JP6467766B2 - Motion analysis method, motion analysis apparatus, and motion analysis program - Google Patents

Description

The present invention relates to a method motion analysis relates to such motion analysis device and a motion analysis program.

  As described in Patent Document 1, a swing display method is generally known. In this display method, the club head approach angle θ is assigned to the x-axis, and the face angle φ is assigned to the y-axis. In accordance with such a two-dimensional coordinate system, a slice area, fade area, straight area, draw area, and hook area are displayed on the screen. From the face angle φ at the time of impact (at the time of impact) and the approach angle θ of the club head, the face angle φ and the approach angle θ measured by the swing motion are plotted.

JP 2011-110164 A JP 2008-73210 A

  In the display method described in Patent Document 1, the swing motion is photographed by a camera when measuring the face angle φ and the approach angle θ. At this time, a target line connecting the center of the golf ball and the target is specified in the photographed three-dimensional space. The face angle φ and the approach angle θ are measured with reference to the target line. When the ball was deviated from the ball hitting direction expected by the golfer, it could not be distinguished whether the body direction at the time of the address affected or the swing motion itself affected. If an analysis is performed for each of these influencing factors, it will be possible for golfers to improve their swing form more efficiently.

According to at least one aspect of the present invention, it is possible to provide a motion analysis method, a motion analysis device, and a motion analysis program that specify a hitting direction from a swing motion without being influenced by the body orientation.

  (1) According to one aspect of the present invention, using the output of the inertial sensor, the step of identifying the striking surface posture of the exercise tool at the time of impact and the information on the identified striking surface posture of the hitting ball are used. And a step of determining the type of trajectory.

  The trajectory of the hit ball is estimated from the attitude of the hit ball at the time of impact. The type of trajectory is determined according to the attitude of the ball striking surface. The output of the inertial sensor is used to determine the type of trajectory. Unlike the target line specified in the captured three-dimensional space, the output of the inertial sensor can reflect the orientation of the user's body. Therefore, when the hit ball deviates from the expected hit direction, the influence of the body direction can be estimated. The type of trajectory is identified from the swing motion without being affected by the body orientation. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the user can improve the swing form more efficiently.

  (2) According to another aspect of the present invention, using the output of the inertial sensor, the step of identifying the movement locus of the exercise tool at the time of impact from before the impact, and the trajectory of the hit ball using the information of the identified movement locus And a step of determining the type of motion.

  The trajectory of the hit ball is estimated from the movement trajectory of the exercise tool at the time of impact. The type of trajectory is determined according to the movement trajectory. The output of the inertial sensor is used to determine the type of trajectory. Unlike the target line specified in the captured three-dimensional space, the output of the inertial sensor can reflect the orientation of the user's body. Therefore, when the hit ball deviates from the expected hit direction, the influence of the body direction can be estimated. The type of trajectory is identified from the swing motion without being affected by the body orientation. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the user can improve the swing form more efficiently.

  (3) According to still another aspect of the present invention, there is provided a step of identifying the posture of the striking surface of the exercise tool at the time of impact using the output of the inertia sensor, and an impact from before the impact using the output of the inertia sensor. And a step of determining the type of trajectory of the hit ball using information on the posture of the hit ball and the movement trajectory of the exercise tool.

  The trajectory of the hit ball is estimated from the posture of the hit ball and the movement trajectory at the time of impact. The type of trajectory is determined according to the combination of the posture of the hitting surface and the movement trajectory. The output of the inertial sensor is used to determine the type of trajectory. Unlike the target line specified in the captured three-dimensional space, the output of the inertial sensor can reflect the orientation of the user's body. Therefore, when the hit ball deviates from the expected hit direction, the influence of the body direction can be estimated. The type of trajectory is identified from the swing motion without being affected by the body orientation. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the user can improve the swing form more efficiently.

  (4) The motion analysis method may include a step of specifying an initial posture of the striking surface of the exercise tool before the start of motion using the output of the inertial sensor. At this time, the motion analysis method can specify the posture of the ball striking surface at the time of the impact with respect to the initial posture of the ball striking surface. In general, when performing a swing motion, the user takes an attitude of confirming the striking surface of the exercise tool in advance at the impact position. At that time, the initial posture of the hitting surface is established. The target point of the hit ball is set according to the initial posture of the hit ball. Since the ball striking ball posture at the time of impact is specified based on the ball striking surface in such an initial posture, the type of the trajectory is specified from the swing motion without being influenced by the orientation of the user's body. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the user can improve the swing form more efficiently.

  (5) The motion analysis method may include a step of specifying an initial position of the striking surface of the exercise tool before the start of motion using the output of the inertial sensor. In general, when performing a swing motion, the user takes an attitude of confirming the striking surface of the exercise tool in advance at the impact position. The initial position of the ball striking surface is established. The target point of the hit ball is set according to the initial position of the hit ball. Since the movement trajectory at the time of impact is specified based on such an initial position, the type of the trajectory is specified from the swing motion without being influenced by the orientation of the user's body. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the user can improve the swing form more efficiently.

  (6) The motion analysis method may include a step of calculating a change in an angle of the hitting surface at the time of impact with respect to the hitting surface at the start of the motion. According to the calculation of the angle, the trajectory of the hit ball is finely classified according to the sign of the angle and the magnitude. As a result, the user can improve the swing form more effectively.

  (7) In the motion analysis method, in specifying the movement trajectory, the first coordinate point indicating the position of the hitting surface at the time of impact and the second coordinate indicating the position of the hitting surface at a sampling point before the impact A step of identifying a point can be provided. In calculating the angle of the movement locus, the first coordinate point and the second coordinate point are specified. A moving direction vector is specified on a plane (or line segment) including the first coordinate point and the second coordinate point. In this way, the angle of the movement trajectory can be calculated reliably.

  (8) The motion analysis method may include a step of calculating an incident angle of the movement locus at the time of impact with respect to a line segment orthogonal to the ball hitting surface at the position of the ball hitting surface at the time of stationary. According to such calculation of the incident angle, the trajectory of the hit ball is finely classified according to the sign of the angle and the magnitude. As a result, the user can improve the swing form more effectively.

  (9) The motion analysis method may include a step of displaying a result of determining the type of trajectory of the hit ball. When the types of ballistics are presented visually, the user can create a ballistic image for each type of ballistic. Compared to simple numerical presentation, the user is effectively conveyed the image of the trajectory. Based on this image, the user can efficiently improve the swing form.

