JP2007144107A - Exercise assisting system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system for detecting walking of a user with a simple configuration. <P>SOLUTION: This exercise assisting system 10 includes a screen 12. A user 14 exercises staying walk (stepping)facing the screen 12. Color markers 16 are mounted on the ankles of the user 14 and images including the color markers are taken by a USB camera. Positions of the color markers are detected by processing a image signal from a computer camera, and whether the user 14 walks or not is determined by position changes of the color markers. Every time the walker 14 walks one step, a computer counts the number of steps and calculates a walking distance, walking speed, and consumed calories and displays them on the screen 12. The screen 12 further displays animated images and a playback speed of the animated images is controlled relating to the walking speed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an exercise assistance system, and more particularly to an exercise assistance system for assisting, for example, elderly people and persons with disabilities in walking.

  For example, Patent Documents 1 to 4 disclose an example of a system for assisting exercise such as stop walking (stepping) exercise. Such an exercise assistance system is devised to provide motivation for exercise by measuring the user's walking and presenting the walking speed and stride to the user.

In Patent Documents 1 and 2, the foot landing point on the moving road surface is observed with a video camera to measure the stride. In Patent Document 3, the walking speed is obtained from the walking time (walking distance calculation) and the peak frequency of the acceleration waveform from the acceleration change by the three-axis acceleration sensor. Further, in Patent Document 4, the walking speed and walking distance are obtained by measuring the crossing speed and the crossing interval time using a magnetic sensor or the like at a portion where the human body relatively crosses during walking.
JP 2004-28635 [G01C 22/00 A63B 22/06 A63B 23/04 A63B 69/00 G01B 11/02] JP 2004-167002 [A61B 5/11 A63B 24/00 A63B 69/00 G01C 22/00 G06T 1/00] JP-A-2005-49202 [G01C 22/00] JP 2004-69468 [G01C 22/00]

  In this type of exercise support system, it is important to perform optimal exercise according to the individuality of the user and the current state of the person. For this purpose, for example, in stop walking exercise, the user's stride and walking speed are measured. It is necessary to present an exercise program tailored to that. However, the above-described conventional technologies use expensive systems in order to measure the stride and walking speed.

  Therefore, a main object of the present invention is to provide a novel exercise assistance system.

  Another object of the present invention is to provide an exercise assistance system that can measure a user's condition and the like at a low cost.

  The invention of claim 1 is an exercise assistance system for assisting such exercise in which a user's hand or foot repeats a predetermined movement, and is a color marker for wearing on at least one hand or foot of the user An exercise assisting system comprising: a camera that outputs an image signal including a color marker; a position detection unit that processes the image signal to detect a position of the color marker; and a stroke detection unit that detects a stroke of movement based on the position. is there.

  According to the first aspect of the present invention, a color marker (16: reference numeral exemplifying a corresponding portion or element in the embodiment; the same shall apply hereinafter) is attached to at least one hand or foot of the user, and the user stops walking (stepping) Exercise) and swimming exercises. The camera (18) captures a range including the color marker and outputs an image signal. The position detection means (S2, S4, S402), which may be one function of the computer (24), detects the position of the color marker by processing the image signal. The stroke detection means (S6, S8, S408), which may also be a function of the computer (24), detects the stroke of the hand or foot in the exercise performed by the user by tracking the change in the position of the color marker. To do.

  In other words, according to the first aspect of the present invention, the user performs a walking exercise, a swimming exercise, and the like simply by attaching a color marker to the user, taking an image thereof with a camera, and processing the image signal with, for example, a computer. Can be detected.

  The invention of claim 2 further comprises a stroke number counter for counting the number of strokes detected by the stroke detection means, and an average speed calculation means for calculating an average speed based on the number of strokes counted by the stroke number counter. The exercise assistance system according to 1.

