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United States Patent Application 20170065868
Kind Code A1
TANIGUCHI; Tsutomu March 9, 2017

CONTROL DEVICE, HOLDER, SENSOR SET, CONTROL METHOD, CONTROL PROGRAM, AND RECORDING MEDIUM

Abstract

A control device includes a timing control unit that controls a timing, at which a mark projector for projecting a mark stops the projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.


Inventors: TANIGUCHI; Tsutomu; (Shiojiri-shi, JP)
Applicant:
Name City State Country Type

SEIKO EPSON CORPORATION

Tokyo

JP
Assignee: SEIKO EPSON CORPORATION
Tokyo
JP

Family ID: 1000002162755
Appl. No.: 15/247615
Filed: August 25, 2016


Current U.S. Class: 1/1
Current CPC Class: A63B 69/3632 20130101; A63B 24/0003 20130101; A63B 2071/0694 20130101; A63B 2207/02 20130101; A63B 69/3614 20130101
International Class: A63B 69/36 20060101 A63B069/36; A63B 24/00 20060101 A63B024/00

Foreign Application Data

DateCodeApplication Number
Sep 7, 2015JP2015-175921

Claims



1. A control device, comprising: a timing control unit that controls a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

2. The control device according to claim 1, wherein the timing control unit stops the projection at a timing before the inertial sensor starts measurement of a swing after start of the projection.

3. The control device according to claim 2, wherein the timing is a timing at which a stationary state of the exercise equipment over a predetermined period is detected.

4. The control device according to claim 1, wherein the timing control unit starts the projection at a timing, at which the user performs a predetermined gesture with the exercise equipment, after start of the inertial sensor.

5. The control device according to claim 1, wherein the timing control unit starts the projection at a timing, at which a hitting portion of the exercise equipment faces a ground side, after start of the inertial sensor.

6. The control device according to claim 1, wherein an optical axis direction of the mark projector is a detection axis direction of the inertial sensor.

7-14. (canceled)

15. A control method, comprising: controlling a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

16. The control method according to claim 15, wherein, in the controlling, the projection is stopped at a timing before the inertial sensor starts measurement of a swing after start of the projection.

17. The control method according to claim 16, wherein the timing is a timing at which a stationary state of the exercise equipment over a predetermined period is detected.

18. The control method according to claim 15, wherein, in the controlling, the projection is started at a timing, at which the user performs a predetermined gesture with the exercise equipment, after start of the inertial sensor.

19. The control method according to claim 1, wherein, in the controlling, the projection is started at a timing, at which a hitting portion of the exercise equipment faces a ground side, after start of the inertial sensor.

20. A recording medium on which a control program is recorded, wherein the control program causes a computer to control a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.
Description



BACKGROUND

[0001] 1. Technical Field

[0002] The present invention relates to a control device, a holder, a sensor set, a control method, a control program, and a recording medium.

[0003] 2. Related Art

[0004] U.S. Pat. No. 8,961,328 discloses a system for calibrating the swing of a golf club. The system is for projecting a mark, which is an indicator of a hitting direction, toward a target line by mounting a beam projector on the golf club shaft. The system is effective for putting practice or the like in which the accuracy of the hitting direction is important.

[0005] The "target line" in this specification is a line on a horizontal plane indicating a target direction specified by the posture of the face surface of a golf club. For example, the "target line" is a straight line obtained by projecting a face normal at a hitting point of the face surface of a golf club onto the horizontal plane.

[0006] In general, as a projector for projecting a mark onto the distant plane, a highly directional light source (laser light source) is used in many cases. For this reason, if light emitted from the projector is incident on the human eye accidentally, there is a risk of damaging the eye since the energy density of the light is high even if the incidence time is short.

SUMMARY

[0007] An advantage of some aspects of the invention is to provide a control device capable of improving the safety or convenience of a mark projector fixed to exercise equipment, a user's hand, or the like, a holder, a sensor set, a control method, a control program, and a recording medium.

[0008] The invention can be implemented as the following forms or application examples.

Application Example 1

[0009] A control device according to this application example includes a timing control unit that controls a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

[0010] The timing control unit controls the timing to stop or start the projection of the mark based on the inertia amount applied to the exercise equipment or the user. Therefore, the timing control unit can improve the safety of the mark projector by stopping the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, the timing control unit can improve the convenience of the mark projector by starting the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user starts to take an address posture).

Application Example 2

[0011] In the control device according to the application example, the timing control unit may stop the projection at a timing before the inertial sensor starts measurement of a swing after start of the projection.

[0012] Since the timing control unit stops the projection at the timing before starting the measurement of a swing, safety when the swing is started can be reliably ensured.

Application Example 3

[0013] In the control device according to the application example, the timing may be a timing at which a stationary state of the exercise equipment over a predetermined period is detected.

[0014] The timing control unit stops the projection, for example, when the user takes an address posture. Accordingly, safety when the swing is started can be reliably ensured.

Application Example 4

[0015] In the control device according to the application example, the timing control unit may start the projection at a timing, at which the user performs a predetermined gesture with the exercise equipment, after start of the inertial sensor.

[0016] The timing control unit starts the projection when the user performs a predetermined gesture. Accordingly, the user can start the projection of the mark at a desired timing.

Application Example 5

[0017] In the control device according to the application example, the timing control unit may start the projection at a timing, at which a hitting portion of the exercise equipment faces a ground side, after start of the inertial sensor.

[0018] The timing control unit starts the projection when the hitting portion of the exercise equipment faces the ground side. Accordingly, it is possible to start the projection when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when the user starts to take an address posture).

Application Example 6

[0019] A holder according to this application example is used in order to mount an inertial sensor on exercise equipment. The holder includes: the control device according to any one of the above application examples; and the mark projector.

[0020] The timing control unit controls the timing to stop or start the projection of the mark based on the inertia amount applied to the exercise equipment. Therefore, the timing control unit can improve the safety of the mark projector by stopping the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, the timing control unit can improve the convenience of the mark projector by starting the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user starts to take an address posture).

Application Example 7

[0021] In the holder according to the application example, the mark projector may project a line-shaped mark onto the ground.

[0022] Therefore, the user can use the projected mark as an indicator of a hitting direction.

Application Example 8

[0023] A sensor set according to this application example includes: the holder according to the application example; and the inertial sensor.

Application Example 9

[0024] A control method according to this application example includes controlling a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

[0025] In the controlling, the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment or the user. Therefore, it is possible to improve the safety of the mark projector by stopping the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector by starting the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user starts to take an address posture).

Application Example 10

[0026] In the control method according to the application example, in the controlling, the projection may be stopped at a timing before the inertial sensor starts measurement of a swing after start of the projection.

[0027] Since the projection is stopped at the timing before starting the measurement of a swing in the controlling, safety when the swing is started can be reliably ensured.

Application Example 11

[0028] In the control method according to the application example, the timing may be a timing at which a stationary state of the exercise equipment over a predetermined period is detected.

[0029] In the controlling, the projection is stopped, for example, when the user takes an address posture. Accordingly, safety when the swing is started can be reliably ensured.

Application Example 12

[0030] In the control method according to the application example, in the controlling, the projection may be started at a timing, at which the user performs a predetermined gesture with the exercise equipment, after start of the inertial sensor.

[0031] In the controlling, the projection is started when the user performs a predetermined gesture. Accordingly, the user can start the projection of the mark at a desired timing.

Application Example 13

[0032] In the control method according to the application example, in the controlling, the projection may be started at a timing, at which a hitting portion of the exercise equipment faces a ground side, after start of the inertial sensor.

[0033] In the controlling, the projection is started when the hitting portion of the exercise equipment faces the ground side. Accordingly, it is possible to start the projection when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when the user starts to take an address posture).

Application Example 14

[0034] A control program according to this application example includes: a procedure of controlling a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

[0035] In the procedure of controlling, the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment or the user. Therefore, it is possible to improve the safety of the mark projector by stopping the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector by starting the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user starts to take an address posture).