  (10) The motion analysis method may include a step of displaying the posture of the hitting surface with one coordinate axis and displaying the state of the movement locus at the time of the impact with the other coordinate axis. When the swing operation is performed, the trajectory of the swing operation is determined according to the posture of the hitting surface and the movement locus. The trajectory is plotted on Cartesian coordinates. Therefore, the user can easily recognize the type of the trajectory according to the attitude of the hitting surface and the movement trajectory. Compared to simple numerical presentation, the user is effectively conveyed the image of the trajectory.

  (11) The motion analysis method may include a step of dividing the one coordinate axis into a plurality of regions and dividing the other coordinate axis into a plurality of regions and displaying the matrix. The user can easily recognize the type of trajectory according to the posture of the hitting surface and the movement trajectory. Compared to simple numerical presentation, the user is effectively conveyed the image of the trajectory.

  (12) The motion analysis method may include a step of assigning and displaying a trajectory of a hit ball in a straight direction in a central region of the matrix display. The user can easily recognize the type of trajectory according to the posture of the hitting surface and the movement trajectory. Compared to simple numerical presentation, the user is effectively conveyed the image of the trajectory.

  (13) The motion analysis method may include a step of superimposing and displaying an image including a target area that identifies a trajectory of a hit ball targeted by the user. The user can set a target trajectory prior to measuring the swing motion. When the swing motion is performed, the user can easily observe the coincidence or deviation between the trajectory specified by the swing motion and the target trajectory with an image. In this way, the user can improve the swing form through trial and error.

  (14) The motion analysis method may include a step of visually distinguishing from the past plot and displaying the latest plot when displaying the plot based on the latest swing motion. Past plots remain in the image. Therefore, the user can visually confirm the posture of the hitting surface and the history of the movement locus. In reviewing the history, the latest ballistic plot is visually distinguished from the past ballistic plot. Even if a plurality of plots remain, the user can easily extract the plot formed by the latest swing motion.

  (15) Still another aspect of the present invention uses an impact analysis unit for specifying the posture of the striking surface of the exercise tool at the time of impact using the output of the inertia sensor, and information on the posture of the identified hitting surface. In addition, the present invention relates to a motion analysis apparatus including a determination unit that determines the type of trajectory of a hit ball.

  (16) According to still another aspect of the present invention, an impact analysis unit that specifies a movement trajectory of the exercise tool at the time of impact from before the impact using the output of the inertial sensor, and a movement trajectory of the identified exercise tool. The present invention relates to a motion analysis apparatus including a determination unit that determines the type of trajectory of a hit ball using information.

  (17) According to still another aspect of the present invention, the posture of the striking surface of the exercise tool at the time of impact is specified using the output of the inertial sensor, and the movement locus of the exercise tool at the time of impact from before the impact is specified. The present invention relates to a motion analysis apparatus comprising: an impact analysis unit that performs an impact analysis; and a determination unit that determines the type of trajectory of the hit ball using information on the posture of the hit ball and the movement trajectory of the exercise tool.

  (18) The motion analysis device uses the output of the inertial sensor to identify an initial posture of the ball striking surface of the exercise tool before the start of motion, and identifies the posture of the ball striking surface at the time of the impact with respect to the initial posture of the ball striking surface can do.

  (19) The motion analysis device can specify the initial position of the ball striking surface of the exercise tool before the start of motion using the output of the inertial sensor.

  (20) Still another aspect of the present invention uses a procedure for identifying the attitude of the striking surface of the exercise tool at the time of impact using the output of the inertial sensor, and information on the identified attitude of the striking surface, The present invention relates to a motion analysis program for causing a computer to execute a procedure for determining the type of trajectory of a hit ball.

  (21) Still another aspect of the present invention uses a procedure for specifying the movement trajectory of the exercise tool at the time of impact from before the impact using the output of the inertial sensor, and information on the specified movement trajectory of the exercise tool. And a motion analysis program for causing a computer to execute a procedure for determining the type of trajectory of a hit ball.

  (22) According to still another aspect of the present invention, a procedure for specifying the posture of the striking surface of the exercise tool at the time of impact using the output of the inertia sensor and an output from before the impact using the output of the inertia sensor. Motion for causing the computer to execute a procedure for identifying the movement trajectory of the hitting ball and a procedure for determining the type of trajectory of the hitting ball using information on the identified posture of the hitting ball and the movement trajectory of the exercise tool It relates to an analysis program.

  (23) The motion analysis program uses the output of the inertial sensor to identify the initial posture of the ball striking surface of the exercise tool before the start of the motion, and identifies the posture of the ball striking surface at the time of the impact with respect to the initial posture of the ball striking surface You can let the computer execute the procedure to do.

  (24) The motion analysis program can cause the computer to execute a procedure for specifying the initial position of the striking surface of the exercise tool before the start of motion using the output of the inertial sensor.

It is a conceptual diagram which shows roughly the structure of the golf swing analyzer which concerns on one Embodiment of this invention. It is a conceptual diagram which shows roughly the relationship between a motion analysis model, a golfer, and a golf club. It is an enlarged front view which shows the structure of a club head schematically. It is a block diagram which shows roughly the structure of the arithmetic processing circuit which concerns on one Embodiment. It is a figure which shows the concept of the angle of a face surface, and the angle of a movement locus | trajectory. It is a figure which shows an example of an image. It is a figure which shows the kind of ballistic.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The present embodiment described below does not unduly limit the contents of the present invention described in the claims, and all the configurations described in the present embodiment are essential as means for solving the present invention. Not necessarily.

(1) Configuration of Golf Club Analysis Device FIG. 1 schematically shows the configuration of a golf swing analysis device (motion analysis device) 11 according to an embodiment of the present invention. The golf swing analysis device 11 includes an inertial sensor 12, for example. The inertial sensor 12 includes an acceleration sensor and a gyro sensor. The acceleration sensor can individually detect acceleration in three axial directions orthogonal to each other. The gyro sensor can individually detect the angular velocity around each of three axes orthogonal to each other. The inertial sensor 12 outputs a detection signal. The acceleration and angular velocity are specified for each axis in the detection signal. The acceleration sensor and the gyro sensor detect acceleration and angular velocity information with relatively high accuracy. The inertial sensor 12 is attached to a golf club (exercise tool) 13. The golf club 13 includes a shaft 13a and a grip 13b. The grip 13b is gripped by hand. The grip 13b is formed coaxially with the axis of the shaft 13a. A club head 13c is coupled to the tip of the shaft 13a. Desirably, the inertial sensor 12 is attached to the shaft 13 a or the grip 13 b of the golf club 13. The inertial sensor 12 may be fixed to the golf club 13 so as not to be relatively movable. Here, when the inertial sensor 12 is attached, one of the detection axes of the inertial sensor 12 is aligned with the axis of the shaft 13a.

