ELECTRONIC APPARATUS, SYSTEM, DETERMINATION METHOD, DETERMINATION PROGRAM, AND RECORDING MEDIUM

Abstract

An electronic apparatus includes a determination section that performs a determination of a standing still state of exercise equipment on the basis of a preset determination criterion by using an output from an inertial sensor, and a notification section that notifies a user of information indicating a state change of the exercise equipment until reaching the determination.

Description

BACKGROUND

1. Technical Field

The present invention relates to an electronic apparatus, a system, a determination method, a determination program, and a recording medium.

2. Related Art

JP-A-2014-100341 discloses a terminal apparatus which detects an attitude in a standing still state by using a motion sensor, and then instructs a user to start a swing from a display section or a speaker. If the user performs a swing on the basis of the instruction from the terminal apparatus, impact is detected through ball hitting, and swing analysis is performed by the terminal apparatus.

However, there is a case where the user takes an address attitude and stands still, but the terminal apparatus does not give an instruction for swing starting. As causes thereof, there may be the following cause (1) or cause (2).

The cause (1) is a case where the terminal apparatus or the motion sensor fails.

The cause (2) is a case where, even if the user stands still at an accurate attitude, the exercise equipment does not satisfy a condition for being determined as standing still by the terminal apparatus.

Of the causes, in a case of the cause (1), the terminal apparatus or the motion sensor is required to be repaired, but, in a case of the cause (2), the terminal apparatus or the motion sensor is not necessarily to be repaired, and the user has only to adjust the address attitude.

However, it is difficult for the user to determine which one of the causes (1) and (2) is a real cause. Thus, a problem may occur in that the user requests a manufacturer of the terminal apparatus or the motion sensor to repair the terminal apparatus or the motion sensor despite a cause being the cause (2), or the user spends time in trying to improve an address attitude many times despite a cause being the cause (1).

SUMMARY

An advantage of some aspects of the invention is to provide an electronic apparatus, a system, a determination method, a determination program, and a recording medium, capable of assisting a user in comfortably using a function of determining a state of exercise equipment.

The invention can be implemented as the following aspects or application examples.

APPLICATION EXAMPLE 1

An electronic apparatus according to this application example includes a determination section that performs a determination of a standing still state of an exercise equipment on the basis of a preset determination criterion by using an output from an inertial sensor; and a notification section that notifies a user of information indicating a state change of the exercise equipment until reaching the determination.

According to the electronic apparatus of this application example, since a user is notified of a state change of the exercise equipment until reaching the determination, the user can compare a state change of the exercise equipment in a case where a preset determination criterion is not satisfied with a state change of the exercise equipment in a case where the preset determination criterion is satisfied.

APPLICATION EXAMPLE 2

In the application example, the notification section may notify the user of permission of starting of a swing of the exercise equipment in a case where the exercise equipment is maintained in a predetermined state for a predetermined period of time.

Therefore, in the electronic apparatus of the application example, a user can obtain permission of motion starting from the electronic apparatus by taking a predetermined pose (for example, an attitude such as an address attitude in golf) before starting the motion.

APPLICATION EXAMPLE 3

In the application example, the notification section may notify the user of information indicating an attitude change of the exercise equipment.

Therefore, according to the electronic apparatus of the application example, since a user is notified of an attitude change of the exercise equipment until reaching the determination, the user can compare an attitude change of the exercise equipment in a case where a preset determination criterion is not satisfied with an attitude change of the exercise equipment in a case where the preset determination criterion is satisfied.

APPLICATION EXAMPLE 4

In the application example, the exercise equipment may be a golf club, and the notification section may notify the user of an attitude change of the golf club in a direction intersecting a ground plane as the information.

Through the notification, the user can understand the extent of being unstable in a vertical direction (a vertical direction of the user directing a visual line toward a head) of the hands holding the golf club.

APPLICATION EXAMPLE 5

In the application example, the exercise equipment may be a golf club, and the notification section may notify the user of an attitude change of the golf club in a horizontal direction with respect to a ground plane as the information.

Through the notification, the user can understand the extent of being unstable in a horizontal direction (a horizontal direction of the user directing a visual line toward a head) of the hands holding the golf club.

APPLICATION EXAMPLE 6

In the application example, the exercise equipment may be a golf club, and a criterion of the determination may be set on the basis of a lie angle of the golf club.

Therefore, the electronic apparatus causes the user to take an attitude appropriate for a lie angle of the golf club by using this determination criterion.

APPLICATION EXAMPLE 7

In the application example, the notification section may notify the user of the criterion of the determination along with the information.

Therefore, the user can check a relationship between a state change of the exercise equipment and the determination criterion during a determination.

APPLICATION EXAMPLE 8

In the application example, the notification section may perform the notification by using at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.

Therefore, the user can recognize a state change of the exercise equipment with at least one of a visual sense, a tactile sense, and an auditory sense.

APPLICATION EXAMPLE 9

In the application example, the inertial sensor may include at least one of an acceleration sensor and an angular velocity sensor.

Therefore, the electronic apparatus can determine a state (for example, at least one of an acceleration, a velocity, a position, an attitude change, and an attitude) of the exercise equipment.

APPLICATION EXAMPLE 10

A system according to this application example includes any one of the electronic apparatuses according to the application examples; and the inertial sensor.

APPLICATION EXAMPLE 11

A system according to this application example includes any one of the electronic apparatuses according to the application examples; and a head mounted display that displays the information.

APPLICATION EXAMPLE 12

A system according to this application example includes any one of the electronic apparatuses according to the application examples; and an arm mounted display that displays the information.

APPLICATION EXAMPLE 13

A determination method according to this application example includes performing a determination of a standing still state of exercise equipment on the basis of a preset determination criterion by using an output from an inertial sensor; and notifying a user of information indicating a state change of the exercise equipment until reaching the determination.

APPLICATION EXAMPLE 14

In the determination method of the application example, in the notifying of the information, the user may be notified of permission of starting of a swing of the exercise equipment in a case where the exercise equipment is maintained in a predetermined state for a predetermined period of time.

APPLICATION EXAMPLE 15

In the determination method of the application example, in the notifying of the information, the user may be notified of information indicating an attitude change of the exercise equipment.

APPLICATION EXAMPLE 16

In the determination method of the application example, the exercise equipment may be a golf club, and, in the notifying of the information, the user may be notified of an attitude change of the golf club in a direction intersecting a ground plane as the information.

APPLICATION EXAMPLE 17

In the determination method of the application example, the exercise equipment may be a golf club, and, in the notifying of the information, the user may be notified of an attitude change of the golf club in a horizontal direction with respect to a ground plane as the information.

APPLICATION EXAMPLE 18

In the determination method of the application example, the exercise equipment may be a golf club, and a criterion of the determination may be set on the basis of a lie angle specific to the golf club.

APPLICATION EXAMPLE 19

In the determination method of the application example, in the notifying of the information, the user may be notified of the criterion of the determination along with the information.

APPLICATION EXAMPLE 20

In the determination method of the application example, in the notifying of the information, the notification maybe performed by using at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.

APPLICATION EXAMPLE 21

In the determination method of the application example, the inertial sensor may include at least one of an acceleration sensor and an angular velocity sensor.

APPLICATION EXAMPLE 22

A determination program according to this application example causes a computer to execute performing a determination of a standing still state of exercise equipment on the basis of a preset determination criterion by using an output from an inertial sensor; and notifying a user of information indicating a state change of the exercise equipment until reaching the determination.

APPLICATION EXAMPLE 23

A recording medium according to this application example records a determination program causing a computer to execute performing a determination of a standing still state of an exercise equipment on the basis of a preset determination criterion by using an output from an inertial sensor; and notifying a user of information indicating a state change of the exercise equipment until reaching the determination.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.

FIG. 1 is a diagram illustrating a configuration example of a swing analysis system of the present embodiment.

FIG. 2 is a diagram illustrating an example in which a sensor unit is attached.

FIG. 3 is a diagram illustrating examples of a position at which and a direction in which the sensor unit is attached.

FIG. 4 is a diagram illustrating procedures of actions performed by a user until the user hits a ball.

FIG. 5 is a diagram illustrating an example of an input screen of physical information and golf club information.

FIG. 6 is a diagram illustrating a swing action.

FIG. 7 is a diagram illustrating an example of a selection screen of swing analysis data.

FIG. 8 is a diagram illustrating an example of a display screen.

FIG. 9 is a diagram illustrating configuration examples of the sensor unit and a swing analysis apparatus.

FIG. 10 is a plan view in which a golf club and the sensor unit are viewed from a negative side of an X axis during standing still of the user.

FIG. 11 is a graph illustrating examples of temporal changes of three-axis angular velocities.

FIG. 12 is a graph illustrating a temporal change of a combined value of the three-axis angular velocities.

FIG. 13 is a graph illustrating a temporal change of a derivative of the combined value.

FIG. 14 is a diagram illustrating a shaft plane and a Hogan plane.

FIG. 15 is a view in which a sectional view of the shaft plane which is cut in a YZ plane is viewed from the negative side of the X axis.

FIG. 16 is a view in which a sectional view of the Hogan plane which is cut in the YZ plane is viewed from the negative side of the X axis.

FIG. 17 is a diagram for explaining a face angle and a club path (incidence angle).

FIG. 18 is a diagram illustrating an example of a temporal change of a shaft axis rotation angle from swing starting (backswing starting) to impact.

FIG. 19 is a diagram illustrating an example of a temporal change of a speed of a grip in a downswing.

FIG. 20 is a diagram illustrating examples of relationships among the shaft plane and the Hogan plane, and a plurality of regions A, B, C, D and E.

FIG. 21 is a flowchart illustrating examples of procedures of a swing analysis process (swing analysis method).

FIG. 22 is a diagram illustrating a configuration example of a server apparatus.

FIG. 23 is a flowchart illustrating examples of procedures of a process performed by a swing analysis apparatus in relation to the server apparatus.

FIG. 24 is a flowchart illustrating examples of procedures of a process performed by the server apparatus.

FIG. 25 is a diagram illustrating an example of an indicator screen.

FIG. 26 is a diagram illustrating another example of an indicator screen.

FIG. 27 is a diagram illustrating still another example of an indicator screen.

FIG. 28 is a diagram illustrating still another example of an indicator screen.

FIG. 29 is a flowchart illustrating examples of procedures of a swing analysis process (swing analysis method) (in which step S16 regarding a determination of standing still is subdivided into a plurality of steps S161 to S166 in a flow illustrated in FIG. 21).

FIG. 30 is a diagram illustrating an example of a wrist type display section.

FIG. 31 is a diagram illustrating an example of a head mounted display.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, preferred embodiments of the invention will be described with reference to the drawings. The embodiments described below are not intended to improperly limit the content of the invention disclosed in the appended claims. In addition, all constituent elements described below are not essential constituent elements of the invention.

Hereinafter, a swing analysis system analyzing a golf swing will be described as an example in a case where exercise equipment is a golf club.

1. SWING ANALYSIS SYSTEM

1-1. Configuration of Swing Analysis System

FIG. 1 is a diagram illustrating a configuration example of a swing analysis system of the present embodiment. As illustrated in FIG. 1, a swing analysis system 1 of the present embodiment is configured to include a sensor unit 10, a swing analysis apparatus 20, and a server apparatus 30.

The sensor unit 10 (an example of an inertial sensor) can measure acceleration generated in each axial direction of three axes and angular velocity generated around each of the three axes, and is attached to a golf club 3 as illustrated in FIG. 2.

In the present embodiment, as illustrated in FIG. 3, the sensor unit 10 is attached to a part of a shaft so that one axis of three detection axes (an x axis, a y axis, and a z axis), for example, the y axis matches a longitudinal direction of the shaft of the golf club 3 (a longitudinal direction of the golf club 3; hereinafter, referred to as a longitudinal direction). Preferably, the sensor unit 10 is attached to a position close to a grip to which impact during ball hitting is hardly forwarded and a centrifugal force is not applied during a swing. The shaft is a shaft portion other than a head of the golf club 3 and also includes the grip. However, the sensor unit 10 may be attached to a part (for example, the hand or a glove) of a user 2, and may be attached to an accessory such as a wristwatch.

The user 2 performs a swing action for hitting a golf ball 4 according to predefined procedures. FIG. 4 is a diagram illustrating procedures of actions performed by the user 2 until the user hits the ball in the present embodiment. As illustrated in FIG. 4, first, the user 2 performs an input operation of physical information of the user 2, information (golf club information) regarding the golf club 3 used by the user 2, and the like via the swing analysis apparatus 20 (step S1). The physical information includes at least one of information regarding a height, a length of the arms, and a length of the legs of the user 2, and may further include information regarding sex or other information. The golf club information includes at least one of information regarding a length (club length) of the golf club 3 and the type (number) of golf club 3. Next, the user 2 performs a measurement starting operation (an operation for starting measurement in the sensor unit 10) via the swing analysis apparatus 20 (step S2). Next, after receiving a notification (for example, a notification using a voice) of giving an instruction for taking an address attitude (a basic attitude before starting a swing) from the swing analysis apparatus 20 (Y in step S3), the user 2 takes an address attitude so that the axis in the longitudinal direction of the shaft of the golf club 3 is perpendicular to a target line (target hit ball direction), and stands still (step S4). Next, the user 2 receives a notification (for example, a notification using a voice) of permitting a swing from the swing analysis apparatus 20 (Y in step S5), and then hits the golf ball 4 by performing a swing action (step S6)

FIG. 5 is a diagram illustrating an example of an input screen of physical information and golf club information, displayed on a display section 25 (refer to FIG. 9) of the swing analysis apparatus 20. In step S1 in FIG. 4, the user 2 inputs physical information such as a height, sex, age, and country, and inputs golf club information such as a club length (a length of the shaft), and a club number on the input screen illustrated in FIG. 5. Information included in the physical information is not limited thereto, and, the physical information may include, for example, at least one of information regarding a length of the arms and a length of the legs instead of or along with the height. Similarly, information included in the golf club information is not limited thereto, and, for example, the golf club information may not include at least one of information regarding the club length and the club number, and may include other information.

If the user 2 performs the measurement starting operation in step S2 in FIG. 4, the swing analysis apparatus 20 transmits a measurement starting command to the sensor unit 10, and the sensor unit 10 receives the measurement starting command and starts measurement of three-axis accelerations and three-axis angular velocities. The sensor unit 10 measures three-axis accelerations and three-axis angular velocities in a predetermined cycle (for example, 1 ms), and sequentially transmits the measured data to the swing analysis apparatus 20. Communication between the sensor unit 10 and the swing analysis apparatus 20 may be wireless communication, and may be wired communication.