  In the invention of claim 2, the stroke number counter (32) is incremented for each stroke detected by the stroke detecting means (S10). The average speed calculation means (S12, S412) comprising, for example, a computer (24), for example, multiplies the total number of strokes accumulated in the stroke number counter by, for example, the average stride or average stroke distance, thereby increasing the walking distance or swimming. By calculating the distance and dividing them by the total exercise time, the average speed (walking speed or swimming speed) can be obtained. Therefore, if this average speed is displayed so as to be visible to the user, the user can easily confirm the effect of the exercise.

  The invention according to claim 3 is the exercise assistance system according to claim 2, further comprising consumption calorie calculation means for calculating consumption calorie based on the number of strokes.

  In the invention of claim 3, since the computer 24 calculates calorie consumption based on the number of strokes (S12, S412), the user can further confirm the effect of exercise.

  According to a fourth aspect of the present invention, there is provided a color marker for mounting on at least one ankle of a user, a camera for outputting an image signal including the color marker, a position detection means for processing the image signal to detect the position of the color marker, and It is an exercise assistance system provided with the walk detection means which detects a user's walk based on a position.

  In the invention of claim 4, a color marker (16: reference numeral exemplifying a corresponding part or element in the embodiment; the same shall apply hereinafter) is attached to at least one of the user's ankles, and the user stops walking motion (stepping motion). To do. The camera (18) captures a range including the color marker and outputs an image signal. The position detection means (S2, S4), which may be one function of the computer (24), detects the position of the color marker by processing the image signal. The walking detection means (S6, S8), which may also be a function of the computer (24), determines whether the user's foot has been raised or lowered by tracking the change in the position of the color marker.

  In other words, according to the fourth aspect of the present invention, it is detected that the user is performing a walking exercise simply by attaching a color marker to the user, photographing the image with a camera, and processing the image signal with, for example, a computer. can do.

  The invention according to claim 5 is a step counter that is incremented when the walking detecting means detects the raising or lowering of the foot corresponding to one step, and an average walking speed calculation that calculates an average walking speed based on the number of steps counted by the step counter. 5. The exercise assistance system of claim 4, further comprising means.

  In the invention of claim 5, the step count counter (32) is incremented when the walking detecting means detects the raising and lowering of the foot corresponding to one step (S10). Then, for example, the average walking speed calculating means (S12) comprising the computer (24) calculates the walking distance by multiplying the total number of steps accumulated in, for example, the number of steps counter by, for example, the average step length, and calculates the walking distance to the total motion. Divide by time to find the average walking speed. Therefore, if this average walking speed is displayed so as to be visible to the user, the user can easily confirm the effect of the walking exercise.

  The invention according to claim 6 is the exercise assisting system according to claim 5, further comprising moving image display means for displaying a moving image that moves at a moving speed so that a user who performs a walking exercise can be seen.

  In the invention of claim 6, for example, using a video display device composed of a combination of the screen (12) and the projector (20) or another type of video display device, the moving image video display means (24, 26) Play and display the video image at the set moving speed. Therefore, if the moving image of the device is changed, it is possible to provide the user with a virtual exercise space having various scenery.

  The invention according to claim 7 is the exercise assisting system according to claim 6, further comprising video moving speed control means for controlling the moving speed of the moving image according to the average walking speed.

  In the seventh aspect of the invention, the video moving speed setting means (S16), which can be constituted by, for example, a computer (24), controls the moving speed of the moving picture according to the average walking speed. For example, if the movement speed is changed and controlled according to the average walking speed, a relaxed virtual exercise environment can be presented to the user.

  The invention of claim 8 further comprises speed comparison means for comparing the moving speed of the moving image and the average walking speed, and message giving means for applying a message to the user according to the comparison result of the speed comparison means. Or it is the exercise assistance system of 7.

  In the invention of claim 8, the comparison means (S15, S18) compares the moving speed of the moving image and the average walking speed, and as a result, the message giving means (S17, S19) outputs a message to the user. For example, when the latter is slower than the former, the message is "Please walk a little faster". When the latter is faster than the former, the message is "Please walk a little slower" obtain. By giving this type of message to the user, the user can be encouraged to actively train.

  The invention according to claim 9 is the exercise assistance system according to any one of claims 4 to 8, further comprising consumption calorie calculation means for calculating consumption calorie according to a change in the position of the color marker detected by the position detection means. is there.