  The golf swing analysis device 11 includes an arithmetic processing circuit 14. An inertial sensor 12 is connected to the arithmetic processing circuit 14. In connection, a predetermined interface circuit 15 is connected to the arithmetic processing circuit 14. The interface circuit 15 may be connected to the inertial sensor 12 by wire or may be connected to the inertial sensor 12 by wireless. A detection signal is supplied from the inertial sensor 12 to the arithmetic processing circuit 14.

  A storage device 16 is connected to the arithmetic processing circuit 14. The storage device 16 can store, for example, a golf swing analysis software program (motion analysis program) 17 and related data. The arithmetic processing circuit 14 executes a golf swing analysis software program 17 to realize a golf swing analysis method. The storage device 16 can include a DRAM (Dynamic Random Access Memory), a mass storage device unit, a non-volatile memory, and the like. For example, in the DRAM, the golf swing analysis software program 17 is temporarily held when the golf swing analysis method is executed. A golf swing analysis software program and data are stored in a mass storage unit such as a hard disk drive (HDD). The nonvolatile memory stores a relatively small capacity program such as BIOS (basic input / output system) and data.

  An image processing circuit 18 is connected to the arithmetic processing circuit 14. The arithmetic processing circuit 14 sends predetermined image data to the image processing circuit 18. A display device 19 is connected to the image processing circuit 18. In connection, a predetermined interface circuit (not shown) is connected to the image processing circuit 18. The image processing circuit 18 sends an image signal to the display device 19 according to the input image data. An image specified by the image signal is displayed on the screen of the display device 19. The display device 19 is a liquid crystal display or other flat panel display. Here, the arithmetic processing circuit 14, the storage device 16, and the image processing circuit 18 are provided as a computer device, for example.

  An input device 21 is connected to the arithmetic processing circuit 14. The input device 21 includes at least alphabet keys and numeric keys. Character information and numerical information are input from the input device 21 to the arithmetic processing circuit 14. The input device 21 may be composed of a keyboard, for example. The combination of the computer device and the keyboard may be replaced with a smartphone, for example.

(2) Motion analysis model The arithmetic processing circuit 14 defines a virtual space. The virtual space is formed in a three-dimensional space. A three-dimensional space specifies a real space. As shown in FIG. 2, the three-dimensional space has an absolute reference coordinate system (overall coordinate system) Σ _xyz . In the three-dimensional space, a three-dimensional motion analysis model 26 is constructed according to the absolute reference coordinate system Σ _xyz . The rod 27 of the three-dimensional motion analysis model 26 is point-constrained at a fulcrum 28 (coordinate x). The rod 27 operates three-dimensionally as a pendulum around the fulcrum 28. The position of the fulcrum 28 can be moved. Here, as the absolute reference coordinate system sigma _xyz, the position of the center of gravity 29 of the rod 27 is identified by the coordinates _{x g,} the position of the club head 13c can be located at the coordinates _{x h.}

が特定され、角速度信号では角速度ω_１、ω_２が特定される。 The three-dimensional motion analysis model 26 corresponds to a model of the golf club 13 at the time of swing. The pendulum rod 27 projects the shaft 13 a of the golf club 13. The fulcrum 28 of the rod 27 projects the grip 13b. The inertial sensor 12 is fixed to the rod 27. According to the absolute reference coordinate system Σ _xyz, the position of the inertial sensor 12 is specified by the coordinate x _s . The inertial sensor 12 outputs an acceleration signal and an angular velocity signal. In the acceleration signal, the acceleration from which the influence of the gravitational acceleration g is subtracted.

And the angular velocities ω ₁ and ω ₂ are specified in the angular velocity signal.

Similarly, the arithmetic processing circuit 14 fixes the local coordinate system Σ _s to the inertial sensor 12. The origin of the local coordinate system Σ _s is set to the origin of the detection axis of the inertial sensor 12. Y-axis of the local coordinate system sigma _s coincides with the axis of the shaft 13a. The x axis of the local coordinate system Σ _s coincides with the hitting direction specified by the face direction. Therefore, the fulcrum position l _sj is specified by (0, l _sji , 0) according to the local coordinate system Σ _s . Similarly, on this local coordinate system Σ _s , the position l _{sg of the} center of gravity 29 is specified by (0, l _sgy , 0), and the position l _sh of the club head 13c is specified by (0, l _shy , 0). .

As shown in FIG. 3, the processing circuit 14 to identify the orientation and position of the face surface 31 on the club head 13c according to the local coordinate system sigma _s. In specifying the posture and position, a first measurement point 32 and a second measurement point 33 are set on the face surface 31. The first measurement point 32 and the second measurement point 33 are arranged at positions separated from each other. Here, the first measurement point 32 is located at the heel 34 side end of the face surface 31, and the second measurement point 33 is located at the toe 35 side end of the face surface 31. The first measurement point 32 and the second measurement point 3 are arranged in a horizontal plane 36 parallel to the ground G. Therefore, when the line segment 37 connecting the first measurement point 32 and the second measurement point 33 is projected onto the ground G, the orientation of the face surface 31 can be specified. The first measurement point 32 and the second measurement point 33 may be set on a line segment parallel to the score line 38.

(3) Configuration of Arithmetic Processing Circuit FIG. 4 schematically shows the configuration of the arithmetic processing circuit 14 according to an embodiment. The arithmetic processing circuit 14 includes a position detection unit 41 and an attitude detection unit 42. The position detection unit 41 and the posture detection unit 42 are connected to the inertial sensor 12. The position detection unit 41 is supplied with an acceleration signal from the inertial sensor 12. The position detector 41 calculates the position of the inertial sensor 12 for each sampling point based on the acceleration in the three-axis directions. In calculating the position, acceleration is second-order integrated for each detection axis. Thus, the direction component of the displacement (displacement in the x-axis direction, displacement in the y-axis direction, and displacement in the z-axis direction) is specified for each detection axis. The position of the inertial sensor 12 is specified by the origin position of the local coordinate system Σ _s inherent to the inertial sensor 12.