The swing analysis apparatus 20 notifies the user 2 of permission of swing starting, shown in step S5 in FIG. 4, and then analyzes the swing action (step S6 in FIG. 4) in which the user 2 has hit the ball by using the golf club 3 on the basis of measured data from the sensor unit 10.

As illustrated in FIG. 6, the swing action performed by the user 2 in step S6 in FIG. 4 includes an action reaching impact (ball hitting) at which the golf ball 4 is hit through respective states of halfway back at which the shaft of the golf club 3 becomes horizontal during a backswing after starting a swing (backswing), a top at which the swing changes from the backswing to a downswing, and halfway down at which the shaft of the golf club 3 becomes horizontal during the downswing. The swing analysis apparatus 20 generates swing analysis data including information regarding a time point (date and time) at which the swing is performed, identification information or the sex of the user 2, the type of golf club 3, and an analysis result of the swing action, and transmits the swing analysis data to the server apparatus 30 via a network 40 (refer to FIG. 1).

The server apparatus 30 receives the swing analysis data transmitted by the swing analysis apparatus 20 via the network 40, and preserves the swing analysis data. Therefore, when the user 2 performs a swing action according to the procedures illustrated in FIG. 4, the swing analysis data generated by the swing analysis apparatus 20 is preserved in the server apparatus 30, and thus a swing analysis data list is built.

For example, the swing analysis apparatus 20 is implemented by an information terminal (client terminal) such as a smart phone or a personal computer, and the server apparatus 30 is implemented by a server which processes requests from the swing analysis apparatus 20.

The network 40 may be a wide area network (WAN) such as the Internet, and may be a local area network (LAN). Alternatively, the swing analysis apparatus 20 and the server apparatus 30 may communicate with each other through, for example, near field communication or wired communication, without using the network 40.

In the present embodiment, if the user 2 activates a swing analysis application via an operation section 23 (refer to FIG. 9) of the swing analysis apparatus 20, the swing analysis apparatus 20 performs communication with the server apparatus 30, and, for example, a selection screen of swing analysis data as illustrated in FIG. 7 is displayed on the display section 25 of the swing analysis apparatus 20. The selection screen includes a time point (date and time), the type of golf club which has been used, and some index values as analysis results of a swing, with respect to each item of swing analysis data regarding the user 2 included in the swing analysis data list preserved in the server apparatus 30.

A checkbox correlated with each item of swing analysis data is located at a left end of the selection screen illustrated in FIG. 7, and the user 2 checks any one of the checkboxes by operating the swing analysis apparatus 20, and then presses an OK button located on a lower part in the selection screen. Consequently, the swing analysis apparatus 20 performs communication with the server apparatus 30, and displays swing analysis data correlated with the checked checkbox on the selection screen illustrated in FIG. 7, on the display section 25 of the swing analysis apparatus 20 (for example, refer to FIG. 8).

1-2. Configurations of Sensor Unit and Swing Analysis Apparatus

FIG. 9 is a diagram illustrating configuration examples of the sensor unit 10 and the swing analysis apparatus 20. As illustrated in FIG. 9, in the present embodiment, the sensor unit 10 is configured to include an acceleration sensor 12, an angular velocity sensor 14, a signal processing section 16, and a communication section 18. However, the sensor unit 10 may have a configuration in which some of the constituent elements are deleted or changed as appropriate, or may have a configuration in which other constituent elements are added thereto.

The acceleration sensor 12 measures respective accelerations in three axial directions which intersect (ideally, orthogonal to) each other, and outputs digital signals (acceleration data) corresponding to magnitudes and directions of the measured three-axis accelerations.

The angular velocity sensor 14 measures respective angular velocities in three axial directions which intersect (ideally, orthogonal to) each other, and outputs digital signals (angular velocity data) corresponding to magnitudes and directions of the measured three-axis angular velocities.

The signal processing section 16 receives the acceleration data and the angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, adds time information thereto, stores the data in a storage portion (not illustrated), adds time information to the stored measured data (acceleration data and angular velocity data) so as to generate packet data conforming to a communication format, and outputs the packet data to the communication section 18.

Ideally, the acceleration sensor 12 and the angular velocity sensor 14 are provided in the sensor unit 10 so that the three axes thereof match three axes (an x axis, a y axis, and a z axis) of an orthogonal coordinate system (sensor coordinate system) defined for the sensor unit 10, but, actually, errors occur in installation angles. Therefore, the signal processing section 16 performs a process of converting the acceleration data and the angular velocity data into data in the XYZ coordinate system by using a correction parameter which is calculated in advance according to the installation angle errors.

The signal processing section 16 may perform a process of correcting the temperatures of the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may have a temperature correction function.

The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals, and, in this case, the signal processing section 16 may A/D convert an output signal from the acceleration sensor 12 and an output signal from the angular velocity sensor 14 so as to generate measured data (acceleration data and angular velocity data), and may generate communication packet data by using the data.

The communication section 18 performs a process of transmitting packet data received from the signal processing section 16 to the swing analysis apparatus 20, or a process of receiving various control commands such as a measurement starting command from the swing analysis apparatus 20 and sending the control command to the signal processing section 16. The signal processing section 16 performs various processes corresponding to control commands.

As illustrated in FIG. 9, in the present embodiment, the swing analysis apparatus 20 (an example of an electronic apparatus) is configured to include a processing section 21 (an example of a determination section), a communication section 22, an operation section 23, a storage section 24, a display section 25 (an example of a notification section), a sound output section 26 (an example of a notification section), and a communication section 27. However, the swing analysis apparatus 20 may have a configuration in which some of the constituent elements are deleted or changed as appropriate, or may have a configuration in which other constituent elements are added thereto.

The communication section 22 performs a process of receiving packet data transmitted from the sensor unit 10 and sending the packet data to the processing section 21, or a process of transmitting a control command from the processing section 21 to the sensor unit 10.

The operation section 23 performs a process of acquiring operation data from the user 2 and sending the operation data to the processing section 21. The operation section 23 may be, for example, a touch panel type display, a button, a key, or a microphone.

The storage section 24 is constituted of, for example, various IC memories such as a read only memory (ROM), a flash ROM, and a random access memory (RAM), or a recording medium such as a hard disk or a memory card. The storage section 24 stores a program (an example of a determination program) for the processing section 21 performing various calculation processes or a control process, or various programs or data for realizing application functions.

In the present embodiment, the storage section 24 stores a swing analysis program 240 which is read by the processing section 21 and executes a swing analysis process. The swing analysis program 240 may be stored in a nonvolatile recording medium (computer readable recording medium) in advance, or the swing analysis program 240 may be received from a server (not illustrated) or the server apparatus 30 by the processing section 21 via a network, and may be stored in the storage section 24.

In the present embodiment, the storage section 24 stores golf club information 242, physical information 244, sensor attachment position information 246, and swing analysis data 248. For example, the user 2 may operate the operation section 23 so as to input specification information regarding the golf club 3 to be used (for example, at least some information such as information regarding a length of the shaft, a position of the centroid thereof, a lie angle, a face age, a loft angle, and the like) from the input screen illustrated in FIG. 5, and the input specification information may be used as the golf club information 242. Alternatively, in step S1 in FIG. 4, the user 2 may sequentially input type numbers of the golf club 3 (alternatively, selects a type number from a type number list) so that specification information for each type number is stored in the storage section 24 in advance. In this case, specification information of an input type number may be used as the golf club information 242.

For example, the user 2 may input physical information by operating the operation section 23 from the input screen illustrated in FIG. 5, and the input physical information may be used as the physical information 244. For example, instep S1 in FIG. 4, the user 2 may input an attachment position of the sensor unit 10 and a distance to the grip end of the golf club 3 by operating the operation section 23, and the input distance information may be used as the sensor attachment position information 246. Alternatively, the sensor unit 10 may be attached at a defined predetermined position (for example, a distance of 20 cm from the grip end), and thus information regarding the predetermined position may be stored as the sensor attachment position information 246 in advance.

The swing analysis data 248 is data including information regarding a swing action analysis result in the processing section 21 (swing analysis portion 211) along with a time point (date and time) at which a swing was performed, identification information or the sex of the user 2, and the type of golf club 3.

The storage section 24 is used as a work area of the processing section 21, and temporarily stores data which is input from the operation section 23, results of calculation executed by the processing section 21 according to various programs, and the like. The storage section 24 may store data which is required to be preserved for a long period of time among data items generated through processing of the processing section 21.

The display section 25 displays a processing result in the processing section 21 as text, a graph, a table, animation, and other images. The display section 25 may be, for example, a CRT, an LCD, a touch panel type display, and a head mounted display (HMD). A single touch panel type display may realize functions of the operation section 23 and the display section 25.

The sound output section 26 outputs a processing result in the processing section 21 as a sound such as a voice or a buzzer sound. The sound output section 26 may be, for example, a speaker or a buzzer.

The communication section 27 performs data communication with a communication section 32 (refer to FIG. 22) of the server apparatus 30 via the network 40. For example, the communication section 27 performs a process of receiving the swing analysis data 248 from the processing section 21 after a swing analysis process is completed, and transmitting the swing analysis data to the communication section 32 of the server apparatus 30. For example, the communication section 27 performs a process of receiving information required to display the selection screen illustrated in FIG. 7 from the communication section 32 of the server apparatus 30 and transmitting the information to the processing section 21, and a process of receiving selected information on the selection screen illustrated in FIG. 7 from the processing section 21 and transmitting the selected information to the communication section 32 of the server apparatus 30. For example, the communication section 27 performs a process of receiving information required to display the display screen illustrated in FIG. 8 from the communication section 32 of the server apparatus 30, and transmitting the information to the processing section 21.

The processing section 21 performs a process of transmitting a control command to the sensor unit 10 via the communication section 22, or various computation processes on data which is received from the sensor unit 10 via the communication section 22, according to various programs. The processing section 21 performs a process of reading the swing analysis data 248 from the storage section 24, and transmitting the swing analysis data to the server apparatus 30 via the communication section 27, according to various programs. The processing section 21 performs a process of transmitting various pieces of information to the server apparatus 30 via the communication section 27, and displaying various screens (the respective screens illustrated in FIGS. 7 and 8) on the basis of the information received from the server apparatus 30, according to various programs. The processing section 21 performs other various control processes.

Particularly, in the present embodiment, by executing the swing analysis program 240, the processing section 21 functions as a data acquisition portion 210, a swing analysis portion 211, an image data generation portion 212, a storage processing portion 213, a display processing portion 214, and a sound output processing portion 215, and performs a process (swing analysis process) of analyzing a swing action of the user 2.

The data acquisition portion 210 performs a process of receiving packet data which is received from the sensor unit 10 by the communication section 22, acquiring time information and measured data in the sensor unit 10 from the received packet data, and sending the time information and the measured data to the storage processing portion 213. The data acquisition portion 210 performs a process of receiving the information required to display the various screens (the respective screens illustrated in FIGS. 7 and 8), received from the server apparatus 30 by the communication section 27, and transmitting the information to the image data generation portion 212.

The storage processing portion 213 performs read/write processes of various programs or various data for the storage section 24. The storage processing portion 213 performs not only the process of storing the time information and the measured data received from the data acquisition portion 210 in the storage section 24 in correlation with each other, but also a process of storing various pieces of information calculated by the swing analysis portion 211, the swing analysis data 248, or the like in the storage section 24.

The swing analysis portion 211 performs a process of analyzing a swing action of the user 2 by using the measured data (the measured data stored in the storage section 24) output from the sensor unit 10, the data from the operation section 23, or the like, so as to generate the swing analysis data 248 including a time point (date and time) at which the swing was performed, identification information or the sex of the user 2, the type of golf club 3, and information regarding a swing action analysis result. Particularly, in the present embodiment, the swing analysis portion 211 calculates a value of each index of the swing as at least some of the information regarding the swing action analysis result.

The swing analysis portion 211 may calculate at least one virtual plane as an index of the swing. For example, at least one virtual plane includes a shaft plane SP (an example of a first virtual plane) which will be described later, and a Hogan plane HP (an example of a second virtual plane) which will be described later forming a first angle with the shaft plane SP, and the swing analysis portion 211 may calculate the “shaft plane SP” and the “Hogan plane HP” as the indexes.

The swing analysis portion 211 may calculate a position of the head of the golf club 3 at a first timing during the backswing as an index of the swing. For example, the first timing is the time of halfway back at which the longitudinal direction of the golf club 3 becomes a direction along the horizontal direction during the backswing, and the swing analysis portion 211 may calculate a “position of the head at halfway back” which will be described later as the index.

The swing analysis portion 211 may calculate a position of the head of the golf club 3 at a second timing during the downswing as an index of the swing. For example, the second timing is the time of halfway down at which the longitudinal direction of the golf club 3 becomes a direction along the horizontal direction during the downswing, and the swing analysis portion 211 may calculate a “position of the head at halfway down” which will be described later as the index.

The swing analysis portion 211 may calculate an index based on an incidence angle of the head of the golf club 3 at impact (at ball hitting), as an index of the swing. For example, the swing analysis portion 211 may calculate a “club path (incidence angle) ψ” or an “attack angle” which will be described later as the index.

The swing analysis portion 211 may calculate an index based on an inclination of the head of the golf club 3 at impact (at ball hitting) as an index of the swing. For example, the swing analysis portion 211 may calculate a “(absolute) face angle φ” or a “relative face angle η” which will be described later as the index.

The swing analysis portion 211 may calculate an index based on a speed of the head of the golf club 3 at impact (at ball hitting) as an index of the swing. For example, the swing analysis portion 211 may calculate a “head speed” which will be described later as the index.

The swing analysis portion 211 may calculate, as an index of the swing, an index based on a rotation angle αbout a rotation axis (hereinafter, referred to as about the long axis) of the shaft of the golf club 3 at a predetermined timing between the time of starting a backswing and the time of impact (at ball hitting) with the longitudinal direction of the shaft as the rotation axis. The rotation angle αbout the long axis of the golf club 3 may be an angle by which the golf club 3 is rotated about the long axis from a reference timing to a predetermined timing. The reference timing may be the time of starting a backswing, and may be the time of address. The predetermined timing may be the time (the time of a top) at which a backswing transitions to a downswing. For example, the swing analysis portion 211 may calculate a “shaft axis rotation angle θ_top at top” which will be described later as the index.

The swing analysis portion 211 may calculate an index based on a deceleration amount of the grip of the golf club 3 during the downswing as an index of the swing. For example, the swing analysis portion 211 may calculate a “grip deceleration ratio R_v” which will be described later as the index.

The swing analysis portion 211 may calculate an index based on a deceleration period of the grip of the golf club 3 during the downswing as an index of the swing. For example, the swing analysis portion 211 may calculate a “grip deceleration time ratio R_T” which will be described later as the index.