Application Example 15

[0036] A recording medium according to this application example is a medium on which a control program is recorded. The control program causes a computer to execute a procedure of controlling a timing, at which a mark projector for projecting a mark stops or starts projection of the mark, based on an output of an inertial sensor mounted on exercise equipment or a user.

[0037] In the procedure of controlling, the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment or the user. Therefore, it is possible to improve the safety of the mark projector by stopping the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector by starting the projection, for example, when the exercise equipment is in a state in which light emitted from the mark projector is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user starts to take an address posture).

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.

[0039] FIG. 1 is a diagram showing an overview of a swing analysis system of the present embodiment.

[0040] FIG. 2 is a diagram showing how a sensor set projects a mark onto the ground.

[0041] FIG. 3 is an external perspective view of a golf club on which an attachment is mounted.

[0042] FIG. 4 is an enlarged view of a range indicated by reference numeral A in FIG. 3, and is a schematic diagram showing how a sensor unit is fitted to the attachment.

[0043] FIG. 5 is an external perspective view of the attachment.

[0044] FIG. 6 is an external perspective view showing the relationship between the attachment and the sensor unit mounted on the golf club.

[0045] FIG. 7 is a diagram showing the diffusion direction of laser beams emitted from the attachment.

[0046] FIG. 8 is a diagram showing an example of the mounting position and direction of the sensor unit with respect to the golf club.

[0047] FIG. 9 is a diagram showing the relationship of the mounting position and direction between the sensor unit and a laser marker.

[0048] FIG. 10 is a diagram showing the procedure of movement performed until a user hits a ball.

[0049] FIG. 11 is a diagram showing an example of the configuration of a swing analysis system.

[0050] FIG. 12 is a flowchart showing an example of the procedure of swing analysis processing (swing analysis method).

[0051] FIG. 13 is a diagram showing an example of a predetermined gesture.

[0052] FIG. 14 is a diagram showing an example of a temporal change waveform corresponding to a predetermined gesture.

[0053] FIG. 15 is a flowchart showing an example of the procedure of swing analysis processing (swing analysis method) in a second embodiment.

[0054] FIG. 16 is a diagram showing a state in which the sole of the head faces the ground side.

[0055] FIG. 17 is a diagram showing a state in which the sole of the head does not face the ground side.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0056] Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying diagrams. The embodiments described below are not intended to limit the contents of the invention defined by the appended claims. In addition, all of the configurations described below are not necessarily essential components of the invention.

1. First Embodiment

1-1. Overview of Exercise Equipment and a Holder

[0057] The present embodiment is an embodiment of a swing analysis system. In the swing analysis system, exercise equipment on which a holder and an inertial sensor are mounted is used.

[0058] The exercise equipment has a shape that can be gripped, such as a rod shape, a columnar shape, or a cylindrical shape, and any exercise equipment allowing active or passive swing movement can be used. The swing movement may involve the movement of a spatial position, a change in shape or posture, rotation, and vibration, for example. As such exercise equipment, exercise equipment used in various kinds of sports can be exemplified. For example, a golf club, a baseball bat, a tennis racket, a bamboo sword, and the like can be exemplified.

[0059] Hereinafter, a case where the exercise equipment is a golf club will be described. Although there is no particular limitation on a golf club, a case where a rubber grip is attached to a shaft will be described. In the present embodiment, a holder is mounted on a part of the rubber grip. However, a holder may be mounted on the shaft, or may be mounted in a boundary portion between the grip and the shaft.

1-2. Overview of a Swing Analysis System

[0060] FIG. 1 is a diagram showing an overview of a swing analysis system of the present embodiment, and FIG. 2 is a diagram showing how a sensor set 100 projects a mark 71 on the ground.

[0061] As shown in FIG. 1, a swing analysis system 1 of the present embodiment is configured to include the sensor set 100 and a swing analysis device 30.

[0062] The sensor set 100 is mounted on a golf club 3 (an example of exercise equipment). The sensor set 100 includes a sensor unit (an example of an inertial sensor) and an attachment (an example of a holder) for mounting the sensor unit on the golf club 3, and can measure acceleration occurring in each axial direction of three axes and angular velocity occurring around each of the three axes (an x axis, a y axis, and a z axis).

[0063] The mounting posture of the sensor set 100 with respect to the golf club 3 is set to a predetermined posture, and the sensor set 100 projects the predetermined mark 71, which indicates the position and direction of the target line as shown in FIG. 2, onto the ground. The "target line" is a line on the horizontal plane (ground) indicating a target direction specified by the posture of the face surface of the golf club 3. For example, the "target line" is a straight line obtained by projecting a face normal at a hitting point of the face surface of the golf club 3 onto the horizontal plane.

[0064] For example, a user 2 can hit a golf ball 4 toward a target (for example, a cup 5) by projecting the mark 71 onto the ground before a shot or putting and locating the golf club 3 so that the mark 71 or the extension of the mark 71 and the target (for example, the cup 5) cross each other.

1-3. Sensor Set

[0065] The sensor set 100 includes an attachment 20 and a sensor unit 10 as described above.

[0066] FIG. 3 is an external perspective view of the golf club 3 on which the attachment 20 is mounted, and FIG. 4 is an enlarged view of a range indicated by reference numeral A in FIG. 3 and is a schematic diagram showing how the sensor unit 10 is fitted to the attachment 20.

[0067] As shown in FIG. 3, the attachment 20 is formed using an elastic member having a curved plate shape (partially cylindrical shape), for example. A grip portion 200a of the rod-shaped golf club 3 is gripped by the elastic force of the curved plate-shaped member. In this state, the attachment 20 is fixed to the golf club 3.

[0068] As shown in FIG. 4, at two ends of the attachment 20 extending in the longitudinal direction of the golf club 3, fitting portions 20b and 20c are provided as a mechanism for holding the sensor unit 10. The user 2 attaches the sensor unit 10 to the attachment 20 by fitting the sensor unit 10 to the fitting portions 20b and 20c of the attachment 20 and sliding the sensor unit 10 in the longitudinal direction (arrow direction) of the golf club 3. Accordingly, the mounting position and the mounting posture of the sensor unit 10 with respect to the golf club 3 are held by the attachment 20.

1-4. Laser Marker

[0069] FIG. 5 is an external perspective view of the attachment 20. FIG. 6 is an external perspective view showing the relationship between the attachment 20 and the sensor unit 10 that are mounted on the golf club 3. FIG. 7 is a diagram showing the diffusion direction of laser beams emitted from the attachment 20 (in FIG. 7, a putter is drawn as the golf club 3).

[0070] As shown in FIG. 5, for example, a substantially cylindrical laser marker 20d (an example of a projector) is provided on the top surface of the attachment 20. A highly directional visible light source, such as a laser diode, and a projection optical system including a refraction member are mounted in the laser marker 20d so as to satisfy a predetermined positional relationship. The longitudinal direction of the laser marker 20d corresponds to the optical axis direction of the projection optical system, and a laser beam exit port 20d-1 is located at one end of the laser marker 20d.

[0071] Here, a mark projected by the laser marker 20d is assumed to be a line mark. In this case, for example, a light divergence element (magnifying optical system), such as a cylindrical lens (cylindrical prism) that diffuses light beams emitted from the light source in a single direction, is disposed in the exit port 20d-1 of the laser marker 20d.

[0072] As shown in FIG. 6, the posture of the laser marker 20d with respect to the attachment 20 is set such that the optical axis direction of the laser marker 20d is along the longitudinal direction of the golf club 3 and the diffusion direction (direction in which the surface of a cylindrical lens is curved) of the laser beam according to the exit port 20d-1 of the laser marker 20d matches the direction of the target line.

[0073] As shown in FIG. 7, the laser marker 20d in the attachment 20 is disposed such that the exit port 20d-1 of the laser marker 20d faces the hitting point side of the head (an example of a hitting portion) of the golf club 3, for example. In this case, the laser marker 20d can project the line mark 71 onto the target line. FIG. 7 shows the golf club 3 (putter) of the right-handed user 2. In addition, the line mark 71 is drawn long on the target side, and is drawn short on the opposite side to the target side.