  In the ninth aspect of the present invention, the calorie consumption calculating means is composed of, for example, a computer (24), and calculates, for example, positional energy, kinetic energy, or walking kinetic energy in accordance with a change in the position of the color marker detected by the position detecting means. And calculate the calorie consumption based on the sum of them. Therefore, if this consumed calorie is displayed so as to be visible to the user, the user can easily confirm the effect of the walking exercise.

  According to a tenth aspect of the present invention, there are provided a color marker for mounting on at least one wrist of a user, a camera for outputting an image signal including the color marker, a position detecting means for processing the image signal to detect the position of the color marker, and It is an exercise assistance system provided with the forward bending detection means which detects a user's forward bending action based on a position.

  In the invention of claim 10, the color marker (16) is attached to at least one wrist of the user, and the user performs a forward bending operation. The camera (18) captures a range including the color marker and outputs an image signal. For example, the position detection means (S102, S104), which may be a computer (24), detects the position of the color marker by processing the image signal. The forward bending detection means (S106, S108), which may also be a computer (24), determines whether or not the user has bent forward by tracking changes in the position of the color marker.

  According to the invention of claim 10, by setting the mounting position of the color marker to the wrist, the forward bending motion can be detected and the forward bending flexibility can be evaluated.

  The invention according to claim 11 is a color marker for mounting on at least one ankle of a user, a camera for outputting an image signal including the color marker, a position detection means for processing the image signal to detect the position of the color marker, and It is an exercise assistance system provided with the maximum 1 step detection means which detects the maximum 1 step of a user based on a position.

  In the invention of claim 11, the color marker (16) is attached to at least one of the ankles, and the user steps his / her foot forward greatly. The camera (18) captures a range including the color marker and outputs an image signal. For example, the position detection means (S202, S204) comprising a computer (24) detects the position of the color marker by processing the image signal. Similarly, the maximum one-step detection means (S206, S208) comprising, for example, a computer (24) determines whether or not the user's legs are fully opened by tracking the change in the position of the color marker. According to the eleventh aspect, it is possible to detect and evaluate the maximum step length by attaching a color marker to at least one ankle.

  According to a twelfth aspect of the present invention, a color marker for wearing on one ankle of a user, a camera for outputting an image signal including the color marker, a position detection means for processing the image signal to detect the position of the color marker, This is an exercise assistance system comprising one leg raising detection means for detecting a user's one leg raising operation based on the user, and a time counting means for counting the time during which the one leg raising detection means continues to detect the one leg raising action.

  In the invention of claim 12, the color marker (16) is attached to one of the user's ankles, and the user performs the one-leg raising operation. The camera (18) captures a range including the color marker and outputs an image signal. The computer (24), that is, the position detection means (S302, S304) processes the image signal to detect the position of the color marker. Similarly, the one leg raising detection means (S306, S308), which is a computer (24), determines whether or not the user has raised one leg by tracking the change in the position of the color marker. The time counting means (32) counts the time during which the one leg raising detecting means detects the one leg raising action, that is, the time during which the user continues the one leg raising action. Therefore, according to the twelfth aspect of the present invention, the stability of raising one foot can be evaluated.

  In the invention of claim 13, the color marker (16) is attached to at least one hand of the user, and the user performs a swimming exercise. The camera (18) captures a range including the color marker and outputs an image signal. The position detection means (S402), which may be one function of the computer (24), detects the position of the color marker by processing the image signal. The stroke detection means (S408), which may also be a function of the computer (24), detects the stroke of the hand in the movement performed by the user by tracking the change in the position of the color marker.

  That is, according to the invention of claim 13, the user is performing a swimming exercise simply by attaching a color marker to the user's hand, taking an image of it with a camera, and processing the image signal, for example, with a computer. Can be detected.

  The invention of claim 14 further comprises a stroke number counter incremented for each stroke, and an average swimming speed calculation means for calculating an average swimming speed based on the number of strokes counted by the stroke number counter. Is an exercise assistance system.