However, the swing analysis portion 211 may not calculate values of some of the indexes, and may calculate values of other indexes, as appropriate.

The image data generation portion 212 performs a process of generating image data corresponding to an image displayed on the display section 25. For example, the image data generation portion 212 generates image data corresponding to the selection screen illustrated in FIG. 7, and the display screen illustrated in FIG. 8, on the basis of various pieces of information received by the data acquisition portion 210.

The display processing portion 214 performs a process of displaying various images (including text, symbols, and the like in addition to an image corresponding to the image data generated by the image data generation portion 212) on the display section 25. For example, the display processing portion 214 displays the selection screen illustrated in FIG. 7, the display screen illustrated in FIG. 8, and the like, on the display section 25, on the basis of the image data generated by the image data generation portion 212. For example, the image data generation portion 212 may display an image, text, or the like for notifying the user 2 of permission of swing starting (an example of permission of motion starting) on the display section 25 in step S5 in FIG. 4. For example, the display processing portion 214 may display text information such as text or symbols indicating an analysis result in the swing analysis portion 211 on the display section 25 automatically or in response to an input operation performed by the user 2 after a swing action of the user 2 is completed. Alternatively, a display section may be provided in the sensor unit 10, and the display processing portion 214 may transmit image data to the sensor unit 10 via the communication section 22, and various images, text, or the like may be displayed on the display section of the sensor unit 10.

The sound output processing portion 215 performs a process of outputting various sounds (including voices, buzzer sounds, and the like) from the sound output section 26. For example, the sound output processing portion 215 may output a sound for notifying the user 2 of permission of swing starting from the sound output section 26 in step S5 in FIG. 4. For example, the sound output processing portion 215 may output a sound or a voice indicating an analysis result in the swing analysis portion 211 from the sound output section 26 automatically or in response to an input operation performed by the user 2 after a swing action of the user 2 is completed. Alternatively, a sound output section may be provided in the sensor unit 10, and the sound output processing portion 215 may transmit various items of sound data or voice data to the sensor unit 10 via the communication section 22, and may output various sounds or voices from the sound output section of the sensor unit 10.

A vibration mechanism may be provided in the swing analysis apparatus 20 or the sensor unit 10, and various pieces of information may be converted into vibration information by the vibration mechanism so as to be presented to the user 2.

1-3. Swing Analysis Process

In the present embodiment, when a position of the head of the golf club 3 at address (during standing still) is set to the origin, an XYZ coordinate system (global coordinate system) is defined which has a target line indicating a target hit ball direction as an X axis, an axis on a horizontal plane which is perpendicular to the X axis as a Y axis, and a vertically upward direction (a direction opposite to the gravitational direction) as a Z axis. In order to calculate each index value, the swing analysis portion 211 calculates a position and an attitude of the sensor unit 10 in a time series from the time of the address in the XYZ coordinate system (global coordinate system) by using measured data (acceleration data and angular velocity data) in the sensor unit 10. The swing analysis portion 211 detects respective timings of the swing starting, the top, and the impact illustrated in FIG. 6, by using the measured data (acceleration data or angular velocity data) in the sensor unit 10. The swing analysis portion 211 calculates values of the respective indexes (for example, a shaft plane, a Hogan plane, a head position at halfway back, a head position at halfway down, a face angle, a club path (incidence angle), a shaft axis rotation angle αt top, a head speed, a grip deceleration ratio, and a grip deceleration time ratio) of the swing by using the time series data of the position and the attitude of the sensor unit 10, and the timings of the swing starting, the top, and the impact, so as to generate the swing analysis data 248.

Calculation of Position and Attitude of Sensor Unit 10

If the user 2 performs the action in step S4 in FIG. 4, first, the swing analysis portion 211 determines that the user 2 stands still at an address attitude in a case where an amount of changes in acceleration data measured by the acceleration sensor 12 does not continuously exceed a threshold value for a predetermined period of time. Next, the swing analysis portion 211 computes an offset amount included in the measured data by using the measured data (acceleration data and angular velocity data) for the predetermined period of time. Next, the swing analysis portion 211 subtracts the offset amount from the measured data so as to perform bias correction, and computes a position and an attitude of the sensor unit 10 during a swing action of the user 2 (during the action in step S6 in FIG. 4) by using the bias-corrected measured data.

Specifically, first, the swing analysis portion 211 computes a position (initial position) of the sensor unit 10 during standing still (at address) of the user 2 in the XYZ coordinate system (global coordinate system) by using the acceleration data measured by the acceleration sensor 12, the golf club information 242, and the sensor attachment position information 246.

FIG. 10 is a plan view in which the golf club 3 and the sensor unit 10 during standing still (at address) of the user 2 are viewed from a negative side of the X axis. The origin O (0,0,0) is set at a position 61 of the head of the golf club 3, and coordinates of a position 62 of a grip end are (0, G_Y, G_Z). Since the user 2 performs the action in step S4 in FIG. 4, the position 62 of the grip end or the initial position of the sensor unit 10 has an X coordinate of 0, and is present on a YZ plane. As illustrated in FIG. 10, the gravitational acceleration of 1 G is applied to the sensor unit 10 during standing still of the user 2, and thus a relationship between a y axis acceleration y(0) measured by the sensor unit 10 and an inclined angle (an angle formed between the long axis of the shaft and the horizontal plane (XY plane)) α of the shaft of the golf club 3 is expressed by Equation (1).

y(0)=1G·sin α  (1)

Therefore, the swing analysis portion 211 can calculate the inclined angle α according to Equation (1) by using any acceleration data between any time points at address (during standing still).

Next, the swing analysis portion 211 subtracts a distance L_SG between the sensor unit 10 and the grip end included in the sensor attachment position information 246 from a length L₁ of the shaft included in the golf club information 242, so as to obtain a distance L_SH between the sensor unit 10 and the head. The swing analysis portion 211 sets, as the initial position of the sensor unit 10, a position separated by the distance L_SH from the position 61 (origin O) of the head in a direction (a negative direction of the y axis of the sensor unit 10) specified by the inclined angle α of the shaft.

The swing analysis portion 211 integrates subsequent acceleration data so as to compute coordinates of a position from the initial position of the sensor unit 10 in a time series.

The swing analysis portion 211 computes an attitude (initial attitude) of the sensor unit 10 during standing still (at address) of the user 2 in the XYZ coordinate system (global coordinate system) by using acceleration data measured by the acceleration sensor 12. Since the user 2 performs the action in step S4 in FIG. 4, the x axis of the sensor unit 10 matches the X axis of the XYZ coordinate system in terms of direction at address (during standing still) of the user 2, and the y axis of the sensor unit 10 is present on the YZ plane. Therefore, the swing analysis portion 211 can specify the initial attitude of the sensor unit 10 on the basis of the inclined angle α of the shaft of the golf club 3.

The swing analysis portion 211 computes changes in attitudes from the initial attitude of the sensor unit 10 in a time series by performing rotation calculation using angular velocity data which is subsequently measured by the angular velocity sensor 14. An attitude of the sensor unit 10 may be expressed by, for example, rotation angles (a roll angle, a pitch angle, and a yaw angle) about the X axis, the Y axis, and the Z axis, or a quaternion.

The signal processing section 16 of the sensor unit 10 may compute an offset amount of measured data so as to perform bias correction on the measured data, and the acceleration sensor 12 and the angular velocity sensor 14 may have a bias correction function. In this case, it is not necessary for the swing analysis portion 211 to perform bias correction on the measured data.

Detection of Swing Starting, Top and Impact Timings

First, the swing analysis portion 211 detects a timing (impact timing) at which the user 2 hit a ball by using measured data. For example, the swing analysis portion 211 may compute a combined value of measured data (acceleration data or angular velocity data), and may detect an impact timing (time point) on the basis of the combined value.

Specifically, first, the swing analysis portion 211 computes a combined value n₀(t) of angular velocities at each time point t by using the angular velocity data (bias-corrected angular velocity data for each time point t). For example, if the angular velocity data items at the time point t are respectively indicated by x(t), y(t), and z(t), the swing analysis portion 211 computes the combined value n₀(t) of the angular velocities according to the following Equation (2).

n ₀(t)=√{square root over (x(t)²+y(t)²+z(t)²)}  (2)

Next, the swing analysis portion 211 converts the combined value n₀(t) of the angular velocities at each time point t into a combined value n(t) which is normalized (scale-conversion) within a predetermined range. For example, if the maximum value of the combined value of the angular velocities in an acquisition period of measured data is max (n₀), the swing analysis portion 211 converts the combined value n₀(t) of the angular velocities into the combined value n(t) which is normalized within a range of 0 to 100 according to the following Equation (3).

$\begin{array}{cc}n\left(t\right)=\frac{100\times n_0\left(t\right)}{\max \left(n_0\right)}& \left(3\right)\end{array}$

Next, the swing analysis portion 211 computes a derivative do (t) of the normalized combined value n (t) at each time point t. For example, if a cycle for measuring three-axis angular velocity data items is indicated by Δt, the swing analysis portion 211 computes the derivative (difference) dn(t) of the combined value of the angular velocities at the time point t by using the following Equation (4).

dn(t)=n(t)−n(t−Δt)   (4)

FIG. 11 illustrates examples of three-axis angular velocity data items x(t), y(t) and z(t) obtained when the user 2 hits the golf ball 4 by performing a swing. In FIG. 11, a transverse axis expresses time (msec), and a longitudinal axis expresses angular velocity (dps).

FIG. 12 is a diagram in which the combined value n₀(t) of the three-axis angular velocities is computed according to Equation (2) by using the three-axis angular velocity data items x(t), y(t) and z(t) in FIG. 11, and then the combined value n(t) normalized to 0 to 100 according to Equation (3) is displayed in a graph. In FIG. 12, a transverse axis expresses time (msec), and a longitudinal axis expresses a norm of the angular velocity.

FIG. 13 is a diagram in which the derivative dn(t) is calculated according to Equation (4) on the basis of the combined value n(t) of the three-axis angular velocities in FIG. 12, and is displayed in a graph. In FIG. 13, a transverse axis expresses time (msec), and a longitudinal axis expresses a derivative value of the combined value of the three-axis angular velocities. In FIGS. 11 and 12, the transverse axis is displayed at 0 seconds to 5 seconds, but, in FIG. 13, the transverse axis is displayed at 2 seconds to 2.8 seconds so that changes in the derivative value before and after impact can be understood.

Next, of time points at which a value of the derivative do (t) of the combined value becomes the maximum and the minimum, the swing analysis portion 211 specifies the earlier time point as an impact time point t_impact (impact timing) (refer to FIG. 13). It is considered that swing speed is the maximum at the moment of impact in a typical golf swing. In addition, since it is considered that a value of the combined value of the angular velocities also changes according to a swing speed, the swing analysis portion 211 can capture a timing at which a derivative value of the combined value of the angular velocities is the maximum or the minimum (that is, a timing at which the derivative value of the combined value of the angular velocities is a positive maximum value or a negative minimum value) in a series of swing actions as the impact timing. Since the golf club 3 vibrates due to the impact, a timing at which a derivative value of the combined value of the angular velocities is the maximum and a timing at which a derivative value of the combined value of the angular velocities is the minimum may occur in pairs, and, of the two timings, the earlier timing may be the moment of the impact.

Next, the swing analysis portion 211 specifies a time point of a minimum point at which the combined value n(t) is close to 0 before the impact time point t_impact, as a top time point t_top (top timing) (refer to FIG. 12). It is considered that, in a typical golf swing, an action temporarily stops at the top after starting the swing, then a swing speed increases, and finally impact occurs. Therefore, the swing analysis portion 211 can capture a timing at which the combined value of the angular velocities is close to 0 and becomes the minimum before the impact timing, as the top timing.

Next, the swing analysis portion 211 sets an interval in which the combined value n(t) is equal to or smaller than a predetermined threshold value before and after the top time point t_top, as a top interval, and detects a last time point at which the combined value n(t) is equal to or smaller than the predetermined threshold value before a starting time point of the top interval, as a swing starting (backswing starting) time point t_start (refer to FIG. 12). It is hardly considered that, in a typical golf swing, a swing action is started from a standing still state, and the swing action is stopped till the top. Therefore, the swing analysis portion 211 can capture the last timing at which the combined value of the angular velocities is equal to or smaller than the predetermined threshold value before the top interval as a timing of starting the swing action. The swing analysis portion 211 may detect a time point of the minimum point at which the combined value n(t) is close to 0 before the top time point t_top as the swing starting time point t_start.

The swing analysis portion 211 may also detect each of a swing starting timing, a top timing, and an impact timing by using three-axis acceleration data in the same manner.

Calculation of Shaft Plane and Hogan Plane

The shaft plane is a first virtual plane specified by a target line (target hit ball direction) and the longitudinal direction of the shaft of the golf club 3 at address (standing still state) of the user 2 before starting a swing. The Hogan plane is a second virtual plane specified by a virtual line connecting the vicinity of the shoulder (the shoulder or the base of the neck) of the user 2 to the head of the golf club (or the golf ball 4), and the target line (target hit ball direction), at address of the user 2.

FIG. 14 is a diagram illustrating the shaft plane and the Hogan plane. FIG. 14 displays the X axis, the Y axis, and the Z axis of the XYZ coordinate system (global coordinate system).

As illustrated in FIG. 14, in the present embodiment, a virtual plane which includes a first line segment 51 as a first axis along a target hit ball direction and a second line segment 52 as a second axis along the longitudinal direction of the shaft of the golf club 3, and has four vertices such as U1, U2, S1, and S2, as the shaft plane SP (first virtual plane). In the present embodiment, the position 61 of the head of the golf club 3 at address is set as the origin O (0,0,0) of the XYZ coordinate system, and the second line segment 52 is a line segment connecting the position 61 (origin O) of the head of the golf club 3 to the position 62 of the grip end. The first line segment 51 is a line segment having a length UL in which U1 and U2 on the X axis are both ends, and the origin O is a midpoint. Since the user 2 performs the action in step S4 in FIG. 4 at address, and thus the shaft of the golf club 3 is perpendicular to the target line (X axis), the first line segment 51 is a line segment orthogonal to the longitudinal direction of the shaft of the golf club 3, that is, the second line segment 52. The swing analysis portion 211 calculates coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP in the XYZ coordinate system.

Specifically, first, the swing analysis portion 211 computes coordinates (0, G_Y, G_Z) of the position 62 of the grip end of the golf club 3 by using the inclined angle α and the length L₁ of the shaft included in the golf club information 242. As illustrated in FIG. 10, the swing analysis portion 211 may compute G_Y and G_Z by using the length L₁ of the shaft and the inclined angle α according to Equations (5) and (6).