1-5. An Example of Mounting a Sensor Set

[0074] FIG. 8 is a diagram showing an example of the mounting position and direction of the sensor unit 10 with respect to the golf club 3, and FIG. 9 is a diagram showing the relationship of the mounting position and direction between the sensor unit 10 and the laser marker 20d.

[0075] As shown in FIG. 8, the mounting posture of the sensor unit 10 with respect to the golf club 3 is set such that one axis (assumed to be the y axis herein) of three detection axes (the x axis, the y axis, and the z axis) of the sensor unit 10 is located along the longitudinal direction (direction from the grip to the head) of the shaft of the golf club 3.

[0076] In addition, the posture of another one axis (assumed to be the x axis herein) of the sensor unit 10 with respect to the golf club 3 is, for example, a posture (hereinafter, referred to as an "ideal posture") at which the x axis is along the target line specified from the posture of the face surface.

[0077] It is preferable that the mounting position of the sensor unit 10 in the golf club 3 is closer to the grip side, on which the impact at the time of hitting is not easily transmitted and the centrifugal force at the time of swing is less likely to be applied, than to the head side. The "shaft" referred to herein indicates a portion of the shank excluding the head of the golf club 3, and a grip is also included therein. The "face surface" indicates the hitting surface of the head of the golf club 3.

[0078] As shown in FIG. 9, the longitudinal direction of the laser marker 20d (optical axis direction of the projection optical system) is set to be along the y axis of the sensor unit 10. In addition, the diffusion direction of laser beams according to the exit port 20d-1 of the laser marker 20d is set to be along the x-axis direction of the sensor unit 10.

1-6. Operation of a User

[0079] FIG. 10 is a diagram showing the procedure of movement performed until the user 2 hits a ball. Hereinafter, steps of FIG. 10 will be described in order.

[0080] Step S1: the user 2 performs an operation to input the body information of the user 2, information regarding the golf club 3 that the user 2 uses (golf club information), and the like through the swing analysis device 30. The body information includes at least one of information pieces of the height of the user 2, the length of the arm, and the length of the leg, and may further include the information of sex or other pieces of information. The golf club information includes at least one of information pieces of the length (club length) of the golf club 3 and the type (number) of the golf club 3.

[0081] Step S2: the user 2 performs a measurement start operation (operation to make the sensor unit 10 start measurement) through the swing analysis device 30. Then, the swing analysis device 30 transmits a measurement start command to the sensor unit 10, and the sensor unit 10 receives the measurement start command to start the measurement of 3-axis acceleration and 3-axis velocity. The sensor unit 10 measures the 3-axis acceleration and the 3-axis velocity at predetermined periods (for example, 1 ms), and sequentially transmits the measured data to the swing analysis device 30. Communication between the sensor unit 10 and the swing analysis device 30 is wireless communications or cable communication.

[0082] Step S3: the user 2 makes the laser marker 20d start the projection of the line mark 71 by performing a predetermined gesture with the golf club 3. Then, the user 2 finds the optimal posture of the head of the golf club 3 with the line mark 71 as an indicator. Specifically, the user 2 adjusts the posture of the head of the golf club 3 so that the line mark 71 (or the extension of the line mark 71) crosses a target (for example, the cup 5).

[0083] For example, the predetermined gesture is a gesture of "tapping twice on the ground lightly with the sole of the head of the golf club 3". The predetermined gesture may be other gestures. For example, the predetermined gesture may be a gesture of changing the output (measurement data) of the sensor unit 10 in different patterns from (1) when the user 2 moves the golf club 3 while holding it by hand, (2) when the user 2 swings the golf club 3, and (3) when the user 2 takes an address posture with the golf club 3. In addition, in order to avoid a situation in which laser beams are incident on the human eye, it is desirable that the gesture is a gesture of making the sole of the head of the golf club 3 face the ground side.

[0084] Step S4: When the posture of the head of the golf club 3 is determined, the user 2 takes an address posture and stands still for a predetermined time (for example, 1 second) or more. In the present embodiment, the gesture of standing still for a predetermined time or more is a notification of the start of swing for the swing analysis device 30, and is also a notification of an instruction to stop the projection of the line mark. Accordingly, when the user 2 takes an address posture and stands still for a predetermined time or more, the projection of the line mark 71 is stopped.

[0085] Step S5: the user 2 determines whether or not a notification (for example, a notification using voice) allowing the swing has been received from the swing analysis device 30. In a case where the notification has been received (Y in S5), the process proceeds to step S6. In a case where the notification has not been received (N in S5), the process proceeds to step S4.

[0086] Step S6: the user 2 performs a swing motion to hit the golf ball 4. Then, the swing analysis device 30 analyzes the swing motion of the user 2 using the golf club 3 based on the measurement data of the sensor unit 10.

[0087] In the present embodiment, therefore, the user 2 can start the projection of the line mark 71 by making a predetermined gesture, such as a gesture of "tapping twice on the ground lightly with the sole of the head of the golf club 3", and can stop the projection of the line mark 71 by making a gesture of "standing still for a predetermined time or more at an address posture".

1-7. Configuration of a Swing Analysis System

[0088] FIG. 11 is a diagram showing an example of the configuration of the swing analysis system 1.

[0089] The swing analysis system 1 includes the sensor unit 10 and the attachment 20, which form the sensor set 100, and the swing analysis device 30.

[0090] As shown in FIG. 11, the sensor unit 10 is configured to include an acceleration sensor 12, an angular velocity sensor 14, a control unit 16, a communication unit 18, a battery 29, and the like. In the sensor unit 10, however, some of the components may be appropriately omitted or changed, or other components, such as a magnetic field sensor, may be appropriately added.

[0091] The acceleration sensor 12 measures acceleration occurring in each of the three axial directions crossing each other (ideally, perpendicular to each other), and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the measured 3-axis acceleration.

[0092] The angular velocity sensor 14 measures an angular velocity occurring around in each of the three axes crossing each other (ideally, perpendicular to each other), and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured 3-axis velocity.

[0093] The control unit 16 receives the acceleration data and the angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, stores the acceleration data and the angular velocity data in a storage unit (not shown) together with time information, generates packet data according to a communication format by adding the time information to the stored measurement data (acceleration data and angular velocity data), and outputs the packet data to the communication unit 18.

[0094] Ideally, the acceleration sensor 12 and the angular velocity sensor 14 are attached to the sensor unit 10 such that their three axes match three axes (an x axis, a y axis, and a z axis) of the orthogonal coordinate system (sensor coordinate system) defined for the sensor unit 10. In practice, however, error of the mounting angle occurs. Therefore, the control unit 16 performs processing for converting the acceleration data and the angular velocity data into data of the xyz coordinate system using correction parameters calculated in advance according to the error of the mounting angle.

[0095] In addition, the control unit 16 may perform temperature correction processing of the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be made to have a temperature correction function.

[0096] In addition, the acceleration sensor 12 and the angular velocity sensor 14 may output an analog signal. In this case, the control unit 16 may generate measurement data (acceleration data and angular velocity data) by performing A/D conversion of the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14, and generate packet data for communication using the measurement data.

[0097] A timing control section 161 is included in the control unit 16. When a projection start command is received from the swing analysis device 30, the timing control section 161 inputs a projection start signal to the control unit 26 of the attachment 20. When a projection stop command is received from the swing analysis device 30, the timing control section 161 inputs a projection stop signal to the control unit 26 of the attachment 20.

[0098] Control terminals 10e and 20e are provided in portions (for example, the fitting portions 20b and 20c described above) where the sensor unit 10 and the attachment 20 are in contact with each other in a state in which the sensor unit 10 and the attachment 20 are mounted on the golf club 3, the input of control signals (a projection start signal and a projection stop signal) from the sensor unit 10 to the attachment 20 is performed through the terminals 10e and 20e. Although a contact method is adopted as a method of inputting a control signal from the sensor unit 10 to the attachment 20, a non-contact method may be adopted.