  In the invention of claim 14, the stroke number counter (32) is incremented for each stroke detected by the stroke detecting means (S10). Then, for example, the average swimming speed calculating means (S412) comprising the computer (24) calculates the swimming distance by multiplying, for example, the average stroke distance by the total number of strokes accumulated in the stroke number counter. Divide by total exercise time to get the average swimming speed. Therefore, if the average swimming speed is displayed so as to be visible to the user, the user can easily confirm the effect of the exercise.

  The invention according to claim 15 is the exercise assisting system according to claim 14, further comprising moving image display means for displaying a moving image moving at a moving speed.

  In the invention of claim 15, for example, using a video display device composed of a combination of the screen (12) and the projector (20) or another type of video display device, the moving image video display means (24, 26) Play and display the video image at the set moving speed. Therefore, if the moving image of the device is changed, it is possible to provide the user with a virtual exercise space having various scenery.

  The invention according to claim 16 is the exercise assisting system according to claim 15, further comprising image moving speed control means for controlling the moving speed of the moving image according to the average swimming speed.

  In the invention of claim 16, the video moving speed setting means (S416) which can be constituted by, for example, a computer (24) controls the moving speed of the moving image according to the average swimming speed. For example, if the movement speed is changed and controlled in accordance with the average swimming speed, a relaxed virtual exercise environment can be presented to the user.

  According to the present invention, it is possible to detect that the user is performing a walking exercise, a swimming exercise, or the like only by processing an image signal obtained by photographing a color marker attached to the user by, for example, a computer. Compared to this, a much cheaper exercise assistance system can be constructed. In addition, by appropriately setting the mounting position of the color marker, it is possible to detect not only walking exercises and swimming exercises but also various body postures.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  The exercise assisting system 10 according to the embodiment of the present invention shown in FIG. 1 includes a screen 12, and a user 14 performs a stop walking exercise or a stop running in front of the screen 12. The stop walking exercise or the stop running exercise is a walking exercise or a running exercise performed without changing the position, and is a stepping exercise. The difference between the walking motion and the running motion can be distinguished by the speed of raising and lowering the foot. However, in the system 10 of this embodiment, it is not necessary to distinguish between the walking motion and the running motion, so it is particularly necessary to explain the difference. If not, all are described as walking.

  In this embodiment, a color marker 16 to which a specific color such as blue is given is attached to the ankle of one foot of the user 14. As the color marker 16, for example, a colored cloth that is detachably attached with a hook-and-loop fastener (“magic tape” (trade name)) or a flat rubber with a certain width is colored. Although it can be used in any form, such as an applied one, the main point is a colored object that is attached to the foot so as to be displaced following the raising and lowering of the foot in the walking motion of the user 14 and can be photographed with a camera. I just need it.

  A camera 18 for photographing the above-described color marker 16 attached to the foot of the user 14 is installed below the screen 12, for example. However, the installation location of the camera 18 is not limited to the lower side of the screen 12 as long as it does not interfere with the user 14 or other people who exercise. As the camera 18, a USB camera can be used, and the USB camera is connected to a USB (Universal Serial Bus: interface standard that can connect various peripheral devices with a common connector) terminal of a computer. For example, it is a relatively inexpensive camera called a Web camera having a horizontal angle of 50 degrees and a pixel count of about 25 to 450,000 pixels. However, a camera with a larger number of pixels and higher definition may be used.

  Further, in the exercise assistance system 10 of this embodiment, an image (for example, a moving image whose image changes in the traveling direction) effective for the stop walking motion of the user 14 is displayed on the screen 12 by the projector 20, for example. If necessary, sound such as BGM (Back Ground Music), sound effects, or voice messages may be generated by the stereo speakers 22L and 22R.

  In this embodiment, the ceiling-type projector 20 is used in order to secure a sufficient space on the floor surface, but a floor-standing projector may be used. Further, in this embodiment, a video display device composed of a combination of the screen 12 and the projector 20 is used, but other video display devices such as a large screen television may be used.

