
embodiment, the timing control unit (timing control section 261)
starts the projection at a timing (Y in S14), at which the user 2
performs a predetermined gesture with the exercise equipment (golf
club 3), after the start of the inertial sensor (sensor unit 10)
(S12).
[0185] The timing control unit (timing control section 261) starts
the projection when the user 2 performs a predetermined gesture.
Accordingly, the user 2 can start the projection of the mark at a
desired timing.
[0186] (5) In the control device (control unit 26) of the present
embodiment, the timing control unit (timing control section 261)
starts the projection at a timing (Y in S14'), at which a hitting
portion (head) of the exercise equipment faces the ground side,
after the start of the inertial sensor (sensor unit 10) (S12).
[0187] The timing control unit (timing control section 261) starts
the projection when the hitting portion (head) of the exercise
equipment (golf club 3) faces the ground side. Accordingly, it is
possible to start the projection when the exercise equipment (golf
club 3) is in a state in which light emitted from the mark
projector (laser marker 20d) is difficult to be incident on the
human eye (for example, when the user 2 starts to take an address
posture).
[0188] (6) The holder (attachment 20) of the present embodiment is
used in order to mount the inertial sensor (sensor unit 10) on the
exercise equipment (golf club 3). The holder (attachment 20)
includes the control device (control unit 26) of the present
embodiment and the mark projector (laser marker 20d).
[0189] The timing control unit (timing control section 261)
controls the timing to stop or start the projection of the mark
based on the inertia amount applied to the exercise equipment (golf
club 3). Therefore, the timing control unit (timing control section
261) can improve the safety of the mark projector (laser marker
20d) by stopping the projection, for example, when the exercise
equipment (golf club 3) is in a state in which light emitted from
the mark projector (laser marker 20d) is likely to be incident on
the human eye (for example, when a hitting portion does not face
the ground or during the swing). In addition, the timing control
unit (timing control section 261) can improve the convenience of
the mark projector (laser marker 20d) by starting the projection,
for example, when the exercise equipment (golf club 3) is in a
state in which light emitted from the mark projector (laser marker
20d) is difficult to be incident on the human eye (for example,
when a hitting portion faces the ground or when the user 2 starts
to take an address posture).
[0190] (7) In the holder (attachment 20) of the present embodiment,
the mark projector (laser marker 20d) projects a line-shaped mark
(line mark 71) onto the ground.
[0191] Therefore, the user 2 can use the projected mark (line mark
71) as an indicator of the hitting direction.
[0192] (8) The sensor set (sensor set 100) of the present
embodiment includes the holder (attachment 20) of the present
embodiment and the inertial sensor (sensor unit 10).
[0193] (9) The control method (swing analysis method) of the
present embodiment includes a step (S20) of controlling a timing,
at which the mark projector (laser marker 20d) for projecting a
mark stops or starts the projection of the mark, based on the
output of the inertial sensor (sensor unit 10) mounted on the
exercise equipment (golf club 3) or the user 2.
[0194] In the control step (S20), the timing to stop or start the
projection of the mark is controlled based on the inertia amount
applied to the exercise equipment (golf club 3) or the user 2.
Therefore, it is possible to improve the safety of the mark
projector (laser marker 20d) by stopping the projection, for
example, when the exercise equipment (golf club 3) is in a state in
which light emitted from the mark projector (laser marker 20d) is
likely to be incident on the human eye (for example, when a hitting
portion does not face the ground or during the swing). In addition,
it is possible to improve the convenience of the mark projector
(laser marker 20d) by starting the projection, for example, when
the exercise equipment (golf club 3) is in a state in which light
emitted from the mark projector (laser marker 20d) is difficult to
be incident on the human eye (for example, when a hitting portion
faces the ground or when the user 2 starts to take an address
posture).
[0195] (10) In the control method (swing analysis method) of the
present embodiment, in the control step, the projection is stopped
at a timing before the inertial sensor starts the measurement of a
swing after the start of the projection.
[0196] Since the projection is stopped at the timing before
starting the measurement of a swing in the control step, safety
when the swing is started can be reliably ensured.
[0197] (11) In the control method (swing analysis method) of the
present embodiment, the timing is a timing at which a stationary
state of the exercise equipment over a predetermined period is
detected.
[0198] In the controlling, the projection is stopped, for example,
when the user 2 takes an address posture. Accordingly, safety when
the swing is started can be reliably ensured.
[0199] (12) In the control method (swing analysis method) of the
present embodiment, in the control step, the projection is started
at a timing, at which the user performs a predetermined gesture
with the exercise equipment, after the start of the inertial
sensor.