[0099] The communication unit 18 performs processing for transmitting the packet data received from the control unit 16 to the swing analysis device 30, processing for receiving various control commands (a projection start command and a projection stop command), such as a measurement start command, from the swing analysis device 30 and transmitting the various control commands to the control unit 16. The control unit 16 performs various kinds of processing corresponding to the control commands.

[0100] The battery 29 supplies electric power to each component of the sensor unit 10 and the attachment 20.

[0101] Power supply terminals 10a and 20a are provided in portions (for example, the fitting portions 20b and 20c described above) where the sensor unit 10 and the attachment 20 are in contact with each other in a state in which the sensor unit 10 and the attachment 20 are mounted on the golf club 3, the supply of electric power from the sensor unit 10 to the attachment 20 is performed through the terminals 10a and 20a. Although a contact method is adopted as a method of supplying the electric power from the sensor unit 10 to the attachment 20, a non-contact method may be adopted. Although the battery 29 mounted in the sensor unit 10 is used as a power supply of the attachment 20 herein, a dedicated battery may be mounted in the attachment 20, and the battery may be used as a power supply of the attachment 20.

[0102] As shown in FIG. 11, the attachment 20 (an example of a holder) is configured to include the laser marker 20d (an example of a mark projector), the control unit 26 (an example of a control device), and the like. In the attachment 20, however, some of the components may be appropriately omitted or changed, or other components may be appropriately added.

[0103] The laser marker 20d is configured to include a projection optical system 221, which includes the exit port described above, a light source 222, such as a laser diode.

[0104] The control unit 26 drives the light source 222 by supplying electric power from the battery 29 to the light source 222. A timing control section 261 is included in the control unit 26. The timing control section 261 controls the timing at which the light source 222 is turned on or off by controlling the timing at which the supply of electric power to the light source 222 is started or stopped.

[0105] The timing control section 261 makes the laser marker 20d start the projection of the line mark 71 by turning on the light source 222 in response to the projection start signal input from the sensor unit 10. In addition, the timing control section 261 makes the laser marker 20d stop the projection of the line mark 71 by turning off the light source 222 in response to the projection stop signal input from the sensor unit 10.

[0106] As shown in FIG. 11, the swing analysis device 30 is configured to include a processing unit 31, a communication unit 32, an operating unit 33, a storage unit 34, a display unit 35, and a sound output unit 36. In the swing analysis device 30, however, some of the components may be appropriately omitted or changed, or other components may be appropriately added.

[0107] The communication unit 32 performs processing for receiving the packet data transmitted from the sensor unit 10 and transmitting the packet data to the processing unit 31 and processing for transmitting the control commands (including a projection start command and a projection stop command) from the processing unit 31 to the sensor unit 10.

[0108] The operating unit 33 performs processing for acquiring data corresponding to the operation of the user 2 and transmitting the data to the processing unit 31. For example, the operating unit 33 may be a touch panel type display, buttons, keys, or a microphone.

[0109] The storage unit 34 is formed using, for example, recording media, such as various IC memories including a read only memory (ROM), a flash ROM, and a random access memory (RAM), a hard disk, and a memory card. The storage unit 34 stores programs required when the processing unit 31 performs various kinds of calculation processing or control processing or stores various kinds of programs, data, and the like for realizing an application function.

[0110] In the present embodiment, a swing analysis program 340 that is read out by the processing unit 31 in order to execute swing analysis processing is stored in the storage unit 34. The swing analysis program 340 may be stored in advance in a nonvolatile recording medium (computer-readable recording medium), or may be stored in the storage unit 34 after being received from a server (not shown) through a network by the processing unit 31.

[0111] Golf club information 342, body information 344, sensor mounting position information 346, and swing analysis data 348 are stored in the storage unit 34. For example, the user 2 may operate the operating unit 33 to input the specification information (for example, at least a part of information of the length of the shaft, the position of the center of gravity, a lie angle, a face angle, a loft angle, and the like) of the golf club 3 to be used through the input screen, and the input specification information may be used as the golf club information 342. Alternatively, the user 2 may input the model number of the golf club 3 (or select the model number of the golf club 3 from the model number list) in step S1, and the specification information of the input model number, among pieces of specification information for each model number stored in advance in the storage unit 34, may be used as the golf club information 342.

[0112] In addition, for example, the user 2 may operate the operating unit 33 to input body information through the input screen, and the body information may be used as the body information 344. In addition, for example, the user 2 may operate the operating unit 33 to input a distance between the mounting position of the sensor unit 10 in step S1, and the grip end of the golf club 3, and the input distance information may be used as the sensor mounting position information 346. Alternatively, assuming that the sensor unit 10 is mounted at a predetermined position (for example, at a distance of 20 cm from the grip end), the information of the predetermined position may be stored in advance as the sensor mounting position information 346.

[0113] The swing analysis data 348 is data including the information of analysis results (indicators) of the swing motion by the processing unit 31 as well as the time (date and time) at which a swing has been performed, identification information or sex of the user 2, and the type of the golf club 3. Swing analysis data is managed for each golf club and each swing.

[0114] The storage unit 34 is used as a working area of the processing unit 31, and temporarily stores the data acquired by the operating unit 33, results of calculations performed according to various programs by the processing unit 31, and the like. In addition, the storage unit 34 may store data, which needs to be stored for a long period of time, among the pieces of data generated by the processing of the processing unit 31.

[0115] The display unit 35 displays the processing result of the processing unit 31 using characters, graphs, tables, animations, and other images. For example, the display unit 35 may be a CRT, an LCD, a touch panel type display, a head mounted display (HMD), or a display unit provided in list equipment. The functions of the operating unit 33 and the display unit 35 may be realized using one touch panel type display.

[0116] The sound output unit 36 outputs the processing result of the processing unit 31 as a sound, such as voice or buzzer sound. For example, the sound output unit 36 may be a speaker or a buzzer.

[0117] The processing unit 31 performs processing for transmitting a control command to the sensor unit 10 through the communication unit 32 and various kinds of calculation processing on data, which is received from the sensor unit 10 or the attachment 20 through the communication unit 32, according to various programs. In addition, the processing unit 31 performs various kinds of other control processes.

[0118] In particular, in the present embodiment, when executing the swing analysis program 340, the processing unit 31 appropriately functions as a data acquisition section 310, an image data generating section 312, a display processing section 314, a swing analysis section 311, a storage processing section 313, a sound output processing section 315, and a timing control section 316, and performs processing for analyzing the swing motion of the user 2 (swing analysis processing).

[0119] The data acquisition section 310 performs processing for receiving the packet data, which has been received from the sensor unit 10 through the communication unit 32, acquiring time information and measurement data from the received packet data, and transmitting the time information and the measurement data to the storage processing section 313.

[0120] The timing control section 316 transmits a projection start command or a projection stop command to the sensor unit 10 through the communication unit 32, and controls the start or stop timing of the projection of the line mark 71 by the attachment 20 through the sensor unit 10.

[0121] The storage processing section 313 performs processing for reading/writing various kinds of programs or data from/into the storage unit 34. For example, the storage processing section 313 performs processing for storing the time information and the measurement data received from the data acquisition section 310 in the storage unit 34 so as to be associated with each other or processing for storing various kinds of information or the swing analysis data 348 calculated by the swing analysis section 311 in the storage unit 34.

[0122] The swing analysis section 311 performs processing for analyzing the swing motion of the user 2 using the measurement data output from the sensor unit 10 (measurement data stored in the storage unit 34), data from the operating unit 33, or the like and generating the swing analysis data 348 including the time (date and time) at which a swing has been performed, identification information or sex of the user 2, the type of the golf club 3, and the information of analysis results of the swing motion. In addition, the swing analysis section 311 calculates the value of each indicator of the swing as at least a part of the information of the analysis results of the swing motion.