G _Y =L ₁·cos α  (5)

G _Z =L ₁·sin α  (6)

Next, the swing analysis portion 211 multiplies the coordinates (0, G_Y, G_Z) of the position 62 of the grip end of the golf club 3 by a scale factor S so as to compute coordinates (0, S_Y, S_Z) of a midpoint S3 of the vertex S1 and the vertex S2 of the shaft plane SP. In other words, the swing analysis portion 211 computes S_Y and S_Z according to Equations (7) and (8), respectively.

S _y =G _Y ·S   (7)

S _Z =G _Z ·S   (8)

FIG. 15 is a view in which a sectional view of the shaft plane SP in FIG. 14 which is cut in the YZ plane is viewed from the negative side of the X axis. As illustrated in FIG. 15, a length (a width of the shaft plane SP in a direction orthogonal to the X axis) of a line segment connecting the midpoint S3 of the vertex S1 and the vertex S2 to the origin O is S times the length L₁ of the second line segment 52. The scale factor S is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the shaft plane SP. For example, if a length of the arms of the user 2 is indicated by L₂, the scale factor S maybe set as in Equation (9) so that the width S×L₁ of the shaft plane SP in the direction orthogonal to the X axis is twice the sum of the length L₁ of the shaft and the length L₂ of the arms.

$\begin{array}{cc}S=\frac{2·\left(L_1+L_2\right)}{L_1}& \left(9\right)\end{array}$

The length L₂ of the arms of the user 2 is associated with a height L₀ of the user 2. The length L₂ of the arms is expressed by a correlation expression such as Equation (10) in a case where the user 2 is a male, and is expressed by a correlation expression such as Equation (11) in a case where the user 2 is a female, on the basis of statistical information.

L ₂=0.41×L₀−45.5 [mm]  (10)

L ₂=0.46×L₀−126.9 [mm]  (11)

Therefore, the swing analysis portion 211 may calculate the length L₂ of the arms of the user according to Equation (10) or Equation (11) by using the height L₀ and the sex of the user 2 included in the physical information 244.

Next, the swing analysis portion 211 computes coordinates (−UL/2, 0, 0) of the vertex U1 of the shaft plane SP, coordinates (UL/2, 0, 0) of a vertex U2, coordinates (−UL/2, S_Y, S_Z) of the vertex S1, and coordinates (UL/2, S_Y, S_Z) of the vertex S2 by using the coordinates (0, S_Y, S_Z) of the midpoint S3 and a width (the length of the first line segment 51) UL of the shaft plane SP in the X axis direction. The width UL in the X axis direction is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the shaft plane SP. For example, the width UL in the X axis direction may be set to be same as the width S×L₁ in the direction orthogonal to the X axis, that is, twice the sum of the length L₁ of the shaft and the length L₂ of the arms.

In the above-described manner, the swing analysis portion 211 can calculate the coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP.

As illustrated in FIG. 14, in the present embodiment, a virtual plane which includes a first line segment 51 as a first axis and a third line segment 53 as a third axis, and has four vertices such as U1, U2, H1, and H2, is used as the Hogan plane HP (second virtual plane). The third line segment 53 is a line segment connecting a predetermined position 63 in the vicinity of a line segment connecting both of the shoulders of the user 2, to the position 61 of the head of the golf club 3. However, the third line segment 53 may be a line segment connecting the predetermined position 63 to a position of the golf ball 4. The swing analysis portion 211 calculates respective coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP in the XYZ coordinate system.

Specifically, first, the swing analysis portion 211 estimates the predetermined position 63 by using the coordinates (0, G_Y, G_Z) of the position 62 of the grip end of the golf club 3 at address (during standing still), and the length L₂ of the arms of the user 2 based on the physical information 244, and computes coordinates (A_X, A_Y, A_Z) thereof.

FIG. 16 is a view in which a sectional view of the Hogan plane HP illustrated in FIG. 14 which is cut in the YZ plane is viewed from the negative side of the X axis. In FIG. 16, a midpoint of the line segment connecting both of the shoulders of the user 2 is the predetermined position 63, and the predetermined position 63 is present on the YZ plane. Therefore, an X coordinate A_X of the predetermined position 63 is 0. As illustrated in FIG. 16, the swing analysis portion 211 estimates, as the predetermined position 63, a position obtained by moving the position 62 of the grip end of the golf club 3 by the length L₂ of the arms of the user 2 in a positive direction along the Z axis. Therefore, the swing analysis portion 211 sets a Y coordinate A_Y of the predetermined position 63 to be the same as the Y coordinate G_Y of the position 62 of the grip end. The swing analysis portion 211 computes a Z coordinate A_Z of the predetermined position 63 as a sum of the Z coordinate G_Z of the position 62 of the grip end and the length L₂ of the arms of the user 2 as in Equation (12).

A _Z =G _Z +L ₂   (12)

Next, the swing analysis portion 211 multiplies the Y coordinate A_Y and the Z coordinate A_Z of the predetermined position 63 by a scale factor H, so as to compute coordinates (0, H_Y, H_Z) of a midpoint H3 of the vertex H1 and the vertex H2 of the Hogan plane HP. In other words, the swing analysis portion 211 computes H_Y and H_Z according to Equation (13) and Equation (14), respectively.

H _Y =A _Y ·H   (13)

H _Z =A _Z ·H   (14)

As illustrated in FIG. 16, a length (a width of the Hogan plane HP in a direction orthogonal to the X axis) of a line segment connecting the midpoint H3 of the vertex H1 and the vertex H2 to the origin O is H times the length L₃ of the third line segment 53. The scale factor H is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the Hogan plane HP. For example, the Hogan plane HP may have the same shape and size as the shape and the size of the shaft plane SP. In this case, the width H×L₃ of the Hogan plane HP in the direction orthogonal to the X axis matches the width S×L₁ of the shaft plane SP in the direction orthogonal to the X axis, and is twice the sum of the length L₁ of the shaft of the golf club 3 and the length L₂ of the arms of the user 2. Therefore, the swing analysis portion 211 may compute the scale factor H according to Equation (15).

$\begin{array}{cc}H=\frac{2·\left(L_1+L_2\right)}{L_3}& \left(15\right)\end{array}$

The swing analysis portion 211 may compute the length L₃ of the third line segment 53 according to Equation (13) by using the Y coordinate A_Y and the Z coordinate A_Z of the predetermined position 63.

Next, the swing analysis portion 211 computes coordinates (−UL/2, H_Y, H_Z) of the vertex H1 of the Hogan plane HP, and coordinates (UL/2, H_Y, H_Z) of the vertex H2 by using the coordinates (0, H_Y, H_Z) of the midpoint H3 and a width (the length of the first line segment 51) UL of the Hogan plane HP in the X axis direction. The two vertices U1 and U2 of the Hogan plane HP are the same as those of the shaft plane SP, and thus the swing analysis portion 211 does not need to compute coordinates of the vertices U1 and U2 of the Hogan plane HP again.

In the above-described manner, the swing analysis portion 211 can calculate the coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP.

A region interposed between the shaft plane SP (first virtual plane) and the Hogan plane HP (second virtual plane) is referred to as a “V zone”, and a trajectory of a hit ball (a ball line) may be estimated to some extent on the basis of a relationship between a position of the head of the golf club 3 and the V zone during a backswing or a downswing. For example, in a case where the head of the golf club 3 is present in a space lower than the V zone at a predetermined timing during a backswing or a downswing, a hit ball is likely to fly in a hook direction. In a case where the head of the golf club 3 is present in a space higher than the V zone at a predetermined timing during a backswing or a downswing, a hit ball is likely to fly in a slice direction. In the present embodiment, as is clear from FIG. 16, a first angle β formed between the shaft plane SP and the Hogan plane HP is determined depending on the length L₁ of the shaft of the golf club 3 and the length L₂ of the arms of the user 2. In other words, since the first angle β is not a fixed value, and is determined depending on the type of golf club 3 or physical features of the user 2, the more appropriate shaft plane SP and Hogan plane HP (V zone) are calculated as an index for diagnosing a swing of the user 2.

Calculation of Head Positions at Halfway Back and Halfway Down

Ahead position at halfway back is a position of the head at the moment of the halfway back, right before the halfway back, or right after the halfway back, and a head position at halfway down is a position of the head at the moment of the halfway down, right before the halfway down, or right after the halfway down.

First, the swing analysis portion 211 computes a position of the head and a position of the grip end at each time point t by using the position and the attitude of the sensor unit 10 at each time point t from the swing start time point t_start to the impact time point t_impact.

Specifically, the swing analysis portion 211 uses a position separated by the distance L_SH in the positive direction of the y axis specified by the attitude of the sensor unit 10, from the position of the sensor unit 10 at each time point t as a position of a head, and computes coordinates of the position of the head. As described above, the distance L_SH is a distance between the sensor unit 10 and the head. The swing analysis portion 211 uses a position separated by the distance L_SG in the negative direction of the y axis specified by the attitude of the sensor unit 10, from the position of the sensor unit 10 at each time point t as a position of a grip end, and computes coordinates of the position of the grip end. As described above, the distance L_SG is a distance between the sensor unit 10 and the grip end.

Next, the swing analysis portion 211 detects a halfway back timing and a halfway down timing by using the coordinates of the position of the head and the coordinates of the position of the grip end.

Specifically, the swing analysis portion 211 computes a difference ΔZ between a Z coordinate of the position of the head and a Z coordinate of the position of the grip end at each time point t from the swing start time point t_start to the impact time point t_impact. The swing analysis portion 211 detects a time point t_HWB at which a sign of ΔZ is inverted between the swing start time point t_start and the top time point t_top, as the halfway back timing. The swing analysis portion 211 detects a time point t_HWD at which a sign of ΔZ is inverted between the top time point t_top and the impact time point t_impact, as the halfway down timing.

The swing analysis portion 211 uses the position of the head at the time point t_HWB as a position of the head at halfway back, and uses the position of the head at the time point t_HWD as a position of the head at halfway down.

Calculation of Head Speed

Ahead speed is the magnitude of a speed of the head at impact (the moment of the impact, right before the impact, or right after the impact). For example, the swing analysis portion 211 computes a speed of the head at the impact time point t_impact on the basis of differences between the coordinates of the position of the head at the impact time point t_impact and coordinates of a position of the head at the previous time point. The swing analysis portion 211 computes the magnitude of the speed of the head as the head speed.

Calculation of Face Angle and Club Path (Incidence Angle)

The face angle is an index based on an inclination of the head of the golf club 3 at impact, and the club path (incidence angle) is an index based on a trajectory of the head of the golf club 3 at impact.

FIG. 17 is a diagram for explaining the face angle and the club path (incidence angle). FIG. 17 illustrates the golf club 3 (only the head is illustrated) on the XY plane viewed from a positive side of the Z axis in the XYZ coordinate system. In FIG. 17, the reference numeral 74 indicates a face surface (hitting surface) of the golf club 3, and the reference numeral 75 indicates a ball hitting point. The reference numeral 70 indicates a target line indicating a target hit ball direction, and the reference numeral 71 indicates a plane orthogonal to the target line 70. The reference numeral 76 indicates a curve indicating a trajectory of the head of the golf club 3, and the reference numeral 72 is a tangential line at the ball hitting point 75 for the curve 76. In this case, the face angle φ is an angle formed between the plane 71 and the face surface 74, that is, an angle formed between a straight line 73 orthogonal to the face surface 74, and the target line 70. The club path (incidence angle) ψ is an angle formed between the tangential line 72 (a direction in which the head in the XY plane passes through the ball hitting point 75) and the target line 70.

For example, assuming that an angle formed between the face surface of the head and the x axis direction is normally constant (for example, orthogonal), the swing analysis portion 211 computes a direction of a straight line orthogonal to the face surface on the basis of the attitude of the sensor unit 10 at the impact time point t_impact. The swing analysis portion 211 uses, a straight line obtained by setting a Z axis component of the direction of the straight line to 0, as a direction of the straight line 73, and computes an angle (face angle) φ formed between the straight line 73 and the target line 70.

For example, the swing analysis portion 211 uses a direction of a speed (that is, a speed of the head in the XY plane) obtained by setting a Z axis component of a speed of the head at the impact time point t_impact to 0, as a direction of the tangential line 72, and computes an angle (club path (incidence angle)) ψ formed between the tangential line 72 and the target line 70.

The face angle φ indicates an inclination of the face surface 74 with the target line 70 whose direction is fixed regardless of an incidence direction of the head to the ball hitting point 75 as a reference, and is thus also referred to as an absolute face angle. In contrast, an angle η formed between the straight line 73 and the tangential line 72 indicates an inclination of the face surface 74 with an incidence direction of the head to the ball hitting point 75 as a reference, and is thus referred to as a relative face angle. The relative face angle η is an angle obtained by subtracting the club path (incidence angle) ψ from the (absolute) face angle φ.

Calculation of Attack Angle

An attack angle is an index based on a trajectory of the head of the golf club 3 at the impact time point t_impact in the same manner as the club path (incidence angle). However, the attack angle is obtained as a result of an angle of a trajectory being computed in a plane which is different from the plane of the club path (incidence angle).

The swing analysis portion 211 computes an angle formed between a velocity vector of the head and the Z axis in the XZ plane at the impact time point t_impact, as the attack angle. For example, if a movement direction of the head at the impact time point t_impact is a direction of a so-called upper blow, the attack angle is a positive value, the attack angle is a negative value in a direction of a so-called down blow, and the attack angle is zero in a direction of a level blow.

Calculation of Swing Rhythm

A swing rhythm is an index indicating a proportion of the time required in each section of a swing.

The swing analysis portion 211 partitions, for example, the entire swing period at the swing start time point t_start, the halfway back time point t_HWB, the top time point t_top, the halfway down time point t_HWD, the grip deceleration start time point t_vmax, and the impact time point t_impact, so as to divide the entire swing period into a plurality of sections, and computes the time required for each section.

The swing analysis portion 211 computes a ratio between the times required for two different sections, as a swing rhythm. Two different sections may be two sections not overlapping each other, and may be two sections one of which includes the other section. Two different sections may be two sections which are designated by the user 2 in advance.

For example, the swing analysis portion 211 computes a ratio obtained by dividing the time required for a backswing (the time required for the section from the swing start time point t_start to the top time point t_top) by the time required for a downswing (the time required for the section from the top time point t_top to the impact time point t_impact), as the swing rhythm.