[0200] In the control step, the projection is started when the user
performs a predetermined gesture. Accordingly, the user 2 can start
the projection of the mark at a desired timing.
[0201] (13) In the control method (swing analysis method) of the
present embodiment, in the control step, the projection is started
at a timing, at which a hitting portion of the exercise equipment
faces the ground side, after the start of the inertial sensor.
[0202] In the control step, the projection is started when the
hitting portion (head) of the exercise equipment (golf club 3)
faces the ground side. Accordingly, it is possible to start the
projection when the exercise equipment (golf club 3) is in a state
in which light emitted from the mark projector (laser marker 20d)
is difficult to be incident on the human eye (for example, when the
user 2 starts to take an address posture).
[0203] (14) The control program (swing analysis program 340) of the
present embodiment includes a step (S20) of controlling a timing,
at which the mark projector (laser marker 20d) for projecting a
mark stops or starts the projection of the mark, based on the
output of the inertial sensor (sensor unit 10) mounted on the
exercise equipment (golf club 3) or the user.
[0204] In the control step (S20), the timing to stop or start the
projection of the mark is controlled based on the inertia amount
applied to the exercise equipment (golf club 3) or the user.
Therefore, it is possible to improve the safety of the mark
projector (laser marker 20d) by stopping the projection, for
example, when the exercise equipment (golf club 3) is in a state in
which light emitted from the mark projector (laser marker 20d) is
likely to be incident on the human eye (for example, when a hitting
portion does not face the ground or during the swing). In addition,
it is possible to improve the convenience of the mark projector
(laser marker 20d) by starting the projection, for example, when
the exercise equipment (golf club 3) is in a state in which light
emitted from the mark projector (laser marker 20d) is difficult to
be incident on the human eye (for example, when a hitting portion
faces the ground or when the user 2 starts to take an address
posture).
[0205] (15) The recording medium of the present embodiment records
a control program (swing analysis program. 340) causing a computer
(processing unit 31) to execute a step (S20) of controlling a
timing, at which the mark projector (laser marker 20d) for
projecting a mark stops or starts the projection of the mark, based
on the output of the inertial sensor (sensor unit 10) mounted on
the exercise equipment (golf club 3) or the user.
[0206] In the control step (S20), the timing to stop or start the
projection of the mark is controlled based on the inertia amount
applied to the exercise equipment (golf club 3) or the user.
Therefore, it is possible to improve the safety of the mark
projector (laser marker 20d) by stopping the projection, for
example, when the exercise equipment (golf club 3) is in a state in
which light emitted from the mark projector (laser marker 20d) is
likely to be incident on the human eye (for example, when a hitting
portion does not face the ground or during the swing). In addition,
it is possible to improve the convenience of the mark projector
(laser marker 20d) by starting the projection, for example, when
the exercise equipment (golf club 3) is in a state in which light
emitted from the mark projector (laser marker 20d) is difficult to
be incident on the human eye (for example, when a hitting portion
faces the ground or when the user 2 starts to take an address
posture).
4. Supplements to Embodiments
[0207] In the embodiments described above, a line mark (line-shaped
mark) is used as a mark projected onto the ground by the laser
marker 20d. However, other marks may be used. For example, a dot
array mark formed by arranging a plurality of dots in a line shape
may be used.
[0208] In the embodiments described above, a line mark is used as a
mark projected onto the ground by the laser marker 20d. However,
using a dot mark, the appearance of a mark may be made to be a line
shape by scanning (laser scanning) the projection destination of
the dot mark along the target line.
[0209] In the embodiments described above, the laser marker 20d may
perform the projection of a mark continuously (continuous wave
(CW)) irradiation (continuous irradiation) of laser beams may be
performed, or the laser marker 20d may perform the projection of a
mark intermittently (pulse irradiation of laser beams may be
performed).
[0210] In the embodiments described above, the timing control
section 261 starts or stops the projection of a mark by turning on
or off the light source 222. However, the timing control section
261 starts or stops the projection of a mark by opening or closing
a shutter disposed on the optical path of the projection optical
system 221.
[0211] In any of the embodiments described above, the sensor unit
10 may be made to have at least some of the functions of the
attachment 20. For example, at least one of the laser marker 20d
and the timing control section 261 may be mounted in the sensor
unit 10.
[0212] In any of the embodiments described above, the swing
analysis device 30 may be made to have some of the functions of the
attachment 20. For example, the timing control section 261 may be
mounted in the swing analysis device 30.