[0123] The image data generating section 312 performs processing for generating image data corresponding to the image displayed on the display unit 35. For example, the image data generating section 312 generates image data based on the various kinds of information received from the data acquisition section 310.

[0124] The display processing section 314 performs processing for displaying various images (not only images corresponding to the image data generated by the image data generating section 312 but also characters, symbols, and the like are included) on the display unit 35. For example, the display processing section 314 displays various kinds of screens or the like on the display unit 35 based on the image data generated by the image data generating section 312. In addition, for example, the image data generating section 312 may display an image, characters, or the like for sending a notification to the user 2 on the display unit 35. In addition, for example, the display processing section 314 may display text information, such as characters or symbols indicating the analysis result of the swing analysis section 311, on the display unit 35 automatically or in response to the input operation of the user 2 after the end of the swing motion of the user 2. Alternatively, a display unit may be provided in the sensor unit 10, so that the display processing section 314 may transmit image data to the sensor unit 10 through the communication unit 32 and display various images, characters, or the like on the display unit of the sensor unit 10.

[0125] The sound output processing section 315 performs processing for outputting various sounds (including voice or buzzer sound) to the sound output unit 36. For example, the sound output processing section 315 may output a sound for sending a notification to the user 2 from the sound output unit 36. In addition, for example, the sound output processing section 315 may output a sound or voice, which indicates the analysis result of the swing analysis section 211, from the sound output unit 36 automatically or in response to the input operation of the user 2 after the end of the swing motion of the user 2. Alternatively, a sound output section may be provided in the sensor unit 10, so that the output processing section 315 may transmit various kinds of sound data or voice data to the sensor unit 10 through the communication unit 32 and output various kinds of sound or voice to the sound output section of the sensor unit 10.

[0126] In addition, a vibration mechanism may be provided in the swing analysis device 30 or the sensor unit 10, so that various kinds of information may be converted into vibration information by the vibration mechanism and the user 2 may be notified of the vibration information.

1-8. Calculation of a Position and a Posture

[0127] The position and posture of the sensor unit 10 are basically calculated as follows.

[0128] First, the swing analysis section 311 expresses the initial position of the sensor unit 10 at the start of swing in the global coordinate system, and expresses the position of the sensor unit 10 at each time as a relative value with respect to the value of the initial position. The position of the sensor unit 10 at each time of the swing can be calculated by performing time integration of acceleration data, which is output from the sensor unit 10 during the swing, over a period from the start of the swing to the relevant time, for example.

[0129] In addition, the swing analysis section 311 expresses the initial posture of the sensor unit 10 at the start of swing as a value in the global coordinate system, and expresses the posture of the sensor unit 10 at each time as a relative value with respect to the value of the initial posture. The posture of the sensor unit 10 at each time of the swing can be calculated by performing a rotation operation of angular velocity data, which is output from the sensor unit 10 during the swing, over a period from the start of the swing to the relevant time, for example.

[0130] The swing analysis section 311 calculates the position of a predetermined part (for example, a head or a grip) of the golf club 3 at each time of the swing based on the position of the sensor unit 10 at the same time, the posture of the sensor unit 10 at the same time, and a positional relationship in a region from the sensor unit 10 to the predetermined part (expressed by the sensor mounting position information 346 and the golf club information 342).

[0131] In addition, the swing analysis section 311 calculates the posture of the predetermined part of the golf club 3 at each time of the swing based on the posture of the sensor unit 10 at the same time.

[0132] In addition, since the measurement data (acceleration data and angular velocity data at each time) output from the sensor unit 10 is biased, the swing analysis section 311 may calculate the offset amount of the measurement data and perform bias correction of the measurement data. The acceleration sensor 12 and the angular velocity sensor 14 of the sensor unit 10 may be made to have a function of bias correction, or the swing analysis section 311 may be made to have a function of bias correction.

1-9. Detection of a Timing

[0133] The swing analysis section 311 detects the hitting timing (timing of impact) of the user 2 using the measurement data. For example, the swing analysis section 311 may calculate a sum value of the measurement data (acceleration data or angular velocity data), and detect the timing (time) of impact based on the sum value.

[0134] Specifically, first, the swing analysis section 311 calculates a sum value n.sub.0(t) of the angular velocity at each time t using angular velocity data (angular velocity data after bias correction at each time t).

[0135] Then, the swing analysis section 311 converts the sum value n.sub.0(t) of the angular velocity at each time t into a sum value n(t) by normalizing (scale conversion) the sum value n.sub.0(t) in a predetermined range. For example, assuming that the maximum value of the sum value of the angular velocity in a measurement data acquisition period is max(n.sub.0), the swing analysis section 311 converts the sum value n.sub.0(t) of the angular velocity into the sum value n(t) by normalizing the sum value n.sub.0(t) in the range of 0 to 100.

[0136] Then, the swing analysis section 311 calculates a differential dn(t) of the sum value n(t) after the normalization at each time t.

[0137] Then, the swing analysis section 311 detects an earlier one of a time, at which the value of the differential dn(t) of the sum value is maximized, and a time, at which the value of the differential dn(t) of the sum value is minimized, as an impact time (timing of impact) t.sub.impact. In a typical golf swing, it is thought that the swing speed is the maximum at the moment of impact. In addition, it is thought that the sum value of the angular velocity also changes according to the swing speed. Accordingly, the swing analysis section 311 can regard a timing at which the differential value of the sum value of the angular velocity is maximized or minimized in a series of swing motion (that is, a timing at which the differential value of the sum value of the angular velocity becomes a positive maximum value or a negative minimum value) as the timing of impact. Since the golf club 3 is vibrated by the impact, it is thought that the timing at which the differential value of the sum value of the angular velocity is maximized and the timing at which the differential value of the sum value of the angular velocity is minimized occurs in a pair. However, the earlier timing is thought to be the moment of impact.

[0138] Then, the swing analysis section 311 detects a time of a minimum point, at which the sum value n(t) approaches 0, before the time t.sub.impact of impact, as a time t.sub.top of the top (timing of the top). In a typical golf swing, it is thought that, after the start of a swing, the movement is once stopped at the top and then the swing speed gradually increases to reach the impact. Accordingly, the swing analysis section 311 can regard a timing, at which the sum value of the angular velocity approaches 0 to become minimized, before the timing of impact, as the timing of the top.

[0139] Then, the swing analysis section 311 determines a section, in which the sum value n(t) is equal to or less than a predetermined threshold value, before and after the time t.sub.top of the top, as a top section, and detects the last time, at which the sum value n(t) becomes equal to or less than the predetermined threshold value, before the start time of the top section as a time t.sub.start of swing start (backswing start). In a typical golf swing, it is considered that the swing motion starts from a stationary state and hardly stops before the top. Therefore, the swing analysis section 311 can regard the last timing, at which the sum value of the angular velocity becomes equal to or less than the predetermined threshold value, before the top section, as the start timing of the swing motion. In addition, the swing analysis section 311 may detect a time of a minimum point, at which the sum value n(t) approaches 0, before the time t.sub.top of the top, as the time t.sub.start of swing start.

[0140] Even if 3-axis acceleration data is used, the swing analysis section 311 can similarly detect the timing of swing start, the timing of the top, and the timing of impact.

1-10. Swing Analysis Processing

[0141] FIG. 12 is a flowchart showing an example of the procedure of swing analysis processing (swing analysis method). The processing unit 31 performs swing analysis processing, for example, in the procedure of the flowchart shown in FIG. 12, by executing the swing analysis program 340 stored in the storage unit 34. Hereinafter, the flowchart shown in FIG. 12 will be described.

[0142] Step S10: the processing unit 31 waits until the user 2 performs a measurement start operation (N in S10). When a measurement start operation is performed (Y in S10), the processing unit 31 proceeds to step S12.

[0143] Step S12: the processing unit 31 transmits a measurement start command to the sensor unit 10 to start the acquisition of measurement data from the sensor unit 10.