  A block diagram of the exercise assistance system 10 of the FIG. 1 embodiment is shown in FIG. The exercise assistance system 10 includes a computer 24 that receives camera signals from the USB camera 18. Then, the video player 26 reproduces the video as described above, and gives the reproduced video signal from the graphic board 28 to the projector 20. In this embodiment, for example, a video source is created by shooting with a digital video camera moving at a predetermined speed, the video source is converted into a motion JPEG video file, and the video source 26 is played back by a video player 26 such as DirectShow. To do. Also, sound signals such as BGM and sound effects are given from the sound board 30 to the speakers 22R and 22L.

  The internal memory 32 of the computer 24 stores a program shown in a flowchart described later, and the area of the internal memory 32 is also used as a working memory, a buffer, a register, a counter, or the like. In particular, in the internal memory 32, a hue value (blue in the embodiment) indicating a color (the color of the marker 16 shown in FIG. 1) to be extracted or acquired by the computer 24 in image processing is set in advance. The hue register (not shown) is formed.

  Further, in this internal memory 32, a table (not shown) for obtaining the average Japanese stride is stored in advance. For example, the user's average stride can be obtained by searching the average stride table from the user's height, weight, age, and gender.

  An external memory 36 is coupled to the computer 24 via a memory interface 34. The external memory 36 is an arbitrary recording medium or storage medium such as a hard disk, a disk such as a CD-RW or a DVD-RW, or a semiconductor memory in which a moving image reproduced by the video player 26 is recorded. Then, for convenience, they are called “memory”.

  Here, with reference to FIG. 3, in this exercise assisting system 10, the moving or proceeding moving image (as described above) on the screen 12 to assist the user 14 in the stop walking motion by the projector 20 ( (Progress video) is displayed in the video display area 12a. Furthermore, a walking distance display area 12b, a walking speed display area 12c, a step count display area 12d, and a consumed calorie display area 12e are provided on the screen 12, respectively. The walking distance display area 12b displays how many meters it has been supposed to have moved due to the stop walking motion, and the walking speed display area 12c indicates the walking speed (speed: km / h) at that time. In the step number display area 12d, the number of steps taken, that is, how many times the foot has been raised and lowered is displayed, and in the consumption calorie display area 12e, how many kcal are consumed by the stop walking exercise at that time. Is displayed. These numerical values are basically estimated values obtained by calculation as described below.

  With reference to FIG. 4, operation | movement of the computer 24 when the user 14 performs stop walking exercise | movement using the exercise | movement assistance system 10 of this Example is demonstrated. It should be noted in advance that the processing operations shown in FIG. 4 and the subroutines accompanying each processing are basically executed for each display frame by the projector 20.

  Prior to the start of stop walking exercise, personal data, height, weight, age, and gender necessary for subsequent calculations are input using input means (keyboard, mouse, etc.) not shown, and each register and buffer Initialize counters, flags, etc.

  Then, as shown in FIG. 1, the user 14 performs a stop walking exercise in front of the screen 12. Therefore, the computer 24 activates the video player 26 and causes the projector 20 to display an appropriate progress video image on the video display area 12a (FIG. 3) of the screen 12. At the same time, in step S2, the computer 24 detects the position in the real space of the color marker 16 worn by the user 14 on the ankle.

  In order to detect the color marker 16, the subroutine shown in FIG. 5 is executed. That is, in the first step S <b> 21, the computer 24 captures an image signal including the color marker 16 from the USB camera 18 installed below the screen 12. The image signal includes an image (noise) of the background of the user 14 in addition to the image of the foot color marker 16 of the player 14. Therefore, in the next step S22, in order to remove such noise, the computer 24 applies a mask to an area other than the area where the color marker 16 is considered to exist, and the masked area, that is, an area other than the color marker existing area. The image signal is excluded from the object of processing to reduce the burden on the computer.

  In the subsequent step S23, the computer 24 calculates the hue value (not shown) set in the hue register (not shown) formed in the internal memory 32 from the RGB signal of the image of the area exposed from the mask, that is, the color marker existing area. A region (part) of a specific color indicated by an appropriate value of 0 to 255 (blue in this embodiment because the color marker 16 is blue) is extracted.