ここでは、回転行列Ｒｓの特定にあたってクォータニオンＱが特定される。

ここで、角速度の大きさは次式で算出され、

ただし、計測した角速度［ｒａｄ／ｓ］は次式で表され、

単位時間Δｔ当たりの変化角度［ｒａｄ］は次式で算出される。

The attitude detection unit 42 calculates the attitude of the inertial sensor 12 for each sampling point based on the angular velocities around the three axes. In the calculation, the rotation matrix Rs is specified from the angular velocity.

Here, the quaternion Q is specified when specifying the rotation matrix Rs.

Here, the magnitude of the angular velocity is calculated by the following equation:

However, the measured angular velocity [rad / s] is expressed by the following equation:

The change angle [rad] per unit time Δt is calculated by the following equation.

  The arithmetic processing circuit 14 includes a stillness determination unit 43 and an impact determination unit 44. The stillness determination unit 43 and the impact determination unit 44 are connected to the inertial sensor 12, for example. The stationary determination unit 43 identifies the stationary state of the golf club 13 based on the output of the inertia sensor 12. When the output of the inertial sensor 12 falls below the threshold value, the stillness determination unit 43 determines the still state of the golf club 13. The threshold value may be set to a value that can eliminate the influence of the detection signal indicating minute vibration such as body movement. The stationary determination unit 43 outputs a stationary notification signal when the stationary state is confirmed over a predetermined period. For example, the threshold value may be stored in the storage device 16 in advance. It is only necessary that the threshold value is taken into the storage device 16 through the operation of the input device 21.

  The impact determination unit 44 identifies the moment of impact based on the output of the inertial sensor 12. At the moment of impact, the golf club 13 is subjected to acceleration and angular velocity, unlike the case of swinging. Therefore, the output of the inertial sensor 12 is disturbed at the moment of impact. For example, a large acceleration is observed in a specific direction. The moment of impact is specified based on the acceleration threshold. When the impact determination unit 44 detects an impact, the impact determination unit 44 outputs an impact notification signal. For example, the threshold value may be stored in the storage device 16 in advance. It is only necessary that the threshold value is taken into the storage device 16 through the operation of the input device 21.

The arithmetic processing circuit 14 includes a coordinate conversion unit 45. The coordinate conversion unit 45 is connected to the position detection unit 41, the posture detection unit 42, the stillness determination unit 43, and the impact determination unit 44. The coordinate conversion unit 45 is supplied with outputs from the position detection unit 41, the posture detection unit 42, the stillness determination unit 43, and the impact determination unit 44. The coordinate conversion unit 45 specifies the posture and position of the face surface 31 of the club head 13c in the absolute reference coordinate system Σ _xyz that specifies the real space. In specifying the posture and position, the coordinate conversion unit 45 specifies the first measurement point 32 and the second measurement point 33 on the face surface 31 according to the local coordinate system Σ _s . The coordinate values of the first measurement point 32 and the second measurement point 33 may be stored in advance in the storage device 16, for example. The coordinate value may be taken into the storage device 16 through the operation of the input device 21. The coordinate conversion unit 45 performs coordinate conversion on the coordinate values of the local coordinate system Σ _s and specifies the first measurement point 32 and the second measurement point 33 according to the absolute reference coordinate system Σ _xyz . In the coordinate conversion, the coordinate conversion unit 45 specifies the rotation matrix Rs for each sampling point. The change in posture of the inertial sensor 12 from the start of measurement corresponds to the integrated value of the rotation matrix Rs from the start of measurement to the time of calculation. The coordinate conversion unit 45 can store the coordinate value of the first measurement point 32 and the coordinate value of the second measurement point 33 after the coordinate conversion for each sampling time in the temporary storage memory 46.

  The arithmetic processing circuit 14 includes a stationary analysis unit 47 and an impact analysis unit 48. The stationary analysis unit 47 and the impact analysis unit 48 are connected to the coordinate conversion unit 45. Outputs are supplied from the coordinate conversion unit 45 to the stationary analysis unit 47 and the impact analysis unit 48. The coordinate conversion unit 45 supplies the coordinate value of the first measurement point 32 and the coordinate value of the second measurement point 33 after the coordinate conversion to the stationary time analysis unit 47 in response to the reception of the stationary notification signal from the stationary determination unit 43. To do. Similarly, in response to the reception of the impact notification signal from the impact determination unit 44, the coordinate conversion unit 45 sends the coordinate value of the first measurement point 32 and the coordinate of the second measurement point 33 after the coordinate conversion to the impact time analysis unit 48. Supply a value.

The stationary analysis unit 47 includes a posture specifying unit 51 and a position specifying unit 52. The posture specifying unit 51 specifies the posture of the face surface 31 in the absolute reference coordinate system Σ _xyz when stationary (that is, at the time of addressing). In specifying the posture, for example, as shown in FIG. 5, the posture specifying unit 51 sets the first measurement point 32 = r _h (0) and the second measurement point 33 = r _t (0) when stationary to the first line segment. L1 connects to each other. The posture of the face surface 31 is specified by the first line segment L1. At this time, the first line segment L1 is projected onto a horizontal plane (a plane extending parallel to the ground G) perpendicular to the y-axis in the absolute reference coordinate system Σ _xyz .

The position specifying unit 52 specifies the second line segment L2 orthogonal to the face surface 31 in the absolute reference coordinate system Σ _xyz when stationary. The second line segment L2 intersects the face surface 31 perpendicularly at the first measurement point 32 = r _h (0). In specifying the second line segment L2, the position specifying unit 52 specifies the first line segment L1. The position specifying unit 52 sets the second line segment L2 at the first measurement point 32 in the direction perpendicular to the first line segment L1. The second line segment L2 represents a so-called target line. That is, the second line segment L2 indicates a straight direction that continues to the target point of the hit ball. At this time, like the first line segment L1, the second line segment L2 is projected onto a horizontal plane orthogonal to the y-axis in the absolute reference coordinate system Σ _xyz .

The impact analysis unit 48 includes a posture specifying unit 53 and a trajectory specifying unit 54. The posture specifying unit 53 specifies the posture of the face surface 31 in the absolute reference coordinate system Σ _xyz at the time of impact. In specifying the posture, for example, as shown in FIG. 5, the posture specifying unit 53 sets the first measurement point 32 = r _h (imp) and the second measurement point 33 = r _t (imp) at the time of impact to the third line segment. Tie at L3. The posture of the face surface 31 at the time of impact is specified by the third line segment L3. At this time, as described above, the third line segment L3 is projected onto a horizontal plane orthogonal to the y-axis in the absolute reference coordinate system Σ _xyz .