[0144] Step S14: the timing control section 316 of the processing unit 31 monitors whether or not a predetermined change pattern is included in a temporal change waveform of the measurement data based on the measurement data transmitted from the sensor unit 10. In a case where the predetermined change pattern is included (Y in S14), the timing control section 316 determines that the user 2 has performed a predetermined gesture with the golf club 3, and the process proceeds to step S16. In a case where the predetermined change pattern is not included (N in S14), step S14 is executed again.

[0145] Specifically, in a case where the predetermined gesture is a gesture of "tapping twice on the ground lightly with the sole of the head of the golf club 3" as shown in FIG. 13, for example, a large peak appears twice successively in the graph showing the magnitude of z-axis acceleration as shown in FIG. 14. In FIG. 14, the horizontal axis indicates time, and the vertical axis indicates z-axis acceleration.

[0146] Accordingly, in step S14, the timing control section 316 stores a standard temporal change waveform (standard change pattern) when a predetermined gesture has been performed in the storage unit 34, and monitors a difference between the standard time waveform and a temporal change waveform in the magnitude of the z-axis acceleration included in the measurement data transmitted from the sensor unit 10. The timing control section 316 determines that a predetermined gesture has been performed in a case where the monitored difference is equal to or less than a threshold value, and determines that a predetermined gesture has not been performed in a case where the monitored difference exceeds the threshold value. Here, the determination regarding whether or not a predetermined gesture has been performed is performed based on the z-axis acceleration. However, instead of or in addition to the z-axis acceleration, the determination regarding whether or not a predetermined gesture has been performed may be performed based on acceleration in other axial directions. Instead of or in addition to the acceleration, the determination regarding whether or not a predetermined gesture has been performed may be performed based on the angular velocity.

[0147] Step S16: the timing control section 316 of the processing unit 31 transmits a projection start command to the sensor unit 10. In response to the projection start command, the control unit 16 of the sensor unit 10 inputs a projection start signal to the attachment 20. Then, the timing control section 261 of the attachment 20 makes the laser marker 20d start the projection of the line mark 71.

[0148] Step S18: the timing control section 316 of the processing unit 31 determines whether or not the golf club 3 is in a stationary state using the measurement data acquired from the sensor unit 10. When it is detected that the golf club 3 is in a stationary state (Y in S18), the process proceeds to step S20. Otherwise, the timing control section 316 waits (N in S18).

[0149] Step S20: the timing control section 316 of the processing unit 31 transmits a projection stop command to the sensor unit 10. In response to the projection stop command, the timing control section 161 of the sensor unit 10 inputs a projection stop signal to the attachment 20. Then, the timing control section 261 of the attachment 20 makes the laser marker 20d stop the projection of the line mark 71.

[0150] Step S22: the processing unit 31 notifies the user 2 of the permission of swing start. The processing unit 31 notifies the user 2 of the permission of swing start, for example, by outputting a predetermined sound or by turning on an LED provided in the sensor unit 10, and the user 2 starts the swing motion after confirming the notification.

[0151] Step S24: the timing control section 316 of the processing unit 31 monitors whether or not a predetermined change pattern is included in a temporal change waveform of the measurement data based on the measurement data transmitted from the sensor unit 10. In a case where the predetermined change pattern is included (Y in S24), the timing control section 316 determines that the user 2 has performed a predetermined gesture with the golf club 3, and the process proceeds to step S16. In a case where the predetermined change pattern is not included (N in S24), the process proceeds to step S26. The determination method in step S24 is the same as the determination method in step S14.

[0152] Step S26: When the processing unit 31 detects the start of swing based on the measurement data transmitted from the sensor unit 10 (Y in S26), the process proceeds to step S28. Otherwise (N in S26), the process proceeds to step S24. Determination regarding whether or not a swing has started can be performed, for example, according to whether or not the sum value of the 3-axis angular velocity included in the measurement data exceeds a predetermined threshold value or according to whether or not the sum value of the 3-axis acceleration included in the measurement data exceeds a predetermined threshold value.

[0153] Step S28: the processing unit 31 calculates the initial position and the initial posture of the sensor unit 10 in the global coordinate system based on the measurement data that the sensor unit 10 outputs when the golf club 3 is in a stationary state in step S18.

[0154] Step S30: the processing unit 31 detects the timing of the swing start, top, impact, or the like using the measurement data acquired from the sensor unit 10 after the end of the swing motion of the user 2 or before the end of the swing motion. The processing unit 31 may determine the timing detected in step S26 as a swing start timing as it is, or may detect the swing start timing based on other timings.

[0155] Step S32: the processing unit 31 calculates the position and posture of the sensor unit 10 during the swing motion of the user 2 in parallel with the processing of step S30 or before and after the processing of step S30.

[0156] Step S34: the processing unit 31 calculates indicators of the swing using at least some of the measurement data and the timing of impact acquired from the sensor unit 10 and the position and posture of the sensor unit 10 calculated in step S28.

[0157] Step S36: When swing analysis data including one or a plurality of indicators calculated in step S34 is generated, the processing unit 31 stores the swing analysis data in the swing analysis data 348 as swing analysis data of the golf club 3, and ends the flow.

[0158] In the flowchart shown in FIG. 13, the order of the steps may be appropriately changed to the extent possible, or some of the steps may be deleted or changed, or other steps may be added.

2. Second Embodiment

[0159] Hereinafter, a swing analysis system of a second embodiment will be described. Here, differences from the first embodiment will be described. The difference is the swing analysis processing. The same components as described in the first embodiment will be described with the same reference numerals being given thereto.

[0160] FIG. 15 is a flowchart showing an example of the procedure of swing analysis processing (swing analysis method) in the second embodiment. The processing unit 31 performs swing analysis processing, for example, in the procedure of the flowchart shown in FIG. 15, by executing the swing analysis program 340 stored in the storage unit 34. Hereinafter, the flowchart shown in FIG. 15 will be described.

[0161] Step S10: the processing unit 31 waits until the user 2 performs a measurement start operation (N in S10). When a measurement start operation is performed (Y in S10), the processing unit 31 proceeds to step S12.

[0162] Step S12: the processing unit 31 transmits a measurement start command to the sensor unit 10 to start the acquisition of measurement data from the sensor unit 10.

[0163] Step S14': the timing control section 316 of the processing unit 31 determines whether or not the sole of the head of the golf club 3 stably faces the ground side based on the measurement data transmitted from the sensor unit 10. In a case where the sole of the head of the golf club 3 stably faces the ground side, for example, as shown in FIG. 16 (Y in S14'), the process proceeds to step S16. In a case where the sole of the head of the golf club 3 does not face the ground side or is unstable, for example, as shown in FIG. 17 (N in S14'), step S14' is executed again.

[0164] Specifically, if the sole of the head stably faces the ground side as shown in FIG. 16 (for example, if an angle .theta. between the y axis and the direction of gravitational acceleration is less than 50.degree. and is in a state close to the stationary state), y-axis acceleration falls within a predetermined value range. Accordingly, the sum value of the 3-axis acceleration becomes a value close to the gravitational acceleration. However, if the sole of the head does not face the ground side as shown in FIG. 17 (for example, if the angle .theta. between the y axis and the direction of gravitational acceleration is equal to or greater than 50.degree.) or the sole of the head is unstable, the y-axis acceleration deviates from a predetermined value range, or the sum value of the 3-axis acceleration becomes a value away from the gravitational acceleration. In addition, although the threshold value of the angle .theta. is set to 50.degree. herein, the threshold value of the angle .theta. may be other values. For example, the threshold value of the angle .theta. may be set to a predetermined value in the range of 40.degree. to 50.degree..

[0165] Therefore, in step S14', in a case where the y-axis acceleration falls within the predetermined value range and the sum value of the 3-axis acceleration is a value close to the gravitational acceleration, the timing control section 316 determines that the sole of the head stably faces the ground side. Otherwise, the timing control section 316 determines that the sole of the head does not face the ground side or is unstable.