Calculation of Hands-Up Angle

A hands-up angle is one of indexes indicating an attitude deviation of the shaft between the swing start time point t_start and the impact time point t_impact, and is an index indicating deviation between an inclined angle α (t_start) of the shaft in a lie angle direction at the swing start time point t_start and an inclined angle α (t_impact) of the shaft in a lie angle direction at the impact time point t_impact. Instead of the inclined angle α (t_start) of the shaft in a lie angle direction at the swing start time point t_start, an inclined angle α (t_address) of the shaft in a lie angle direction at the address time point t_address may be used. The inclined angle α in a lie angle direction is an angle indicated by the reference sign α in FIG. 10, and is an angle formed between the y axis and the Y axis in the YZ plane.

The swing analysis portion 211 calculates an inclined angle α (t_start) at the time of swing starting, for example, on the basis of an attitude (an attitude expressed in the global coordinate system) of the golf club 3 at the swing start time point t_start.

The swing analysis portion 211 calculates an inclined angle α (t_impact) at the impact time point t_impact, for example, on the basis of an attitude (an attitude expressed in the global coordinate system) of the golf club 3 at the impact time point t_impact.

The swing analysis portion 211 calculates an inclined angle α (t_address) at the address time point t_address, for example, on the basis of a ratio (a_y/a_z) between a z-axis acceleration component a_z and a y-axis acceleration component a_y at the address time point t_address. The swing analysis portion 211 may apply a y-axis acceleration component a_y to “y(0) ” in Equation (1) so as to obtain an inclined angle α (t_address) at the address time point.

For example, the swing analysis portion 211 subtracts the inclined angle α (t_start) at the swing start time point t_start from the inclined angle α (t_impact) at the impact time point t_impact, so as to calculated a hands-up angle Δα=α(t_impact)−α(t_start).

For example, the swing analysis portion 211 may subtract the inclined angle α (t_address) at the address time point t_address from the inclined angle α (t_impact) at the impact time point t_impact, so as to calculate a hands-up angle Δα=α(t_impact)−α(t_address).

Calculation of Shaft Axis Rotation Angle at Top

The shaft axis rotation angle θ_top at top is an angle (relative rotation angle) by which the golf club 3 is rotated about a shaft axis from a reference timing to a top timing. The reference timing is, for example, the time of starting a backswing, or the time of address. In the present embodiment, in a case where the user 2 is a right-handed golfer, a right-handed screw tightening direction toward the tip end on the head side of the golf club 3 (a clockwise direction when the head is viewed from the grip end side) is a positive direction of the shaft axis rotation angle θ_top. Conversely, in a case where the user 2 is a left-handed golfer, a left-handed screw tightening direction toward the tip end on the head side of the golf club 3 (a counterclockwise direction when the head is viewed from the grip end side) is a positive direction of the shaft axis rotation angle θ_top.

FIG. 18 is a diagram illustrating an example of a temporal change of the shaft axis rotation angle from starting of a swing (starting of a backswing) to impact. In FIG. 18, a transverse axis expresses time (s), and a longitudinal axis expresses a shaft axis rotation angle (deg). FIG. 18 illustrates the shaft axis rotation angle θ_top at top with the time of starting a swing (the time of starting a backswing) as a reference timing (at which the shaft axis rotation angle is 0°).

In the present embodiment, as illustrated in FIG. 3, the y axis of the sensor unit 10 substantially matches the longitudinal direction of the shaft of the golf club 3 (the longitudinal direction of the golf club 3). Therefore, for example, the swing analysis portion 211 time-integrates a y axis angular velocity included in angular velocity data from the swing starting (backswing starting) time point t_start or the time of address to the top time point t_top (at top), so as to compute the shaft axis rotation angle θ_top. Similarly, the swing analysis portion 211 time-integrates a y axis angular velocity included in angular velocity data from the swing starting (backswing starting) time point t_start or the time of address to the halfway back time point t_HWB, so as to compute a shaft axis rotation angle θ_HWB at the halfway back time point t_HWB.

Calculation of Grip Deceleration Ratio and Grip Deceleration Time Ratio

The grip deceleration ratio is an index based on a grip deceleration amount, and is a ratio between a speed of the grip when the grip starts to be decelerated during the downswing, and a speed of the grip at impact. The grip deceleration time ratio is an index based on a grip deceleration period, and is a ratio between a period of time from the time at which the grip starts to be decelerated during the downswing to the time of impact, and a period of time of the downswing. A speed of the grip is preferably a speed of a portion held by the user 2, but may be a speed of any portion of the grip (for example, the grip end), and may be a speed of a peripheral portion of the grip.

FIG. 19 is a diagram illustrating an example of a temporal change of a speed of the grip during the downswing. In FIG. 19, a transverse axis expresses time (s), and a longitudinal axis expresses a speed (m/s) of the grip. In FIG. 19, if a speed (the maximum speed of the grip) when the grip starts to be decelerated is indicated by V1, and a speed of the grip at impact is indicated by V2, a grip deceleration ratio R_v (unit: %) is expressed by the following Equation (16).

R _V =V1−V2/V1×100(%)   (16)

In FIG. 19, if a period of time from the time of top to the time at which the grip starts to be decelerated is indicated by T1, and a period of time from the time at which the grip starts to be decelerated during the downswing to the time of impact is indicated by T2, a grip deceleration time ratio R_T (unit: %) is expressed by the following Equation (17).

R _T =T2/T1+T2×100(%)   (17)

For example, the sensor unit 10 may be attached to the vicinity of a portion of the golf club 3 held by the user 2, and a speed of the sensor unit 10 may be regarded as a speed of the grip. Therefore, first, the swing analysis portion 211 computes a speed of the sensor unit 10 at the time point t on the basis of differences between coordinates of a position of the sensor unit 10 at each time point t from the top time point t_top to the impact time point t_impact (during the downswing) and coordinates of a position of the sensor unit 10 at the previous time point.

Next, the swing analysis portion 211 computes the magnitude of the speed of the sensor unit 10 at each time point t, sets the maximum value thereof as V1, and sets the magnitude of the speed at the impact time point t_impact as V2. The swing analysis portion 211 specifies a time point t_vmax at which the magnitude of the speed of the sensor unit 10 becomes the maximum value V1. The swing analysis portion 211 computes T1=t_vmax−t_top, and T2=t_impact−t_vmax. The swing analysis portion 211 computes the grip deceleration ratio R_V and the grip deceleration time ratio R_T according to Equations (16) and (17) respectively.

The swing analysis portion 211 may regard a speed of the grip end as a speed of the grip, and may compute the speed of the grip end on the basis of coordinates of a position of the grip end at each time point t during the downswing, so as to obtain the grip deceleration ratio R_V and the grip deceleration time ratio R_T through the above-described computation.

Calculation of Indexes of “V Zone” Item

The swing analysis portion 211 calculates, as indexes, a region in which a head position is included at the halfway back time point t_HWB, a region in which a head position is included at the halfway down time point t_HWD, a region in which a head position is included at the grip deceleration start time point t_vmax, and a region in which a head position is included at the top time point t_top. Interfaces of a plurality of regions are determined on the basis of the shaft plane SP and the Hogan plane HP (V zone) which are virtual planes defined according to an address attitude of the user 2.

FIG. 20 is a diagram illustrating examples of relationships among the shaft plane SP and the Hogan plane HP (V zone), and a plurality of regions (a lower part in FIG. 20 schematically illustrates an example of the shaft plane SP, the Hogan plane HP, and an attitude of the user 2). FIG. 20 illustrates relationships among the shaft plane SP, the Hogan plane HP, and five regions A to E when viewed from a negative side of the X axis (when projected onto the YZ plane). The region B is a predetermined space including the Hogan plane HP, and the region D is a predetermined space including the shaft plane SP. The region C is a space interposed between the region B and the region D (a space between an interface S_BC with the region B and an interface S_CD with the region D). The region A is a space in contact with the region B in an interface S_AB on an opposite side to the region C. The region E is a space in contact with the region D in an interface S_DE on an opposite side to the region C.

There maybe various methods of setting the interface S_AB, the interface S_BC, the interface S_CD, and the interface S_DE. As an example, the interfaces may be set so that, on the YZ plane, the Hogan plane HP is located exactly at the center of the interface S_AB and the interface S_BC, the shaft plane SP is located exactly at the center of the interface S_CD and the interface S_DE, and angles of the region B, the region C, and the region D about the origin O (X axis) are the same as each other. In other words, with respect to the first angle β formed between the shaft plane SP and the Hogan plane HP, if each of angles formed between the Hogan plane HP, and the interface S_AB and the interface S_BC is set to β/4, and each of angles formed between the shaft plane SP, and the interface S_CD and the interface S_DE is set to β/4, angles of the region B, the region C, and the region D are all set to β/2.

Since a swing that causes a Y coordinate of a head position at halfway back or halfway down to be negative cannot be expected, an interface of the region A opposite to the interface S_AB is set in the XZ plane in FIG. 20. Similarly, a swing that causes a Z coordinate of a head position at halfway back or halfway down to be negative cannot be expected, and an interface of the region E opposite to the interface S_DE is set in the XY plane. Of course, an interface of the region A or the region E may be set so that an angle of the region A or the region E about the origin O (X axis) is the same as angles of the region B, the region C, and the region D.

Specifically, first, the swing analysis portion 211 sets the interface S_AB, the interface S_BC, the interface S_CD, and the interface S_DE of the regions A to E on the basis of coordinates of each of the four vertices U1, U2, S1, and S2 of the shaft plane SP and coordinates of each of the four vertices U1, U2, H1, and H2 of the Hogan plane HP.

Next, the swing analysis portion 211 determines in which region of the regions A to E coordinates of a head position at the halfway back time point t_HWB, coordinates of a head position at the halfway down time point t_HWD, coordinates of a head position at the grip deceleration start time point t_vmax, and coordinates of a head position at the top time point t_top are included.

Procedures of Swing Analysis Process

FIG. 21 is a flowchart illustrating examples of procedures of a swing analysis process performed by the processing section 21. The processing section 21 performs the swing analysis process, for example, according to the procedures shown in the flowchart of FIG. 21 by executing the swing analysis program 240 stored in the storage section 24. Hereinafter, the flowchart of FIG. 21 will be described.

First, the processing section 21 waits for the user 2 to perform a measurement starting operation (the operation in step S2 in FIG. 4) (N in step S10), transmits a measurement starting command to the sensor unit 10 if the measurement starting operation is performed (Y in step S10), and starts to acquire measured data from the sensor unit 10 (step S12).

Next, the processing section 21 instructs the user 2 to take an address attitude (step S14). The user 2 takes the address attitude in response to the instruction, and stands still (step S4 in FIG. 4).

Next, the processing section 21 determines whether or not the golf club 3 stands still at an accurate attitude for a predetermined period of time by using the measured data acquired from the sensor unit 10 (step S16), and notifies the user 2 of permission of swing starting (step S18) if the golf club stands still (Y in step S16), and proceeds to a finish determination process (step S24) if the golf club does not stand still. The processing section 21 outputs, for example, a predetermined sound, or an LED is provided in the sensor unit 10, and the LED is lighted, so that the user 2 is notified of permission of swing starting. The user 2 confirms the notification and then starts a swing action (the action in step S6 in FIG. 4).

Next, the processing section 21 determines whether or not impact is detected within a predetermined period from the permission of the swing (step S18) on the basis of the measured data acquired from the sensor unit 10 (step S20), proceeds to a swing analysis data generation process (step S22) if the impact is detected (Y in step S20), and proceeds to the finish determination process (step S24) if the impact is not detected (N in step S20).

Next, the processing section 21 extracts measured data during the swing before and after the impact, from the measured data acquired from the sensor unit 10, calculates various indexes and trajectories on the basis of the measured data during the swing, generates swing analysis data including the indexes and the trajectories, and transmits the swing analysis data to the server apparatus 30 (step S22). The processing section 21 uses the measured data in the period in which the golf club 3 stands still at an accurate attitude, for performing bias correction on the measured data during the swing and setting global coordinates. The processing section 21 may cause the measured data itself (so-called raw data) during the swing to be included in the swing analysis data which is transmitted to the server apparatus 30.

Next, the processing section 21 determines whether or not a measurement finishing operation has been performed by the user 2 (step S24), finishes the flow if the operation has been performed (Y instep S24), and proceeds to the address instruction process (step S14) if the operation has not been performed (N in step S24).

In the flowchart of FIG. 21, order of the respective steps maybe changed as appropriate within an allowable range, some of the steps may be omitted or changed, and other steps may be added thereto.

1-4. Configuration of Sever Apparatus

FIG. 22 is a diagram illustrating a configuration example of the server apparatus 30. As illustrated in FIG. 22, in the present embodiment, the server apparatus 30 is configured to include a processing section 31, a communication section 32, and a storage section 34. However, the server apparatus 30 may have a configuration in which some of the constituent elements are deleted or changed as appropriate, or may have a configuration in which other constituent elements are added thereto.

The storage section 34 is constituted of, for example, various IC memories such as a ROM, a flash ROM, and a RAM, or a recording medium such as a hard disk or a memory card. The storage section 34 stores a program for the processing section 31 performing various calculation processes or a control process, or various programs or data for realizing application functions.

In the present embodiment, the storage section 34 stores (preserves) a swing analysis data list 341 including a plurality of items of swing analysis data 248 generated by the swing analysis apparatus 20. In other words, the swing analysis data 248 generated whenever the processing section 21 of the swing analysis apparatus 20 analyzes a swing action of the user 2 is sequentially added to the swing analysis data list 341.

The storage section 34 is used as a work area of the processing section 31, and temporarily stores results of calculation executed by the processing section 31 according to various programs, and the like. The storage section 34 may store data which is required to be preserved for a long period of time among data items generated through processing of the processing section 31.

The communication section 32 performs data communication with the communication section 27 (refer to FIG. 9) of the swing analysis apparatus 20 via the network 40. For example, the communication section 32 performs a process of receiving the swing analysis data 248 from the communication section 27 of the swing analysis apparatus 20, and transmitting the swing analysis data 248 to the processing section 31. For example, the communication section 32 performs a process of transmitting information required to display the selection screen illustrated in FIG. 7 to the communication section 27 of the swing analysis apparatus 20, or a process of receiving selected information on the selection screen illustrated in FIG. 7 from the communication section 27 of the swing analysis apparatus 20 and transmitting the selected information to the processing section 31. For example, the communication section 32 performs a process of receiving information required to display the display screen illustrated in FIG. 8 from the processing section 31, and transmitting the information to the communication section 27 of the swing analysis apparatus 20.

The processing section 31 performs a process of receiving the swing analysis data 248 from the swing analysis apparatus 20 via the communication section 32 and storing the swing analysis data 248 in the storage section 34 (adding the swing analysis data to the swing analysis data list 341), according to various programs. The processing section 31 performs a process of receiving various pieces of information from the swing analysis apparatus 20 via the communication section 32, and transmitting information required to display various screens (the respective screens illustrated in FIGS. 7 and 8) to the swing analysis apparatus 20, according to various programs. The processing section 31 performs other various control processes.