The locus specifying unit 54 specifies the movement locus of the first measurement point 32 in the absolute reference coordinate system Σ _xyz at the time of impact. In specifying the movement trajectory, the trajectory specifying unit 54 uses the first coordinate point P1 on the absolute reference coordinate system Σ _xyz indicating the position r _h (imp) of the first measurement point 32 at the time of impact and the sampling point prior to the impact. The second coordinate point P2 on the absolute reference coordinate system Σ _xyz indicating the position r _h (imp−1) of one measurement point 32 is specified. Here, the sampling point immediately before the impact is assigned to the second coordinate point P2. The first coordinate point P1 and the second coordinate point P2 are connected to each other by a fourth line segment L4. The direction of the movement locus is specified by the fourth line segment L4. At this time, as described above, the fourth line segment L4 is projected onto a horizontal plane orthogonal to the y-axis in the absolute reference coordinate system Σ _xyz .

The arithmetic processing circuit 14 includes a determination unit 55. The determination unit 55 determines the type of trajectory of the hit ball based on the posture information of the face surface 31 and the movement track information of the golf club 13. Here, the determination unit 55 includes a face angle calculation unit 56 and an incident angle calculation unit 57. The face angle calculation unit 56 is connected to the posture specifying unit 51 of the stationary analysis unit 47 and the posture specifying unit 53 of the impact analysis unit 48. The face angle calculation unit 56 is supplied with outputs from the posture specifying units 51 and 53. The face angle calculation unit 56 calculates an angle (face angle) φ of the face surface 31 at impact relative to the face surface 31 at rest. In calculating the angle φ, the angle between the first line segment L1 specified by the posture specifying unit 51 and the third line segment L3 specified by the posture specifying unit 53 is within the horizontal plane of the absolute reference coordinate system Σ _xyz. Measured. The face angle calculation unit 56 outputs first angle information data. The first angle information data specifies the angle φ of the face surface 31.

The incident angle calculation unit 57 is connected to the position specifying unit 52 of the stationary analysis unit 47 and the locus specifying unit 54 of the impact analysis unit 48. The incident angle calculation unit 57 is supplied with outputs from the position specifying unit 52 and the locus specifying unit 54. The incident angle calculator 57 calculates the angle θ of the movement locus relative to the line segment orthogonal to the face surface 31 at the first measurement point 32 of the face surface 31 at the time of stationary, that is, the second line segment L2. In calculating the angle θ, the angle between the second line segment L2 specified by the position specifying unit 52 and the fourth line segment L4 specified by the locus specifying unit 54 is within the horizontal plane of the absolute reference coordinate system Σ _xyz. Measured. The incident angle calculation unit 57 outputs second angle information data. The second angle information data specifies the angle θ of the movement trajectory.

  The determination unit 55 includes an image data generation unit 58. The image data generation unit 58 is connected to the face angle calculation unit 56 and the incident angle calculation unit 57. The image data generator 58 is supplied with the first angle information data and the second angle information data. The image data generation unit 58 generates image data for specifying an image for visually displaying the type of trajectory assigned based on the supplied angle of the face surface 31 and the angle of the movement trajectory. In generating the image data, the image data generation unit 58 acquires the background image data from the storage device 16. The background image data specifies an image of orthogonal coordinates. In the orthogonal coordinates, for example, as shown in FIG. 6, the angle φ of the face surface 31 is assigned to one coordinate axis (x axis), and the angle θ of the movement locus is assigned to the other coordinate axis (y axis). The orthogonal coordinates are divided into nine regions S1 to S9 of 3 rows and 3 columns. The type of trajectory is assigned to each of the areas S1 to S9. A straight trajectory “straight” is assigned to the central region S5 of the nine regions S1 to S9. Here, for the right-handed golfer, when the angle of the movement trajectory increases in the positive direction while maintaining the angle of the face surface 31 from the central region S5, a trajectory “Push” (region S4) is assigned, and similarly When the angle of the movement trajectory decreases in the negative direction while maintaining the angle of the face surface 31 from the central region S5, the trajectory “Pull” (region S6) is assigned. In this way, the types of ballistics are assigned to the regions S4, S5, and S6 in the central three rows. When the angle of the face 31 increases in the positive direction while maintaining the movement paths of “push”, “straight”, and “pull”, respectively, “push slice”, “slice”, and “fade”. ”Is assigned to the three right-row regions S1, S2, and S3, and when the angle of the face surface 31 increases in the negative direction while maintaining the movement paths of“ push ”,“ straight ”, and“ pull ”, respectively, "Draw)", "Hook", and "Pull Hook" are assigned to the areas S7, S8, and S9 in the left three columns. As shown in FIG. 7, in the case of a right-handed golfer, a “push” trajectory 61, a “fade” trajectory 62, and a “slice” trajectory 63 are identified as the degree of bending of the hit ball increases outward, A “pull” trajectory 64, a “draw” trajectory 65, and a “hook” trajectory 66 are defined as the degree of bending of the hit ball increases inward.

  The image data generation unit 58 plots the measurement values on the orthogonal coordinate image. As shown in FIG. 6, the image of the plot is overlaid on nine regions S1 to S9. Each time the angle φ of the face surface 31 and the angle θ of the movement locus are specified, the image data generation unit 58 displays a plot 68a on the orthogonal coordinates according to the angle φ of the face surface 31 and the angle θ of the movement locus. Form an image. At this time, the latest plot 68a is drawn, visually distinguished from the past plot 68b. Here, the latest plot 68a is visually characterized by the first feature, and the past plot 68b is characterized by the second feature that is distinguished from the first feature. For such characterization, for example, the shape and color of the plot may be different. Here, the latest plot 68a is characterized by a “cross” mark, and the past plot 68b corresponding to the history is characterized by a square mark. When the latest plot 68a is drawn with the first feature, the plot 68b that has been drawn with the first feature until then is redrawn with the second feature. Thus, the latest plot 68a is always distinguished from the other plot 68b.