[0166] Step S16: the timing control section 316 of the processing unit 31 transmits a projection start command to the sensor unit 10. In response to the projection start command, the control unit 16 of the sensor unit 10 inputs a projection start signal to the attachment 20. Then, the timing control section 261 of the attachment 20 makes the laser marker 20d start the projection of the line mark 71.

[0167] Step S18: the timing control section 316 of the processing unit 31 determines whether or not the golf club 3 is in a stationary state using the measurement data acquired from the sensor unit 10. When it is detected that the golf club 3 is in a stationary state (Y in S18), the process proceeds to step S20. In other cases, the timing control section 316 waits (N in S18).

[0168] Step S20: the timing control section 316 of the processing unit 31 transmits a projection stop command to the sensor unit 10. In response to the projection stop command, the timing control section 161 of the sensor unit 10 inputs a projection stop signal to the attachment 20. Then, the timing control section 261 of the attachment 20 makes the laser marker 20d stop the projection of the line mark 71.

[0169] Step S22: the processing unit 31 notifies the user 2 of the permission of swing start. The processing unit 31 notifies the user 2 of the permission of swing start, for example, by outputting a predetermined sound or by turning on an LED provided in the sensor unit 10, and the user 2 starts the swing motion after confirming the notification.

[0170] Step S24': the timing control section 316 of the processing unit 31 determines whether or not the sole of the head of the golf club 3 stably faces the ground side based on the measurement data transmitted from the sensor unit 10. In a case where the sole of the head of the golf club 3 stably faces the ground side, for example, as shown in FIG. 16 (Y in S24'), the process proceeds to step S16. In a case where the sole of the head of the golf club 3 does not face the ground side or is unstable, for example, as shown in FIG. 17 (N in S24'), step S24' is executed again. The determination method in step S24' is the same as the determination method in step S14'.

[0171] Step S26: When the processing unit 31 detects the start of swing based on the measurement data transmitted from the sensor unit 10 (Y in S26), the process proceeds to step S28. Otherwise (N in S26), the process proceeds to step S24'. Determination regarding whether or not a swing has started can be performed, for example, according to whether or not the sum value of the 3-axis angular velocity included in the measurement data exceeds a predetermined threshold value or according to whether or not the sum value of the 3-axis acceleration included in the measurement data exceeds a predetermined threshold value.

[0172] Step S28: the processing unit 31 calculates the initial position and the initial posture of the sensor unit 10 in the global coordinate system based on the measurement data that the sensor unit 10 outputs when the golf club 3 is in a stationary state in step S18.

[0173] Step S30: the processing unit 31 detects the timing of the swing start, top, impact, or the like using the measurement data acquired from the sensor unit 10 after the end of the swing motion of the user 2 or before the end of the swing motion. The processing unit 31 may determine the timing detected in step S26 as a swing start timing as it is, or may detect the swing start timing based on other timings.

[0174] Step S32: the processing unit 31 calculates the position and posture of the sensor unit 10 during the swing motion of the user 2 in parallel with the processing of step S30 or before and after the processing of step S30.

[0175] Step S34: the processing unit 31 calculates indicators of the swing using at least some of the measurement data and the timing of impact acquired from the sensor unit 10 and the position and posture of the sensor unit 10 calculated in step S28.

[0176] Step S36: When swing analysis data including one or a plurality of indicators calculated in step S34 is generated, the processing unit 31 stores the swing analysis data in the swing analysis data 348 as swing analysis data of the golf club 3, and ends the flow.

[0177] In the flowchart shown in FIG. 15, the order of the steps may be appropriately changed to the extent possible, or some of the steps may be deleted or changed, or other steps may be added.

3. Effects of the Embodiments

[0178] (1) The control device (control unit 26) of the present embodiment includes a timing control unit (timing control section 261) that controls a timing, at which the mark projector (laser marker 20d) for projecting a mark stops or starts the projection of the mark, based on the output of the inertial sensor (sensor unit 10) mounted on the exercise equipment (golf club 3) or the user 2.

[0179] The timing control unit (timing control section 261) controls the timing to stop or start the projection of the mark based on the inertia amount applied to the exercise equipment (golf club 3) or the user 2. Therefore, the timing control unit (timing control section 261) can improve the safety of the mark projector (laser marker 20d) by stopping the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, the timing control unit (timing control section 261) can improve the convenience of the mark projector (laser marker 20d) by starting the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user 2 starts to take an address posture).

[0180] (2) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control section 261) stops the projection at a timing before the inertial sensor starts the measurement of a swing after the start of the projection (S16) (S20).

[0181] Since the timing control unit (timing control section 261) stops the projection at the timing before starting the measurement of a swing, safety when the swing is started can be reliably ensured.

[0182] (3) In the control device (control unit 26) of the present embodiment, the timing is a timing at which a stationary state of the exercise equipment (golf club 3) over a predetermined period is detected (Y in S18).

[0183] The timing control unit (timing control section 261) stops the projection, for example, when the user 2 takes an address posture. Accordingly, safety when the swing is started can be reliably ensured.

[0184] (4) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control section 261) starts the projection at a timing (Y in S14), at which the user 2 performs a predetermined gesture with the exercise equipment (golf club 3), after the start of the inertial sensor (sensor unit 10) (S12).

[0185] The timing control unit (timing control section 261) starts the projection when the user 2 performs a predetermined gesture. Accordingly, the user 2 can start the projection of the mark at a desired timing.

[0186] (5) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control section 261) starts the projection at a timing (Y in S14'), at which a hitting portion (head) of the exercise equipment faces the ground side, after the start of the inertial sensor (sensor unit 10) (S12).

[0187] The timing control unit (timing control section 261) starts the projection when the hitting portion (head) of the exercise equipment (golf club 3) faces the ground side. Accordingly, it is possible to start the projection when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when the user 2 starts to take an address posture).

[0188] (6) The holder (attachment 20) of the present embodiment is used in order to mount the inertial sensor (sensor unit 10) on the exercise equipment (golf club 3). The holder (attachment 20) includes the control device (control unit 26) of the present embodiment and the mark projector (laser marker 20d).

[0189] The timing control unit (timing control section 261) controls the timing to stop or start the projection of the mark based on the inertia amount applied to the exercise equipment (golf club 3). Therefore, the timing control unit (timing control section 261) can improve the safety of the mark projector (laser marker 20d) by stopping the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, the timing control unit (timing control section 261) can improve the convenience of the mark projector (laser marker 20d) by starting the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user 2 starts to take an address posture).

[0190] (7) In the holder (attachment 20) of the present embodiment, the mark projector (laser marker 20d) projects a line-shaped mark (line mark 71) onto the ground.

[0191] Therefore, the user 2 can use the projected mark (line mark 71) as an indicator of the hitting direction.

[0192] (8) The sensor set (sensor set 100) of the present embodiment includes the holder (attachment 20) of the present embodiment and the inertial sensor (sensor unit 10).

[0193] (9) The control method (swing analysis method) of the present embodiment includes a step (S20) of controlling a timing, at which the mark projector (laser marker 20d) for projecting a mark stops or starts the projection of the mark, based on the output of the inertial sensor (sensor unit 10) mounted on the exercise equipment (golf club 3) or the user 2.

[0194] In the control step (S20), the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment (golf club 3) or the user 2. Therefore, it is possible to improve the safety of the mark projector (laser marker 20d) by stopping the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector (laser marker 20d) by starting the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user 2 starts to take an address posture).

[0195] (10) In the control method (swing analysis method) of the present embodiment, in the control step, the projection is stopped at a timing before the inertial sensor starts the measurement of a swing after the start of the projection.

[0196] Since the projection is stopped at the timing before starting the measurement of a swing in the control step, safety when the swing is started can be reliably ensured.

[0197] (11) In the control method (swing analysis method) of the present embodiment, the timing is a timing at which a stationary state of the exercise equipment over a predetermined period is detected.

[0198] In the controlling, the projection is stopped, for example, when the user 2 takes an address posture. Accordingly, safety when the swing is started can be reliably ensured.