Particularly, in the present embodiment, the processing section 31 functions as a data acquisition portion 310 and a storage processing portion 312 by executing a predetermined program.

The data acquisition portion 310 performs a process of receiving the swing analysis data 248 received from the swing analysis apparatus 20 by the communication section 32 and transmitting the swing analysis data 248 to the storage processing portion 312.

The storage processing portion 312 performs read/write processes of various programs or various data for the storage section 34. For example, the storage processing portion 312 performs a process of receiving the swing analysis data 248 from the data acquisition portion 310 and storing the swing analysis data 248 in the storage section 34 (adding the swing analysis data to the swing analysis data list 341), a process of reading the swing analysis data 248 from the swing analysis data list 341 stored in the storage section 34, or the like.

1-5. Process in Server Apparatus

The processing section 31 of the server apparatus 30 transmits and receives data to and from the swing analysis apparatus 20, and thus manages user swing analysis data for each user.

Procedures of Process in Server Apparatus

FIG. 23 is a flowchart illustrating examples of procedures of a process performed by the processing section 21 of the swing analysis apparatus 20 in relation to a process in the server apparatus. FIG. 24 is a flowchart illustrating examples of procedures of a process in the server apparatus. The processing section 31 (an example of a computer) of the server apparatus 30 performs a process, for example, according to the procedures of the flowchart of FIG. 24 by executing the program stored in the storage section 34. Hereinafter, the flowcharts of FIGS. 23 and 24 will be described.

First, the processing section 21 of the swing analysis apparatus 20 transmits user identification information allocated to the user 2, to the server apparatus 30 (step S100 in FIG. 23).

Next, the processing section 31 of the server apparatus 30 receives the user identification information, and transmits list information of the swing analysis data 248 corresponding to the user identification information (step S200 in FIG. 24).

Next, the processing section 21 of the swing analysis apparatus 20 receives the list information of the swing analysis data 248, and displays a selection screen (FIG. 7) of the swing analysis data on the display section 25 (step S110 in FIG. 23).

The processing section 21 of the swing analysis apparatus 20 waits for the swing analysis data 248 to be selected on the selection screen of the swing analysis data (N in step S120 in FIG. 23), and transmits selected information of the swing analysis data to the server apparatus 30 (step S130 in FIG. 23) if the information is selected (Y in step S120 in FIG. 23).

Next, the processing section 31 of the server apparatus 30 receives the selected information of the swing analysis data (step S210 in FIG. 24).

Next, the processing section 31 of the server apparatus 30 transmits the selected swing analysis data (step S240 in FIG. 24).

Next, the processing section 21 of the swing analysis apparatus 20 receives the selected swing analysis data, displays images (images indicating various indexes, an image indicating a swing trajectory, and the like) based on the swing analysis data on the display section 25 (step S140 in FIG. 23), and finishes the process.

In the flowchart of FIG. 23, order of the respective steps maybe changed as appropriate within an allowable range, some of the steps may be omitted or changed, and other steps maybe added thereto. Similarly, in the flowchart of FIG. 24, order of the respective steps may be changed as appropriate within an allowable range, some of the steps may be omitted or changed, and other steps may be added thereto.

1-6. Standing-Still Determination in Swing Analysis Apparatus

1-6-1. Outline of Standing-Still Determination

As illustrated in FIG. 21, the swing analysis apparatus 20 of the present embodiment notifies the user 2 of permission of swing starting using the golf club 3 (step S18) in a case where it is determined that the golf club 3 stands still (standing still state) (Y in step S16) after the measurement starting operation is performed (Y in step S10), and does not notify the user 2 of permission of swing starting in a case where the golf club 3 does not stand still (N in step S16). Specifically, in a case where an attitude of the golf club 3 is unstable, or an attitude of the golf club 3 is considerably deviated relative to a standard address attitude, the swing analysis apparatus 20 of the present embodiment does not notify the user 2 of permission of swing starting.

However, even in a case where the user 2 takes an address attitude and stands still, the user 2 is not notified of permission of swing starting. Causes thereof may be considered to be the following cause (1) or cause (2).

(1) A swing analysis application installed in the swing analysis apparatus 20 or the sensor unit 10 fails.

(2) The user 2 stands still at an accurate address attitude, but the golf club 3 does not satisfy a condition for being determined as standing still by the swing analysis apparatus 20.

Of the causes, in a case of the cause (1), the sensor unit 10 is required to be repaired or the swing analysis application is required to be repaired (reinstalled or the like), but, in a case of the cause (2), repair is not necessary, and the user 2 has only to adjust an address attitude.

However, it is hard for the user 2 to determine which one of the causes (1) and (2) is a real cause. Thus, a problem occurs in that the user 2 requests a manufacturer of the sensor unit 10 or a provider (for example, a manager of the server apparatus 30) of a swing analysis application to repair the sensor unit 10 despite a cause being the cause (2), or the user 2 spends time in trying to improve an address attitude many times despite a cause being the cause (1).

Therefore, the swing analysis apparatus 20 of the present embodiment notifies the user 2 of a state of the golf club 3 in real time during execution of the process in step S16 in FIG. 21, that is, during execution of a process for determining whether or not the golf club 3 stands still at an accurate attitude for a predetermined period of time (hereinafter, this process will be referred to as a “standing-still determination”).

Therefore, the user 2 variously changes a state of the golf club 3 while checking the content of a notification during a standing-still determination (step S16 in FIG. 21), and can thus experience that swing starting is permitted in a case where what state a state of the golf club 3 becomes. The user 2 having such an experience can accurately understand an address attitude to be taken in order for swing starting to be permitted.

In a case where there is no change in the content of a notification despite the user 2 variously changing a state of the golf club 3 during the standing-still determination (step S16 in FIG. 21), the user 2 can immediately determine that the sensor unit 10 or the swing analysis application fails.

1-6-2. Fundamental Process in Standing-Still Determination

First, a description will be made of a fundamental process in the standing-still determination (step S16 in FIG. 21).

Fundamentally, it is assumed that the swing analysis portion 211 of the swing analysis apparatus 20 of the present embodiment determines that the golf club 3 stands still (at an accurate attitude) in a case where a state (an example of a predetermined state) in which both of the following standing-still condition (A) and attitude condition (B) are satisfied lasts for a predetermined period of time (for example, a period of time of 2 seconds; an example of a determination criterion). For example, here, it is assumed that standing still is determined in a case where both of the standing-still condition (A) and the attitude condition (B) are satisfied, but standing still may be determined in a case where one of the conditions is satisfied.

(A) A change amount of an attitude of the shaft per unit time, indicated by three-axis angular velocity data, is less than a threshold value (an example of a determination criterion). In order to determine whether or not the standing-still condition (A) is satisfied, the swing analysis portion 211 computes an attitude change amount per 1 ms on the basis of angular velocity data (or acceleration data) measured in a predetermined cycle (for example, 1 ms), and determines whether or not the attitude change amount is less than a predetermined threshold value. The swing analysis portion 211 repeatedly performs this determination, for example, in a predetermined cycle (for example, 1 ms).

(B) An inclined angle α (hereinafter, referred to as a shaft angle α in a hands-up direction) of the shaft in a lie angle direction, indicated by three-axis acceleration data is included in a standard range (an example of a determination criterion). In order to determine whether or not the attitude condition (B) is satisfied, for example, the swing analysis portion 211 computes a shaft angle α in a hands-up direction (an example of a direction intersecting a grounding plane) on the basis of acceleration data (a y-axis acceleration component a_y and a z-axis acceleration component a_z) measured in a predetermined cycle (for example, 1 ms), and determines whether or not the shaft angle α in the hands-up direction is included in the standard range. The swing analysis portion 211 repeatedly performs this determination, for example, in a predetermined cycle (for example, 1 ms).

The shaft angle α in the hands-up direction is an angle indicated by the reference sign a in FIG. 10, and is an angle formed between the shaft (y axis) and the Y axis in the YZ plane.

The shaft angle α in the hands-up direction is an angle formed between the extending direction (y axis) of the shaft and the ground surface (horizontal plane) in the yz plane as illustrated in FIG. 10. The shaft angle α in the hands-up direction is expressed by the z-axis acceleration component a_z and the y-axis acceleration component a_y included in the three-axis acceleration data. For example, the swing analysis portion 211 regards that the shaft angle α in the hands-up direction is increased as the ratio (a_y/a_z) between the z-axis acceleration component a_z and the y-axis acceleration component a_y becomes higher.

The standard range of the shaft angle α in the hands-up direction is a range of the shaft angle α in the hands-up direction centering on a lie angle α_Lie specific to the golf club 3, and is expressed by (α_Lie−Δα)<α<(α_Lie+Δα). The width (2Δα) of the standard range is set to be equivalent to, for example, a difference between shaft angles α in the hands-up direction of various users 2 at address using the golf clubs 3 of the same type.

The lie angle α_Lie specific to the golf club 3 corresponds to a shaft angle α in the hands-up direction when a sole surface of the head of the golf club 3 is brought into contact with the ground at an attitude of being along the ground surface (horizontal plane).

Information regarding the lie angle α_Lie specific to the golf club 3 is assumed to be included in the golf club information 242 which is input to the swing analysis apparatus 20 in advance by the user 2. Therefore, the swing analysis portion 211 can recognize the lie angle α_Lie specific to the golf club 3 on the basis of the golf club information 242.

1-6-3. Notification during Standing-Still Determination

Next, a description will be made of a notification during the standing-still determination (step S16 in FIG. 21).

Here, a description will be made of a case where a notification during the standing-still determination (a period until reaching a determination of a standing still state) is a notification using an image (indicator screen), but, not only a notification using an image but also a notification using a sound, a notification using vibration, a notification using a light luminance change pattern, a notification using a color change pattern, a notification using a sound change pattern, and a notification using a vibration change pattern may be employed, and a notification using a combination of two or more notifications may be employed.

A notification using an image or light is performed by, for example, the processing section 21 (particularly, the display processing portion 214) and the display section 25, and a notification using a sound is performed by the processing section 21 (particularly, the sound output processing portion 215) and the sound output section 26. A notification using vibration is performed by, for example, the processing section 21 (particularly, a vibration output processing portion (not illustrated)), and a vibration mechanism (not illustrated). However, hereinafter, a description will be made assuming that the processing section 21 performs a notification alone.

First, the processing section 21 sequentially reflects shaft angles α in the hands-up direction, computed during the standing-still determination, on an indicator screen (which will be described later) of the display section 25. Consequently, when viewed from the user 2, the shaft angle α in the hands-up direction is displayed on an indicator screen (which will be described later) nearly in real time. Consequently, a change (state change) between the shaft angles α in the hands-up direction is displayed.

The processing section 21 reflects an x-axis acceleration component a_x of acceleration data measured in a predetermined cycle (for example, 1 ms) during the standing-still determination, on indicator screens (FIGS. 25 to 28 which will be described later). The x-axis acceleration component a_x indicates the extent of an inclined angle γ (hereinafter, referred to as a shaft angle γ in a hand-first direction) in a loft angle direction (an example of a horizontal direction with respect to the ground plane) of the shaft.

The shaft angle γ in the hand-first direction is an angle formed between the shaft (y axis) and the Z axis in the XZ plane.

Assuming that an attachment attitude of the sensor unit 10 with respect to the golf club 3 is as illustrated in FIG. 3, it may be regarded that the shaft angle γ in the hand-first direction increases as the x-axis acceleration component a_x increases.

Therefore, when viewed from the user 2, the extent of the shaft angle γ in the hand-first direction is displayed on an indicator screen nearly in real time. Consequently, a change (state change) between shaft angles y in the hand-first direction is displayed.

The processing section 21 displays a standard range ((α_Lie−Δα)<α<(α_Lie+Δα)) of the shaft angle α in the hands-up direction during the standing-still determination. Therefore, the user 2 can understand an approximate target of the shaft angle α in the hands-up direction along with an actual shaft angle α in the hands-up direction.

FIG. 25 illustrates an example of an indicator screen.

As illustrated in FIG. 25, a text image 25C with the content that “bring the head contact with the ground in a case of large shaking” is disposed to prompt the user 2 to stand still on an indicator screen. A text image with the content that “standstill” for instructing the user 2 to take an address attitude may be disposed on the indicator screen.

A pointer 25A (an example of information indicating a state change of the exercise equipment) is disposed on the indicator screen. A position of the pointer 25A on the indicator screen indicates the present attitude of the golf club 3 with respect to the horizontal plane.

First, a vertical position of the pointer 25A on the indicator screen indicates the shaft angle α in the hands-up direction (an example of an attitude change in a direction intersecting the ground surface). The pointer 25A is located further toward an upper side as the shaft angle α in the hands-up direction increases, and the pointer 25A is located further toward a lower side as the shaft angle α in the hands-up direction decreases.

A horizontal position of the pointer 25A on the indicator screen indicates the shaft angle γ in the hand-first direction (an example of an attitude change in the horizontal direction with respect to the ground surface). The pointer 25A is located further toward the left as the shaft angle γ in the hand-first direction increases, and the pointer 25A is located further toward the right as the shaft angle γ in the hand-first direction decreases.

On the indicator screen illustrated in FIG. 25, a standard range of the shaft angle α in the hands-up direction is indicated by a pair of linear marks 25B. Of the pair of linear marks 25B, the linear mark 25B located on the upper side in the indicator screen indicates an upper limit of the standard range, and the linear mark 25B located on the lower side in the indicator screen indicates a lower limit of the standard range.

A temporal change of a position of the pointer 25A on the indicator screen represents a temporal change of an attitude of the golf club 3. Specifically, a temporal change of a position of the pointer 25A in the vertical direction represents a temporal change of the shaft angle α in the hands-up direction, and a temporal change of a position of the pointer 25A in the horizontal direction represents a temporal change of the shaft angle γ in the hand-first direction.

Therefore, the user 2 takes an address attitude so that the pointer 25A enters a rectangular region interposed between the pair of linear marks 25B, and a position of the pointer 25A is stabilized, and maintains the state for two seconds so that the swing analysis apparatus 20 can recognize that the golf club 3 stands still at an accurate attitude.

The user 2 may understand a hand-first amount at the address attitude thereof on the basis of a position of the pointer 25A in the horizontal direction. For example, it may be recognized that a hand-first amount becomes larger as the pointer 25A is located further toward the left.

FIG. 26 illustrates another example of an indicator screen. Here, a difference from the indicator screen illustrated in FIG. 25 will be focused.

In an indicator screen illustrated in FIG. 26, the standard range of the shaft angle α in the hands-up direction is indicated by a pair of arrowhead marks 25B′.