  Here, the image data generation unit 58 forms an image that includes the target region 69 that identifies the trajectory targeted by the user, overlapping the nine regions S1 to S9. Such a target area 69 can be taken into the storage device 16 through operation of the input device 21, for example. In this way, the user can indicate the target trajectory on an image of orthogonal coordinates.

(4) Operation of Golf Swing Analysis Device The operation of the golf swing analysis device 11 will be briefly described. First, a golfer's golf swing is measured. Prior to the measurement, necessary information is input from the input device 21 to the arithmetic processing circuit 14. Here, according to the three-dimensional motion analysis model 26, the position l _sj of the fulcrum 25 according to the local coordinate system Σ _s , the position of the first measurement point 32 and the position of the second measurement point 33, and the initial posture of the inertial sensor 12 are used. The rotation matrix R ⁰ , and the input of the trajectory targeted by the golfer are prompted. The input information is managed under a specific identifier, for example. The identifier may identify a specific golfer.

  Prior to measurement, the inertial sensor 12 is attached to the shaft 13 a of the golf club 13. The inertial sensor 12 is fixed to the golf club 13 so as not to be relatively displaced. Here, one of the detection axes of the inertial sensor 12 is aligned with the axis of the shaft 13a. One of the detection axes of the inertial sensor 12 is adjusted to the hitting direction specified by the orientation of the face surface 31.

Prior to execution of the golf swing, measurement of the inertial sensor 12 is started. At the start of operation, the inertial sensor 12 is set to a predetermined position and posture. These positions and postures correspond to those specified by the rotation matrix R ⁰ of the initial posture. The inertial sensor 12 continuously measures acceleration and angular velocity at specific sampling intervals. The sampling interval defines the measurement resolution. The detection signal of the inertial sensor 12 is sent to the arithmetic processing circuit 14 in real time. The arithmetic processing circuit 14 receives a signal specifying the output of the inertial sensor 12.

The golf swing starts at the address, swings down from the back swing, impacts, follows through, and finishes. The golf club 13 is swung. When shaken, the posture of the golf club 13 changes along the time axis. The inertial sensor 12 detects acceleration along the three axes of the local coordinate system Σ _s according to the posture of the golf club 13 and detects angular velocity around the three axes of the local coordinate system Σ _s . A detection signal for specifying the acceleration and the angular velocity is output. The position detector 41 calculates the position of the inertial sensor 12 in the absolute reference coordinate system Σ _xyz , that is, the position of the origin of the local coordinate system Σ _s . The attitude detection unit 42 calculates a rotation matrix Rs for each sampling point from the angular velocity. The coordinate conversion unit 45 performs coordinate conversion on the coordinate values of the first measurement point 32 and the second measurement point 33 of the local coordinate system Σ _s based on the rotation matrix Rs, and performs the first measurement with the coordinate values of the absolute reference coordinate system Σ _xyz. The point 32 and the second measurement point 33 are specified.

When the golf club 13 is stationary at the time of addressing, the stationary determination unit 43 detects the stationary state of the golf club 13. The stillness determination unit 43 outputs a stillness notification signal. In response to the reception of the stationary notification signal, the coordinate conversion unit 45 sends position signals specifying the coordinate values of the first measurement point 32 and the second measurement point 33 in accordance with the absolute reference coordinate system Σ _xyz toward the stationary analysis unit 47. Output. The stationary analysis unit 47 specifies the posture of the face surface 31 by the first line segment L1 based on the coordinate values of the first measurement point 32 and the second measurement point 33. Similarly, the stationary analysis unit 47 specifies the second line segment L2, that is, the target line, based on the coordinate values of the first measurement point 32 and the second measurement point 33.

The impact determination unit 44 detects the impact during the swing operation. The impact determination unit 44 outputs an impact notification signal. In response to receiving the impact notification signal, the coordinate conversion unit 45 specifies a position signal that specifies the coordinate values of the first measurement point 32 and the second measurement point 33 at the time of impact according to the absolute reference coordinate system Σ _xyz, and the absolute reference coordinate system A position signal that specifies the coordinate value of the first measurement point 32 specified by sampling immediately before the impact according to Σ _xyz is output to the impact analysis unit 48. The impact analysis unit 48 specifies the posture of the face surface 31 with the third line segment L3 based on the coordinate values of the first measurement point 32 and the second measurement point 33. Similarly, the impact analysis unit 48 specifies the fourth line segment L4 based on the first coordinate point P1 and the second coordinate point P2.

  The face angle calculation unit 56 calculates an angle between the first line segment L1 and the third line segment L3. The calculated angle is sent to the image data generation unit 58. The incident angle calculation unit 57 calculates an angle between the second line segment L2 and the fourth line segment L4. The calculated angle is sent to the image data generation unit 58. The image data generation unit 58 generates image data that specifies an image of orthogonal coordinates. As a result, as shown in FIG. 6, the type of trajectory is specified for each of the plots 68a and 68b.

  The trajectory of the hit ball is estimated from the posture and movement trajectory of the face surface 31 at the time of impact. The type of trajectory is determined according to the combination of the posture of the face surface 31 and the movement trajectory. When the ballistic types are presented visually, the golfer can create a ballistic image for each type of ballistic. Compared to a simple numerical presentation, the golfer can effectively convey the image of the ballistics. Based on this image, the golfer can efficiently improve the swing form.

In this golf swing analyzing apparatus 11, the posture and movement locus of the face surface 31 are specified at the time of impact. In specifying, the output of the inertial sensor 12 is coordinate-transformed from the local coordinate system Σ _s inherent to the inertial sensor 12 to the absolute reference coordinate system Σ _xyz based on the rotation matrix Rs. At this time, the absolute reference coordinate system Σ _xyz is specified by the face surface 31 at rest. In general, during a swing operation, the golfer stops at a position of impact in advance so as to confirm the face surface 31 of the golf club 13. The target line is set according to the posture of the face surface 31. Since the posture and movement trajectory of the face surface 31 at the time of impact are specified on the basis of the face surface 31 at rest, the type of the trajectory is specified from the swing motion without being influenced by the direction of the golfer's body. In this way, the analysis of the swing motion is performed without being influenced by the orientation of the body, so that the golfer can improve the swing form more efficiently.

  In particular, when the trajectory is classified, the angle of the face surface 31 at the time of impact is calculated relative to the face surface 31 at the time of rest. According to the calculation of the angle, the trajectory of the hit ball is finely classified according to the sign of the angle and the magnitude. Further, since the angle of the movement trajectory is calculated relative to the target line determined on the stationary face surface 31, similarly, the trajectory of the hit ball is finely classified according to the sign of the angle. . As a result, the golfer can improve the swing form more effectively.