[0199] (12) In the control method (swing analysis method) of the present embodiment, in the control step, the projection is started at a timing, at which the user performs a predetermined gesture with the exercise equipment, after the start of the inertial sensor.

[0200] In the control step, the projection is started when the user performs a predetermined gesture. Accordingly, the user 2 can start the projection of the mark at a desired timing.

[0201] (13) In the control method (swing analysis method) of the present embodiment, in the control step, the projection is started at a timing, at which a hitting portion of the exercise equipment faces the ground side, after the start of the inertial sensor.

[0202] In the control step, the projection is started when the hitting portion (head) of the exercise equipment (golf club 3) faces the ground side. Accordingly, it is possible to start the projection when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when the user 2 starts to take an address posture).

[0203] (14) The control program (swing analysis program 340) of the present embodiment includes a step (S20) of controlling a timing, at which the mark projector (laser marker 20d) for projecting a mark stops or starts the projection of the mark, based on the output of the inertial sensor (sensor unit 10) mounted on the exercise equipment (golf club 3) or the user.

[0204] In the control step (S20), the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment (golf club 3) or the user. Therefore, it is possible to improve the safety of the mark projector (laser marker 20d) by stopping the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector (laser marker 20d) by starting the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user 2 starts to take an address posture).

[0205] (15) The recording medium of the present embodiment records a control program (swing analysis program. 340) causing a computer (processing unit 31) to execute a step (S20) of controlling a timing, at which the mark projector (laser marker 20d) for projecting a mark stops or starts the projection of the mark, based on the output of the inertial sensor (sensor unit 10) mounted on the exercise equipment (golf club 3) or the user.

[0206] In the control step (S20), the timing to stop or start the projection of the mark is controlled based on the inertia amount applied to the exercise equipment (golf club 3) or the user. Therefore, it is possible to improve the safety of the mark projector (laser marker 20d) by stopping the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is likely to be incident on the human eye (for example, when a hitting portion does not face the ground or during the swing). In addition, it is possible to improve the convenience of the mark projector (laser marker 20d) by starting the projection, for example, when the exercise equipment (golf club 3) is in a state in which light emitted from the mark projector (laser marker 20d) is difficult to be incident on the human eye (for example, when a hitting portion faces the ground or when the user 2 starts to take an address posture).

4. Supplements to Embodiments

[0207] In the embodiments described above, a line mark (line-shaped mark) is used as a mark projected onto the ground by the laser marker 20d. However, other marks may be used. For example, a dot array mark formed by arranging a plurality of dots in a line shape may be used.

[0208] In the embodiments described above, a line mark is used as a mark projected onto the ground by the laser marker 20d. However, using a dot mark, the appearance of a mark may be made to be a line shape by scanning (laser scanning) the projection destination of the dot mark along the target line.

[0209] In the embodiments described above, the laser marker 20d may perform the projection of a mark continuously (continuous wave (CW)) irradiation (continuous irradiation) of laser beams may be performed, or the laser marker 20d may perform the projection of a mark intermittently (pulse irradiation of laser beams may be performed).

[0210] In the embodiments described above, the timing control section 261 starts or stops the projection of a mark by turning on or off the light source 222. However, the timing control section 261 starts or stops the projection of a mark by opening or closing a shutter disposed on the optical path of the projection optical system 221.

[0211] In any of the embodiments described above, the sensor unit 10 may be made to have at least some of the functions of the attachment 20. For example, at least one of the laser marker 20d and the timing control section 261 may be mounted in the sensor unit 10.

[0212] In any of the embodiments described above, the swing analysis device 30 may be made to have some of the functions of the attachment 20. For example, the timing control section 261 may be mounted in the swing analysis device 30.

[0213] In any of the embodiments described above, the attachment 20 may be made to have at least some of the functions of the sensor unit 10. For example, at least one of the acceleration sensor 12 and the angular velocity sensor 14 may be mounted in the attachment 20.

[0214] In any of the embodiments described above, the swing analysis device 30 may be made to have some of the functions of the sensor unit 10. For example, the control unit 16 may be mounted in the swing analysis device 30.

[0215] In any of the embodiments described above, the attachment 20 may be made to have at least some of the functions of the swing analysis device 30. For example, the attachment 20 may be made to have at least one of the function (function of determining the start or stop timing of projection) of the timing control section 316 and the function of the swing analysis section 311.

[0216] In any of the embodiments described above, the sensor unit 10 may be made to have at least some of the functions of the swing analysis device 30. For example, the sensor unit 10 may be made to have at least one of the function (function of determining the start or stop timing of projection) of the timing control section 316 and the function of the swing analysis section 311.

[0217] In any of the embodiments described above, a server (not shown) may be made to have some of the functions of the swing analysis system 1. For example, a server may be made to have a function of the swing analysis section 311.

[0218] In the embodiments described above, the sensor unit 10, the attachment 20, and the swing analysis device 30 are configured separately (as separate units). However, two or three of the sensor unit 10, the attachment 20, and the swing analysis device 30 may be configured integrally (as the same unit).

[0219] In the embodiments described above, the laser marker 20d and the attachment 20 are configured integrally (as the same unit). However, the laser marker 20d and the attachment 20 may be configured separately (as separate units). For example, the laser marker 20d may be placed on the green, such as the ground or turf, and the diffusion direction of the laser beam may be set to match the target line. In this case, the laser marker 20d may receive an output signal from the sensor unit 10 by wireless communication, and the laser marker 20d may be controlled to start or stop the projection of the laser beam.

5. Other Modification Examples

[0220] The invention is not limited to the present embodiment, and can be modified within the scope of the invention.

[0221] For example, the sensor unit 10 may be mounted on a glove that a user wears, the laser marker 20d may be mounted on the shaft of a golf club, and the diffusion direction of the laser beam may be set to match the target line. In this case, the laser marker 20d may receive an output signal from the sensor unit 10 by wireless communication, and the laser marker 20d may be controlled to start or stop the projection of the laser beam.

[0222] For example, a plurality of sensor units 10 may be mounted on the golf club 3 or parts, such as the armor shoulder of the user 2, and the swing analysis device 30 may perform swing analysis processing using the measurement data of the plurality of sensor units 10.

[0223] In the embodiments described above, the acceleration sensor 12 and the angular velocity sensor 14 are integrally provided in the sensor unit 10. However, acceleration sensor 12 and the angular velocity sensor 14 do not need to be integrated. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be directly mounted on the golf club 3 or the user 2 without being provided in the sensor unit 10.

[0224] In the embodiments described above, the sensor unit 10 and the swing analysis device 30 are separately provided. However, the sensor unit 10 and the swing analysis device 30 may be integrated so as to be able to be mounted on the golf club 3 or the user 2. In addition, the sensor unit 10 may be configured to include an inertial sensor (for example, the acceleration sensor 12 or the angular velocity sensor 14) and some components of the swing analysis device 30.

[0225] That is, the sensor unit 10 may be made to have some or all of the functions of the swing analysis device 30, or the swing analysis device 30 may be made to have some of the functions of the sensor unit 10.

[0226] Although the swing analysis system for analyzing the golf swing has been mentioned as an example in the above embodiments, the invention can be applied to a swing analysis system for diagnosing a swing in various kinds of sports, such as tennis and baseball.

[0227] The embodiments and the modification examples described above are just examples, and the invention is not limited to these. For example, each embodiment and each modification example can be appropriately combined.

[0228] The invention includes substantially the same configuration (for example, a configuration with the same function, method, and result or a configuration with the same object and effect) as the configuration described in each embodiment. In addition, the invention includes a configuration that replaces a unit that is not essential in the configuration described in the embodiment. In addition, the invention includes a configuration capable of achieving the same operations and effects as in the configuration described in each embodiment or a configuration capable of achieving the same object. In addition, the invention includes a configuration obtained by adding a known technique to the configuration described in the embodiment.

[0229] The entire disclosure of Japanese Patent Application No. 2015-175921 filed Sep. 7, 2015 is expressly incorporated by reference herein.

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