Directions of the pair of arrowhead marks 25B′ are set to directions in which tip ends thereof face each other. Of the pair of arrowhead marks 25B′, the arrowhead mark 25B′ located on the upper side in the indicator screen indicates an upper limit of the standard range, and the arrowhead mark 25B′ located on the lower side in the indicator screen indicates a lower limit of the standard range.

Therefore, the user 2 takes an address attitude so that the pointer 25A enters a region interposed between the pair of arrowhead marks 25B′, and a position of the pointer 25A is stabilized, and maintains the state for two seconds so that the swing analysis apparatus 20 can recognize that the golf club 3 stands still at an accurate attitude.

FIG. 27 illustrates still another example of an indicator screen. Here, a difference from the indicator screen illustrated in FIG. 26 will be focused.

In an indicator screen illustrated in FIG. 27, the standard range of the shaft angle α in the hands-up direction is indicated by a pair of partial annular belt-shaped marks 25B″.

Directions of the pair of partial annular belt-shaped marks 25B″ are set to directions in which recessed parts thereof face each other. Of the pair of partial annular belt-shaped marks 25B″, the partial annular belt-shaped marks 25B″ located on the upper side in the indicator screen indicate an upper limit of the standard range, and the partial annular belt-shaped marks 25B″ located on the lower side in the indicator screen indicate a lower limit of the standard range.

A width of the pair of partial annular belt-shaped marks 25B″ in the horizontal direction is set to a size corresponding to a standard range (which will be described later) of the shaft angle γ in the hand-first direction.

The indicator screen illustrated in FIG. 27 auxiliarily displays a pair of arrowhead marks 25B′ indicating the standard range of the shaft angle α in the hands-up direction. The pair of arrowhead marks 25B′ is the same as the arrowhead marks 25B′ illustrated in FIG. 26.

Therefore, the user 2 takes an address attitude so that the pointer 25A enters an elliptical or circular region interposed between the pair of partial annular belt-shaped marks 25B″, and a position of the pointer 25A is stabilized, and maintains the state for two seconds so that the swing analysis apparatus 20 can recognize that the golf club 3 stands still at an accurate attitude.

The user 2 takes an address attitude so that the pointer 25A enters the center of the elliptical or circular region interposed between the pair of partial annular belt-shaped marks 25B″, and thus the shaft angle α in the hands-up direction can be made to match the lie angle α_Lie, and the shaft angle γ in the hand-first direction can be made to zero (a hand-first amount can be made to zero).

FIG. 28 illustrates still another example of an indicator screen. Here, a difference from the indicator screen illustrated in FIG. 27 will be focused.

The same pair of partial annular belt-shaped marks 25B″ as illustrated in FIG. 27, the same pair of arrowhead marks 25B′ as illustrated in FIG. 27, and another pair of arrowhead marks 25D not illustrated in FIG. 27 are disposed on an indicator screen illustrated in FIG. 28.

Another pair of arrowhead marks 25D indicates a standard range (which will be described later) of the shaft angle γ in the hand-first direction. Of the pair of arrowhead marks 25D, the arrowhead mark 25D located on the left side in the indicator screen indicates an upper limit of the standard range (which will be described later), and the arrowhead mark 25D located on the right side in the indicator screen indicates a lower limit of the standard range (which will be described later).

In the example illustrated in FIG. 28, a cross mark indicating the center of the standard range of the shaft angle α in the hands-up direction and the center of the standard range (which will be described later) of the shaft angle γ in the hand-first direction is displayed.

The user 2 takes an address attitude so that the pointer 25A enters the center of the cross mark, and thus the shaft angle α in the hands-up direction can be made to match the lie angle α_Lie, and the shaft angle γ in the hand-first direction can be made to zero (a hand-first amount can be made to zero).

1-6-4. Analysis Process (Calibration) after Standing-Still Determination

Here, the analysis process after the standing-still determination (step S22 in FIG. 21) will be described in detail.

If impact is detected (Y in step S20 in FIG. 21) after the standing-still determination (step S16 in FIG. 21), the processing section 21 extracts measured data during a swing before and after the impact, from measured data generated by the sensor unit 10.

For example, the processing section 21 detects respective timings of swing starting, a top, impact, and the like on the basis of the measured data generated by the sensor unit 10 before and after the impact, and extracts, for example, measured data generated in a period from swing starting to impact as the measured data during the swing.

The processing section 21 performs bias correction on the measured data during the swing and setting of global coordinates (setting of a target direction) by referring to measured data for two seconds for which the golf club 3 stands still at an accurate attitude before starting a swing, on the basis of the measured data generated by the sensor unit 10 before and after the impact.

The processing section 21 generates swing analysis data including various indexes and trajectories regarding the swing on the basis of the measured data during the swing. The various indexes are calculated according to the above-described methods. The indexes and the trajectories are expressed by using global coordinates.

1-6-5. Process of Standing-Still Determination

Here, the step (step S16 in FIG. 21) regarding the standing-still determination will be described in detail.

FIG. 29 is a flowchart illustrating examples of procedures of a swing analysis process (an example of a determination method) performed by the processing section 21. FIG. 29 is a flowchart in which step S16 (an example of a determination step) regarding the standing-still determination is subdivided into a plurality of steps S161 to S166 in the flow illustrated in FIG. 21.

Hereinafter, respective steps illustrated in FIG. 29 will be described. In FIG. 29, the same steps as the steps in FIG. 21 are given the same reference numerals.

Step S10: The processing section 21 determines whether or not a measurement starting operation is performed by the user 2 (step S10), proceeds to a starting process (step S12) if the measurement starting operation is performed (Y in step S10), and continuously displays the initial screen if otherwise (N in step S10).

Step S12: The processing section 21 transmits a measurement starting command to the sensor unit 10, and starts to acquire measured data from the sensor unit 10 (step S12).

Step S14: The processing section 21 instructs the user 2 to take an address attitude (step S14).

Step S161: The processing section 21 computes an attitude change amount per unit time, an shaft angle α in the hands-up direction, and an shaft angle γ in the hand-first direction (step S161).

Step S162: The processing section 21 computes a standard range of the shaft angle α in the hands-up direction, and displays the range on an indicator screen along with a pointer (step S162). In a case where a standard range of the shaft angle γ in the hand-first direction is displayed on the indicator screen, the processing section 21 computes and displays the standard range in this step.

Step S163: The processing section 21 reflects the shaft angle α in the hands-up direction and the shaft angle γ in the hand-first direction in a position of the pointer on the indicator screen (step S163). Step S163 is an example of a notification step.

Step S164: The processing section 21 determines whether or not the computed attitude change amount is less than a predetermined threshold value (step S164), proceeds to an attitude determination (step S165) if the attitude change amount is less than the threshold value (Y in step S164), and skips the attitude determination and proceeds to a measurement finishing determination (step S24) if otherwise (N in step S164).

Step S165: The processing section 21 determines whether or not the computed shaft angle α in the hands-up direction is included in the standard range (step S165), proceeds to a time determination (step S166) if the shaft angle α in the hands-up direction is included in the standard range (Y in step S165), and skips the time determination and proceeds to the measurement finishing determination (step S24) if otherwise (N in step S165).

Step S166: The processing section 21 determines whether or not a period of time for which the shaft angle αin the hands-up direction is included in the standard range reaches a predetermined period of time (for example, two seconds) (step S166) when the attitude change amount is less than the threshold value, proceeds to a swing permission process (step S18) if the period of time reaches the predetermined period of time (Y in step S166), and proceeds to the measurement finishing determination (step S24) if otherwise (N in step S166).

Step S18: The processing section 21 notifies the user 2 of permission of swing starting (step S18). Step S18 is an example of a notification step.

Step S20: The processing section 21 determines whether or not impact is detected within a predetermined period from the permission of the swing (step S18) on the basis of the measured data acquired from the sensor unit 10 (step S20), proceeds to a swing analysis data generation process (step S22) if the impact is detected (Y in step S20), and proceeds to the finish determination process (step S24) if otherwise (N in step S20).

Step S22: The processing section 21 extracts measured data during the swing before and after the impact, from the measured data acquired from the sensor unit 10, calculates various indexes and trajectories on the basis of the measured data during the swing, generates swing analysis data including the indexes and the trajectories, and transmits the swing analysis data to the server apparatus 30 (step S22). The processing section 21 uses the measured data in the period in which the golf club 3 stands still at an accurate attitude, for performing bias correction on the measured data during the swing and setting of global coordinates. The processing section 21 uses parameters appropriate for the type (specification) of golf club 3 which is being designated at the present point in order to calculate the indexes and the trajectories. The processing section 21 may cause the measured data itself (so-called raw data) during the swing to be included or information regarding the currently designated type of golf club 3 in the swing analysis data which is transmitted to the server apparatus 30.

Step S24: The processing section 21 determines whether or not a measurement finishing operation has been performed by the user 2 (step S24), finishes the flow if the operation has been performed (Y in step S24), and proceeds to the address instruction process (step S14) if otherwise (N in step S24).

In the flowchart of FIG. 29, order of the respective steps maybe changed as appropriate within an allowable range, some of the steps may be omitted or changed, and other steps may be added thereto.

1-7. Operations and Effects

As described above, since the swing analysis apparatus 20 of the present embodiment (an example of an electronic apparatus) notifies the user 2 of an attitude change (an example of a state change) of the golf club 3 (an example of an exercise equipment) during a determination (until reaching a determination), the user 2 can compare an attitude change of the golf club 3 when preset determination criteria (here, a threshold value of an attitude change amount, a standard range of an angle α, and a period of two seconds; in the present embodiment, the standing-still condition and the attitude condition are satisfied for a predetermined period of time) are not satisfied with an attitude change of the golf club 3 when the determination criteria are satisfied. Therefore, the user 2 variously changes a state of the golf club 3 while checking the content of a notification during a determination, and can thus experience that swing starting is permitted (an example of a predetermined determination result) in a case where what state a state of the golf club 3 becomes. As a result, the user 2 can accurately understand an address attitude (an example of the way of handling the golf club 3) to be taken in order for swing starting to be permitted. In other words, it is possible to comfortably use a function of determining a state of exercise equipment.

2. MODIFICATION EXAMPLES

The invention is not limited to the present embodiment, and may be variously modified within the scope of the spirit of the invention.

2-1. Attitude Condition

In the present embodiment, conditions for determining that the golf club 3 stands still at an accurate attitude are two conditions such as the standing-still condition (A) and the attitude condition (B) (steps S164 and S165 in FIG. 29), but the following attitude condition (C) may be added thereto.

(C) A shaft angle γ in the hand-first direction, indicated by three-axis acceleration data, is included in a standard range. In order to determine whether or not the attitude condition (C) is satisfied, for example, the processing section 21 computes a shaft angle γ in the hand-first direction on the basis of acceleration data (x-axis acceleration component a_x) measured in a predetermined cycle (for example, 1 ms), and determines whether or not the shaft angle γ in the hand-first direction is included in a standard range. Consequently, it is determined whether or not the shaft angle γ in the hand-first direction is included in the standard range. The processing section 21 repeatedly performs this determination, for example, in a predetermined cycle (for example, 1 ms).

The shaft angle γ in the hand-first direction is an angle formed between the extending direction (y axis) of the shaft and the ground surface (horizontal plane) in the XZ plane. The shaft angle γ in the hand-first direction is expressed by the x-axis acceleration component a_x included in three-axis acceleration data. For example, the processing section 21 regards the shaft angle γ in the hand-first direction to be zero if the x-axis acceleration component a_x is zero, and regards that the shaft angle γ in the hand-first direction increases as the x-axis acceleration component a_x increases.

The standard range of the shaft angle γ in the hand-first direction is set to a range centering on, for example, zero. A width of the standard range is set to a width corresponding to a difference between shaft angles y in the hand-first direction at address of various users 2 using the golf club 3 of the same type.

In this case, as an indicator screen, the indicator screen illustrated in FIG. 27 or 28 may be employed.

2-2. Adjustment of Indicator Screen

In the above-described embodiment, the processing section 21 uses the indicator screen in order to notify the user 2 of an attitude of the golf club 3 during a standing-still determination, but may allow the user 2 to adjust a display size of the indicator screen (at least the region surrounded by the image indicating the standard range) in order for the indicator screen to be easily viewed, and may allow the user 2 to adjust an aspect ratio of the indicator screen (at least the region surrounded by the image indicating the standard range).

In the above-described embodiment, in a case where the swing analysis apparatus 20 is leaned against a wall or the like, or an image from the swing analysis apparatus 20 is projected onto a wall or the like, the processing section 21 may allow the user 2 to adjust a ratio (trapezoidal distortion) between a width of an upper end and a width of a lower end of the indicator screen in order for the user 2 to easily view the indicator screen.

2-3. Modifications of Indicator Screen

In the above-described embodiment, the processing section 21 may change at least one of a color, luminance, a grayscale, texture, a paint-out pattern, and the like of the pointer 25A depending on at least one of a frequency and the amplitude of an attitude change of the golf club 3. A frequency of an attitude change or the amplitude of an attitude change may be obtained on the basis of angular velocity data or acceleration data.

In the above-described embodiment, the processing section 21 may display scales for indicating a criterion of an attitude of the golf club 3 on the indicator screen. In the indicator screens illustrated in FIGS. 25, 27 and 28, scales are added to the linear marks 25B or the partial annular belt-shaped marks 25B″ indicating the standard range.

In the above-described embodiment, the processing section 21 may sequentially draw movement trajectories of the pointer during the standing-still determination on the indicator screen. If the trajectories are drawn, the user 2 can recognize in which range an attitude thereof is unstable.

In the above-described embodiment, the processing section 21 may use other images (for example, an indicator image) instead of the pointer 25A as an image indicating an attitude or the like of the golf club 3 during the standing-still determination. For example, the processing section 21 in the above-described embodiment may use various real indicator images such as an image of a level, or an image of an analog type attitude indicator as the indicator screen.

In the above-described embodiment, the processing section 21 displays the partial annular belt-shaped marks 25B″ in order to indicate the standard range on the indicator screens illustrated in FIGS. 27 and 28, and may use annular belt-shaped marks in order to indicate the standard range.

2-4. Notification Off

In the above-described embodiment, the swing analysis apparatus 20 may allow the user 2 to turn off the function (indicator screen) of notifying the user 2 of an attitude of the golf club 3 during the standing-still determination.

The swing analysis apparatus 20 in the above-described embodiment may have the notification function (indicator screen) as one of practice modes.

In the above-described embodiment, in a case where the notification function (indicator screen) is turned off, the processing section 21 may turn on other functions, for example, a video capturing function, instead of the notification function (indicator screen). The video capturing function is a function of capturing a video of a state of the user 2 at an address attitude or during a swing, and displaying captured video images on the display section 25 in real time. The video capturing is performed by an imaging section (camera) mounted in the swing analysis apparatus 20.