In specifying the movement locus of the first measurement point 32, the position of the first measurement point 32 is determined by the first coordinate point P1 on the absolute reference coordinate system Σ _xyz indicating the position of the face surface 31 at the time of the impact and the sampling point prior to the impact. A second coordinate point P2 on the absolute reference coordinate system Σ _xyz shown is specified. In calculating the angle between the target line and the movement locus, the first coordinate point P1 and the second coordinate point P2 are specified. A vector in the moving direction is specified by the fourth line segment L4 including the first coordinate point P1 and the second coordinate point P2. In this way, the angle of the movement trajectory is reliably calculated.

As described above, when calculating the angle of the face surface 31 and the angle of the movement locus, the first line segment L1, the second line segment L2, the third line segment L3, and the fourth line segment L4 are within the absolute reference coordinate system Σ _xyz . Is projected on the horizontal plane. Thus, the z-axis orthogonal to the horizontal plane is omitted in the calculation process. The calculation process is simplified.

  In the orthogonal coordinates specified by the image data, the angle of the face surface 31 is indicated by one coordinate axis, and the angle of the movement locus is indicated by the other coordinate axis. In addition, the orthogonal coordinates are divided into nine regions S1 to S9 of 3 rows and 3 columns, and the types of ballistics are individually assigned to the respective regions S1 to S9. At that time, a straight trajectory is assigned to the central region S5 among the nine regions S1 to S9. When the swing operation is performed, the trajectory of the swing operation is determined according to the angle of the face surface 31 and the angle of the movement locus. The trajectory is plotted on Cartesian coordinates. Therefore, the golfer can easily recognize the type of the trajectory according to the angle of the face surface 31 and the angle of the movement locus. Compared to a simple numerical presentation, the golfer can effectively convey the image of the ballistics.

  The Cartesian coordinates specified by the image data further include a target area 69 that specifies the trajectory targeted by the golfer, overlapping the nine areas S1 to S9. The golfer can set a target trajectory prior to measuring the swing motion. When the swing motion is performed, the golfer can easily observe the coincidence and deviation between the trajectory specified by the swing motion and the target trajectory with an image. Thus, the golfer can improve the swing form through trial and error.

  Furthermore, in the Cartesian coordinate specified by the image data, when the plots 68a and 68b are displayed according to the angle of the face surface 31 and the angle of the movement trajectory based on the latest swing motion, the plot 68b is visually compared with the past plot 68b. The latest plot 68a is displayed in a distinguished manner. A past plot 68b remains in the image. Therefore, the golfer can visually confirm the history of the angle of the face surface 31 and the angle of the movement locus. In confirming the history, the latest ballistic plot 68a is visually distinguished from the past ballistic plot 68b. Even if a plurality of plots 68a and 68b remain, the golfer can easily extract the plot 68a formed by the latest swing motion.

  For example, a left-handed golfer's trajectory corresponds to a right-handed golfer's trajectory with the outside and inside interchanged. Therefore, it is desired to assign a display to the left-handed golfer in the rectangular coordinate regions S1 to S9. For left-handed golfers, “pull”, “straight”, and “push” trajectories are assigned to the three central rows S4, S5, and S6. When the angle of the face surface 31 increases in the positive direction while maintaining the movement paths of “pull”, “straight”, and “push”, the “pull hook”, “hook”, and “draw” are respectively three regions S1, S2, When the angle of the face surface 31 increases in the negative direction while maintaining the movement trajectories of “pull”, “straight”, and “push” assigned to S3, “fade”, “slice”, and “push slice” are in the left three columns, respectively. Area S7, S8, S9.

  In addition, the trajectory of the hit ball may be classified simply. For example, the trajectory may be classified into “hook”, “straight”, and “slice” based on the angle φ of the face surface 31. In this case, the orthogonal coordinates may be divided into three along one coordinate axis. Alternatively, the trajectory may be classified into “push”, “straight”, and “pull” based on the moving miracle angle θ. In this case, the orthogonal coordinates may be divided into three along one coordinate axis.

  The notification of the trajectory of the hit ball is not limited to the screen display as described above, and for example, sound or vibration may be used for notification of the type of the trajectory. Different types of sounds and different types of seismic intensity patterns may be assigned to each individual trajectory. For the notification by sound, the golf swing analyzing apparatus 11 may include a speaker mounted on the golf club 13 or the user, for example. In the notification by vibration, the golf swing analyzing apparatus 11 may include a grip 13b of the golf club 13 or a vibrator attached to the user, for example.

  In the above embodiment, each functional block of the arithmetic processing circuit 14 is realized in accordance with the execution of the golf swing analysis software program 17. However, each functional block may be realized by hardware without depending on software processing. In addition, the golf swing analysis device 11 may be applied to swing analysis of an exercise tool (for example, a tennis racket, a table tennis racket, or a baseball bat) that is shaken by a hand.

  Although the present embodiment has been described in detail as described above, it will be easily understood by those skilled in the art that many modifications can be made without substantially departing from the novel matters and effects of the present invention. Therefore, all such modifications are included in the scope of the present invention. For example, a term described with a different term having a broader meaning or the same meaning at least once in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. In addition, the configurations and operations of the inertial sensor 12, the golf club 13, the arithmetic processing circuit 14, the three-dimensional motion analysis model 26, and the like are not limited to those described in the present embodiment, and various modifications are possible.

  DESCRIPTION OF SYMBOLS 11 Motion analysis apparatus (golf swing analysis apparatus), 12 Inertial sensor, 13 Exercise equipment (golf club), 14 Computer (arithmetic processing circuit), 17 Motion analysis program (golf swing analysis software program), 31 Ball striking face (face surface) , 48 Impact analysis unit, 55 determination unit, 68a latest plot, 68b past plot, L2 line segment (second line segment), P1 first coordinate point, P2 second coordinate point, S1 to S9 area, φ hit ball Surface angle, θ The angle of the movement trajectory.