[0213] In any of the embodiments described above, the attachment 20
may be made to have at least some of the functions of the sensor
unit 10. For example, at least one of the acceleration sensor 12
and the angular velocity sensor 14 may be mounted in the attachment
20.
[0214] In any of the embodiments described above, the swing
analysis device 30 may be made to have some of the functions of the
sensor unit 10. For example, the control unit 16 may be mounted in
the swing analysis device 30.
[0215] In any of the embodiments described above, the attachment 20
may be made to have at least some of the functions of the swing
analysis device 30. For example, the attachment 20 may be made to
have at least one of the function (function of determining the
start or stop timing of projection) of the timing control section
316 and the function of the swing analysis section 311.
[0216] In any of the embodiments described above, the sensor unit
10 may be made to have at least some of the functions of the swing
analysis device 30. For example, the sensor unit 10 may be made to
have at least one of the function (function of determining the
start or stop timing of projection) of the timing control section
316 and the function of the swing analysis section 311.
[0217] In any of the embodiments described above, a server (not
shown) may be made to have some of the functions of the swing
analysis system 1. For example, a server may be made to have a
function of the swing analysis section 311.
[0218] In the embodiments described above, the sensor unit 10, the
attachment 20, and the swing analysis device 30 are configured
separately (as separate units). However, two or three of the sensor
unit 10, the attachment 20, and the swing analysis device 30 may be
configured integrally (as the same unit).
[0219] In the embodiments described above, the laser marker 20d and
the attachment 20 are configured integrally (as the same unit).
However, the laser marker 20d and the attachment 20 may be
configured separately (as separate units). For example, the laser
marker 20d may be placed on the green, such as the ground or turf,
and the diffusion direction of the laser beam may be set to match
the target line. In this case, the laser marker 20d may receive an
output signal from the sensor unit 10 by wireless communication,
and the laser marker 20d may be controlled to start or stop the
projection of the laser beam.
5. Other Modification Examples
[0220] The invention is not limited to the present embodiment, and
can be modified within the scope of the invention.
[0221] For example, the sensor unit 10 may be mounted on a glove
that a user wears, the laser marker 20d may be mounted on the shaft
of a golf club, and the diffusion direction of the laser beam may
be set to match the target line. In this case, the laser marker 20d
may receive an output signal from the sensor unit 10 by wireless
communication, and the laser marker 20d may be controlled to start
or stop the projection of the laser beam.
[0222] For example, a plurality of sensor units 10 may be mounted
on the golf club 3 or parts, such as the armor shoulder of the user
2, and the swing analysis device 30 may perform swing analysis
processing using the measurement data of the plurality of sensor
units 10.
[0223] In the embodiments described above, the acceleration sensor
12 and the angular velocity sensor 14 are integrally provided in
the sensor unit 10. However, acceleration sensor 12 and the angular
velocity sensor 14 do not need to be integrated. Alternatively, the
acceleration sensor 12 and the angular velocity sensor 14 may be
directly mounted on the golf club 3 or the user 2 without being
provided in the sensor unit 10.
[0224] In the embodiments described above, the sensor unit 10 and
the swing analysis device 30 are separately provided. However, the
sensor unit 10 and the swing analysis device 30 may be integrated
so as to be able to be mounted on the golf club 3 or the user 2. In
addition, the sensor unit 10 may be configured to include an
inertial sensor (for example, the acceleration sensor 12 or the
angular velocity sensor 14) and some components of the swing
analysis device 30.
[0225] That is, the sensor unit 10 may be made to have some or all
of the functions of the swing analysis device 30, or the swing
analysis device 30 may be made to have some of the functions of the
sensor unit 10.
[0226] Although the swing analysis system for analyzing the golf
swing has been mentioned as an example in the above embodiments,
the invention can be applied to a swing analysis system for
diagnosing a swing in various kinds of sports, such as tennis and
baseball.
[0227] The embodiments and the modification examples described
above are just examples, and the invention is not limited to these.
For example, each embodiment and each modification example can be
appropriately combined.
[0228] The invention includes substantially the same configuration
(for example, a configuration with the same function, method, and
result or a configuration with the same object and effect) as the
configuration described in each embodiment. In addition, the
invention includes a configuration that replaces a unit that is not
essential in the configuration described in the embodiment. In
addition, the invention includes a configuration capable of
achieving the same operations and effects as in the configuration
described in each embodiment or a configuration capable of
achieving the same object. In addition, the invention includes a
configuration obtained by adding a known technique to the
configuration described in the embodiment.
[0229] The entire disclosure of Japanese Patent Application No.
2015-175921 filed Sep. 7, 2015 is expressly incorporated by
reference herein.
* * * * *