2-5. Other Notification Aspects

In the above-described embodiment, the processing section 21 may use various aspects as an aspect of notifying the user 2 of an attitude or the like of the golf club 3 during a standing-still determination. As a notification aspect, for example, at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern may be used.

For example, in the above-described embodiment, the processing section 21 may provide a difference to each combination of images, light beams, sounds, vibration items, image change patterns, light change patterns, sound change patterns, and vibration change patterns between cases where an inclined angle is included in a standard range and is deviated from the standard range.

For example, in the above-described embodiment, the processing section 21 may provide a difference to each combination of images, light beams, sounds, vibration items, image change patterns, light change patterns, sound change patterns, and vibration change patterns between cases where an attitude change amount per unit time is less than a threshold value and is equal to or more than the threshold value.

For example, in the above-described embodiment, the processing section 21 may generate a warning sound (uncomfortable sound) in a case where an inclined angle is deviated from a standard range, and may generate a warning cancel sound (comfortable sound) in a case where an inclined angle is included in the standard range.

For example, in the above-described embodiment, the processing section 21 may generate a warning sound (uncomfortable sound) in a case where an attitude change amount per unit time is deviated from a standard range, and may generate a warning cancel sound (comfortable sound) in a case where an attitude change amount per unit time is included in the standard range.

For example, in the above-described embodiment, the processing section 21 may cause the entire screen to blink in a warning color (yellow) in a case where an inclined angle is deviated from a standard range, and may cause the entire screen to continuously blink in a warning cancel color (blue) in a case where an inclined angle is included in the standard range.

For example, in the above-described embodiment, the processing section 21 may cause the entire screen to blink in a warning color (yellow) in a case where an attitude change amount per unit time is deviated from a standard range, and may cause the entire screen to continuously blink in a warning cancel color (blue) in a case where an attitude change amount per unit time is included in the standard range.

In the above-described embodiment, the processing section 21 may provide a difference to each combination of images, light beams, sounds, vibration items, image change patterns, light change patterns, sound change patterns, and vibration change patterns between cases where an inclined angle approaches to the center of a standard range and is separated from the center of the standard range.

For example, in the above-described embodiment, the processing section 21 may provide a difference to each combination of images, light beams, sounds, vibration items, image change patterns, light change patterns, sound change patterns, and vibration change patterns between cases where an attitude change amount per unit time decreases and increases.

2-6. Standing-Still Determination Based on Angular Velocity Data

In the above-described embodiment, the processing section 21 calculates an attitude of the golf club 3 to be reflected on the indicator screen on the basis of acceleration data, but may calculate an attitude of the golf club 3 on the basis of both of angular velocity data and acceleration data.

In the above-described embodiment, the processing section 21 performs a standing-still determination for the golf club 3 on the basis of both of angular velocity data and acceleration data, but may perform a standing-still determination on the basis of one of angular velocity data and acceleration data. An example of an apparatus performing a standing-still determination based on angular velocity data is as follows.

The apparatus includes a threshold value determination portion that determines whether or not an angular velocity detected in a period having a time length is included in a predetermined threshold value range on a time axis of a detection result from an angular velocity sensor detecting the angular velocity of a golf club; a bias value setting portion that sets a bias value included in the angular velocity on the basis of a first average value which is an average value of the angular velocity detected in the period in a case where the angular velocity detected in the period is included in the threshold value range; and an analysis information calculation portion that analyzes motion of the golf club on the basis of correction data from which the bias value is removed.

The threshold value determination portion may determine whether or not the angular velocity is included in the threshold value range by using, as a reference, a second average value which is an average value of the angular velocity in all periods of the detection result.

In a case where there are a plurality of periods in which the angular velocity is included in the threshold value range, the bias value setting portion may set the bias value on the basis of the first average value in a period in which a difference between the second average value and the angular velocity is smallest.

The threshold value determination portion may determine whether or not a variance value of the angular velocity detected in the period is included in the threshold value range.

In a case where there are a plurality of periods in which the variance value is included in the threshold value range, the bias value setting portion may set the bias value on the basis of the first average value in a period in which the maximum variance value of the angular velocity is smallest.

At least one of the time length and the threshold value may be defined depending on the type of motion of the golf club.

At least one of the time length and the threshold value may be defined depending on a position where the angular velocity sensor is attached.

At least one of the time length and the threshold value may be defined depending on a frequency component of a detection result from the angular velocity sensor.

2-7. Other Input Aspects

In the above-described embodiment, the processing section 21 mainly inputs a single or a plurality of pieces of information from the user 2 through touching of the finger (a tapping operation on a touch panel or an operation on a button), but various aspects may be used as an aspect of inputting a single or a plurality of pieces of information. As an aspect of inputting information, for example, at least one of information input through touching of the finger, information input using a voice, and information input using gesture.

2-8. Modification of V Zone

In the above-described embodiment, the concept of the V zone (a region interposed between the shaft plane and the Hogan plane) is introduced in order to define the regions A, B, C, D and E in which the head is included. The V zone is a region interposed between the first virtual plane along the longitudinal direction of the golf club 3 and the second virtual plane passing through the vicinity of the shoulder of the user 2. The first virtual plane is, for example, a so-called shaft plane specified by a first axis along a target hit ball direction and a second axis along the longitudinal direction of the golf club 3 before a swing is started. The second virtual plane is, for example, a so-called Hogan plane which includes the first axis, and forms a predetermined angle with the first virtual plane. However, the second virtual plane may be a virtual plane (including both of a virtual plane parallel to the first virtual plane and a virtual plane along the first virtual plane) which is parallel to the first virtual plane. A parallel virtual plane may be referred to as a “shoulder plane”. In the above-described embodiment, the second virtual plane may be calculated on the basis of both of the first virtual plane and physical information of the user 2, and a plane having a predetermined relationship with the first virtual plane may be the second virtual plane.

2-9. Modifications of Swing Analysis Process

For example, a plurality of sensor units 10 may be attached to the golf club 3 or parts such as the arms or the shoulders of the user 2, and the swing analysis portion 211 may perform a swing analysis process by using measured data from the plurality of sensor units 10.

In the embodiment, the swing analysis portion 211 calculates the third line segment 53 which is a third axis and the Hogan plane HP by using the physical information of the user 2, but a line segment and a plane obtained by rotating the second line segment 52 which is a second axis and the shaft plane SP by a predetermined first angle β (for example, 30°) about the X axis, respectively, may be used as the third line segment 53 and the Hogan plane HP.

In the embodiment, the swing analysis portion 211 detects impact by using the square root of the square sum as shown in Equation (2) as a combined value of three-axis angular velocities measured by the sensor unit, but, as a combined value of three-axis angular velocities, for example, a square sum of three-axis angular velocities, a sum or an average value of three-axis angular velocities, or the product of three-axis angular velocities may be used. Instead of a combined value of three-axis angular velocities, a combined value of three-axis accelerations such as a square sum or a square root of three-axis accelerations, a sum or an average value of three-axis accelerations, or the product of three-axis accelerations may be used.

2-10. Modification Examples such as HMD

In the above-described embodiment, as a display location of a single or a plurality of images, for example, a wrist type display section (an example of a wrist mounted display device) as illustrated in FIG. 30 or a head mounted display section (hereinafter, referred to as an HMD; an example of a head mounted display device) as illustrated in FIG. 31 may be used.

The head mounted display is a display which is mounted on the head of the user 2, and displays an image with respect to one eye or both eyes of the user 2. The user 2 wearing the head mounted display on the head thereof can recognize various images without deviating a visual line thereof from the head of the golf club 3, a ball, or a target direction.

As illustrated in FIG. 31, an HMD 500 includes a spectacle main body 501 mounted on the head of the user 2. The spectacle main body 501 is provided with a display section 502. The display section 502 integrates a light beam emitted from an image display unit 503 with a light beam directed toward the eyes of the user 2, and thus overlaps a virtual image on the image display unit 503 with a real image of the external world viewed from the user 2.

The display section 502 is provided with, for example, the image display unit 503 such as a liquid crystal display (LCD), a first beam splitter 504, a second beam splitter 505, a first concave reflection mirror 506, a second concave reflection mirror 507, a shutter 508, and a convex lens 509.

The first beam splitter 504 is disposed on the front side of the left eye of the user 2, and partially transmits and partially reflects light emitted from the image display unit 503.

The second beam splitter 505 is disposed on the front side of the right eye of the user 2, and partially transmits and partially reflects light which is partially transmitted from the first beam splitter 504.

The first concave reflection mirror 506, which is disposed in front of the first beam splitter 504, partially reflects the partially reflected light from the first beam splitter 504 so as to transmit the light through the first beam splitter 504, and thus guides the light to the left eye of the user 2.

The second concave reflection mirror 507, which is disposed in front of the second beam splitter 505, partially reflects the partially reflected light from the second beam splitter 505 so as to transmit the light through the second beam splitter 505, and thus guides the light to the right eye of the user 2.

The convex lens 509 guides partially transmitted light from the second beam splitter 505 to the outside of the HMD 500 when the shutter 508 is opened.

According to the HMD 500, the user 2 can understand necessary information without holding the swing analysis apparatus 20 with the hands.

2-11. Others

In the above-described embodiment, some or all of the functions of the sensor unit 10 may be installed on the swing analysis apparatus 20 side or the server apparatus 30 side. Some or all of the functions of the swing analysis apparatus 20 may be installed on the sensor unit 10 side or the server apparatus 30 side. Some or all of the functions of the server apparatus 30 may be installed on the swing analysis apparatus 20 side or the sensor unit 10 side.

In the embodiment, the acceleration sensor 12 and the angular velocity sensor 14 are built into and are thus integrally formed as the sensor unit 10, but the acceleration sensor 12 and the angular velocity sensor 14 may not be integrally formed. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may not be built into the sensor unit 10, and may be directly mounted on the golf club 3 or the user 2. In the above-described embodiment, the sensor unit 10 and the swing analysis apparatus 20 are separately provided, but may be integrally formed so as to be attached to the golf club 3 or the user 2. The sensor unit 10 may have some of the constituent elements of the swing analysis apparatus 20 along with the inertial sensor (for example, the acceleration sensor 12 or the angular velocity sensor 14).

The inertial sensor maybe a sensor which can measure an inertial amount such as acceleration or angular velocity, and may be, for example, an inertial measurement unit (IMU) which can measure acceleration or angular velocity. For example, the inertial sensor may be attached to exercise equipment or a part of a user so as to be attachable to and detachable from the exercise equipment or the user, and may be fixed to the exercise equipment so as to not be detached therefrom as a result of being built into the exercise equipment.

In the above-described embodiment, the swing analysis system (server apparatus) analyzing a golf swing has been exemplified, but the invention is applicable to a swing analysis system (server apparatus) analyzing a swing in various sports such as tennis or baseball.

The above-described embodiment and modification examples are only examples, and the invention is not limited thereto. For example, the embodiment and the respective modification examples may be combined with each other as appropriate.

For example, the invention includes substantially the same configuration (for example, a configuration in which functions, methods, and results are the same, or a configuration in which objects and effects are the same) as the configuration described in the embodiment. The invention includes a configuration in which an in essential part of the configuration described in the embodiment is replaced with another part. The invention includes a configuration which achieves the same operation and effect or a configuration capable of achieving the same object as in the configuration described in the embodiment. The invention includes a configuration in which a well-known technique is added to the configuration described in the embodiment.

The entire disclosure of Japanese Patent Application No. 2016-005807 filed Jan. 15, 2016 is expressly incorporated by reference herein.

Claims

1. An electronic apparatus comprising: a determination section that performs a determination of a standing still state of an exercise equipment by using an output from an inertial sensor; anda notification section that notifies a user of information indicating an attitude change of the exercise equipment until reaching the determination.

2. The electronic apparatus according to claim 1, wherein the notification section notifies the user of permission of starting of a swing of the exercise equipment in a case where the exercise equipment is maintained in a predetermined state for a predetermined period of time.

3. The electronic apparatus according to claim 1, wherein the exercise equipment is a golf club, andwherein the notification section notifies the user of an attitude change of the golf club in a direction intersecting a ground plane as the information.

4. The electronic apparatus according to claim 1, wherein the exercise equipment is a golf club, andwherein the notification section notifies the user of an attitude change of the golf club in a horizontal direction with respect to a ground plane as the information.

5. The electronic apparatus according to claim 1, wherein the exercise equipment is a golf club, andwherein a criterion of the determination is set on the basis of a lie angle of the golf club.

6. The electronic apparatus according to claim 1, wherein the notification section notifies the user of the criterion of the determination along with the information.

7. The electronic apparatus according to claim 1, wherein the notification section performs the notification by using at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.

8. The electronic apparatus according to claim 1, wherein the inertial sensor includes at least one of an acceleration sensor and an angular velocity sensor.

9. A system comprising: the electronic apparatus according to claim 1; andthe inertial sensor.

10. A system comprising: the electronic apparatus according to claim 1; anda head mounted display that displays the information.

11. A system comprising: the electronic apparatus according to claim 1; andan arm mounted display that displays the information.

12. A determination method comprising: performing a determination of a standing still state of an exercise equipment by using an output from an inertial sensor; andnotifying a user of information indicating an attitude change of the exercise equipment until reaching the determination.

13. The determination method according to claim 12, wherein, in the notifying of the information, the user is notified of permission of starting of a swing of the exercise equipment in a case where the exercise equipment is maintained in a predetermined state for a predetermined period of time.

14. The determination method according to claim 12, wherein the exercise equipment is a golf club, and wherein, in the notifying of the information, the user is notified of an attitude change of the golf club in a direction intersecting a ground plane as the information.

15. The determination method according to claim 12, wherein the exercise equipment is a golf club, andwherein, in the notifying of the information, the user is notified of an attitude change of the golf club in a horizontal direction with respect to a ground plane as the information.

16. The determination method according to claim 12, wherein the exercise equipment is a golf club, andwherein a criterion of the determination is set on the basis of a lie angle specific to the golf club.

17. The determination method according to claim 12, wherein, in the notifying of the information, the user is notified of the criterion of the determination along with the information.

18. The determination method according to claim 12, wherein, in the notifying of the information, the notification is performed by using at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.

19. The determination method according to claim 12, wherein the inertial sensor includes at least one of an acceleration sensor and an angular velocity sensor.

20. A recording medium recording a determination program causing a computer to execute: performing a determination of a state of an exercise equipment by using an output from an inertial sensor; andnotifying a user of information indicating an attitude change of the exercise equipment until reaching the determination.