Claims (19)

Identifying the target line from the initial posture of the striking surface of the exercise tool when stationary before starting the exercise, using the output of the inertial sensor;
Using the output of the inertial sensor, the step of identifying the movement trajectory of the exercise tool at the time of impact from before the impact;
Determining the type of trajectory of the hit ball using the information of the target line and the movement trajectory;
The computer runs and
The step of specifying the movement locus includes a step of specifying a first coordinate point indicating the position of the hitting surface at the time of the impact and a second coordinate point indicating the position of the hitting surface at a sampling point before the impact. Including
The step of determining the type of trajectory of the hit ball includes the step of obtaining an angle formed by a line segment connecting the first coordinate point and the second coordinate point and the target line, and the trajectory of the hit ball based on the angle how motion analysis which is characterized that you determine the type. Using the output of the inertial sensor to identify the posture of the ball striking surface of the exercise tool when stationary and before impact during exercise;
Identifying the target line from the initial posture of the ball striking surface of the exercise tool when stationary before starting the exercise, using the output of the inertial sensor;
Using the output of the inertial sensor, identifying the movement trajectory of the exercise tool at the time of impact from before impact;
Determining the type of ball trajectory of the hit ball using information on the posture of the hit ball at the time of impact with respect to the initial posture of the hit ball at the time of rest, the target line, and the movement trajectory of the exercise tool;
A motion analysis method characterized in that a computer executes . The motion analysis method according to claim 1 or 2,
The inertial sensor includes a three-axis acceleration sensor and a three-axis gyro sensor. The motion analysis method according to claim 1 or 2,
A motion analysis method characterized in that a computer executes a step of specifying an initial position of a hitting surface of an exercise tool before starting a motion using an output of an inertial sensor. The motion analysis method according to claim 2,
A motion analysis method, wherein the computer executes a step of calculating a change in the angle of the hitting ball at the time of impact with respect to the hitting ball at the start of motion. The motion analysis method according to claim 4,
Wherein when a particular movement track, a first coordinate point indicating a position of the striking surface at the time of the impact, the computer the step of identifying a second coordinate point indicating a position of the striking surface in front of the sampling point from the impact The motion analysis method characterized by performing . The motion analysis method according to claim 4 or 6,
A motion analysis method, wherein the computer executes a step of calculating an incident angle of the movement locus at the time of impact with respect to a line segment orthogonal to the hitting surface at the position of the hitting surface at rest. In the kinematic analysis method according to any one of claims 1 to 7,
A motion analysis method, wherein a computer executes a step of displaying a result of determining a type of trajectory of the hit ball. The motion analysis method according to claim 2,
A motion analysis method characterized in that a computer executes a step of displaying a posture of the hitting surface on one coordinate axis and displaying a state of the movement locus at the time of impact on the other coordinate axis. The motion analysis method according to claim 9,
A motion analysis method, wherein the computer executes a process of dividing the one coordinate axis into a plurality of regions, dividing the other coordinate axis into a plurality of regions, and displaying the matrix. The motion analysis method according to claim 10,
A motion analysis method, wherein a computer executes a step of assigning and displaying a trajectory of a hitting ball in a straight direction in a central area of the matrix display. The motion analysis method according to any one of claims 9 to 11,
A motion analysis method characterized in that a computer executes a process of displaying an image including a target area for specifying a trajectory of a hit ball targeted by a user. The motion analysis method according to any one of claims 9 to 12,
A motion analysis method characterized in that, when displaying a plot based on the latest swing motion, a computer executes a step of visually distinguishing from a past plot and displaying the latest plot. Using the output of the inertial sensor, the stationary analysis unit that identifies the target line from the initial posture of the striking surface of the exercise tool when stationary before starting the exercise,
Using the output of the inertial sensor, an impact analysis unit that identifies the movement trajectory of the exercise tool at the time of impact from before the impact;
A determination unit that determines the type of trajectory of the hit ball using the target line and the information on the movement trajectory of the exercise tool,
Bei to give a,
The impact analysis unit specifies a first coordinate point indicating the position of the hitting surface at the time of impact and a second coordinate point indicating the position of the hitting surface at a sampling point before the impact;
Determination unit includes a line segment connecting the second coordinate point and the first coordinate point, determine the angle between the target line, and characterized that you determine ballistic types of hitting on the basis of the angle Motion analysis device. Using the output of the inertial sensor, specify the initial posture of the striking surface of the exercise tool when stationary before the start of exercise, and specify the target line from the initial posture,
Using the output of the inertial sensor, specify the posture of the striking surface of the exercise tool at the time of impact, and at the time of impact analysis unit to identify the movement trajectory of the exercise tool at the time of impact from before the impact,
A determination unit that determines the type of ball trajectory of the hit ball using information on the attitude of the hit ball at the time of impact with respect to the initial attitude of the hit ball at the time of stationary, the target line, and the movement trajectory of the exercise tool,
A motion analysis apparatus comprising: The motion analysis apparatus according to claim 14 or 15,
The inertial sensor includes a three-axis acceleration sensor and a three-axis gyro sensor. The motion analysis apparatus according to claim 14 or 15,
A motion analysis device characterized by using the output of an inertial sensor to identify an initial position of a ball striking surface of the exercise tool before the start of motion. Using the output of the inertial sensor, the procedure to identify the target line from the initial posture of the ball striking surface of the exercise tool when stationary before starting the exercise,
Using the output of the inertial sensor, the procedure for specifying the movement trajectory of the exercise tool at the time of impact from before the impact;
A procedure for determining the type of trajectory of the hit ball using the target line and the information of the movement trajectory,
To the computer ,
The procedure of specifying the movement locus is a procedure of specifying a first coordinate point indicating the position of the hitting surface at the time of impact and a second coordinate point indicating the position of the hitting surface at a sampling point before the impact. Including
The procedure of determining the type of trajectory of the hit ball includes a procedure of obtaining an angle formed by a line segment connecting the first coordinate point and the second coordinate point and the target line, and the trajectory of the hit ball based on the angle motion analysis program characterized that you determine the type. Using the output of the inertial sensor, the procedure to specify the posture of the ball striking surface of the exercise tool at the time of stationary before the start of exercise and at the time of impact during exercise,
Using the output of the inertial sensor, a procedure for identifying the target line from the initial posture of the ball striking surface of the exercise tool at a standstill before the start of exercise,
Using the output of the inertial sensor, a procedure for identifying the movement trajectory of the hitting surface at the time of impact from before impact;
A procedure for determining the type of trajectory of the hit ball, using information on the posture of the hit ball at the time of impact with respect to the initial posture of the hit ball at the time of stationary, the target line, and the movement trajectory of the exercise tool,
A motion analysis program characterized by causing a computer to execute.

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