  In step S24, a binarization process is performed in order to detect a color area that seems to be a color marker from the specific color area acquired in step S23. In subsequent step S25, the computer 24 executes expansion processing.

  In step S26, the computer 24 performs area filtering. In other words, in step S26, the computer 24 is a region having a small area among regions having the same or similar hue as the color marker 16 (FIG. 1) after binarization in step S24 and expansion processing in step S25. Is determined as noise and is removed, and a region having an area equal to or larger than a predetermined threshold is detected. Then, the area having the maximum area among the areas having an area equal to or larger than the threshold is determined as the color marker 16.

  After performing the area filtering process in step S26, in step S27, the computer 24 measures the barycentric coordinates from the image signal after the area filtering process. However, the “center of gravity” refers to the center of the mass distribution when the pixel value is regarded as the density. In step S27, the computer 24 measures the center-of-gravity coordinates (x, y, z) on the image. The barycentric coordinate position is a position on the image. If the coordinate position on the image and the position in the real space are associated with each other, the barycentric coordinate position is eventually measured, whereby the real space of the color marker 16 is measured. The position within is indicated. Then, the process exits this subroutine and returns to FIG.

  However, the coordinates to be measured may be the center of the area (planar coordinates) instead of the center-of-gravity coordinates, and each may correspond to the position in the real space.

  In step S4 of FIG. 4, the computer 24 writes the position of the color marker 16 obtained in step S2 in a position buffer (not shown) provided in the internal memory 32 (FIG. 2).

  Thereafter, the computer 24 performs walking determination in step S6. The walking determination in step S6 is to determine whether or not the user 14 has walked one step, and is determined as follows as an example.

  In step S4, the position of the color marker 16 for each frame is written in the position buffer. Focusing only on the height of the ankle of the user 14, the Z-axis position (z value) in the position data is Compared to the frame and the previous value, the peak point (the highest point) on the Z axis is detected. For example, when the z value increases sequentially, it indicates that the user's 14 feet are rising sequentially but have not yet reached the peak. When the z value gradually increases and then becomes smaller than the previous value, it can be determined that the foot position has passed the highest peak point. In this way, the highest point (peak) of the user's foot is detected. Then, each time the color marker 16, that is, the peak of the ankle height of the user 14 is detected, it is determined that there has been one step of walking.

  Or, more simply, when the z value exceeds a predetermined threshold value (z value with a height that can be estimated to have lifted the foot), it may be determined that there is a one-step walk.

  In the next step S8, the computer 24 determines whether or not one step has been detected as a result of the walking determination in step S6. If “NO” is determined in step S8, one step has not yet been detected in the frame at that time, and the process ends.

  When one step is detected in step S6, “YES” is determined in step S8, and the computer 24 increments a step number counter (not shown) in the internal memory 32 by 1 in the subsequent step S10. Therefore, the total number of steps in the stop walking luck performed by the user in the step S10 is stored in the step number counter.

  In the next step S12, the walking distance and calorie consumption are calculated and the walking speed is calculated based on the number of steps obtained in step S10.

First, the walking distance can be obtained by multiplying the number of steps by the step length. Here, the stride can be obtained from the average stride table previously set in the internal memory 32 described above based on the height, age, and gender of the user. That is, the walking distance can be calculated by Equation 1.
[Equation 1]
Walking distance = number of steps x average step length [m]
Calorie consumption can be calculated by determining foot potential energy (PE) and kinetic energy (KE) and kinetic energy from walking movement from a standard gait model.

First, the potential energy PE of the foot is obtained by Equation 2.
[Equation 2]
PE = mgh [J]
However, m is the mass of one leg, and can be calculated as 16.1% of the body weight M as an example. Further, g is a gravitational acceleration, and is 9.81 [m / s2]. Further, h is the height (peak point) of the raised foot.

  As an example, when m = 65 [kg] × 0.161 = 10.5 [kg] and h = 0.3 [m], PE = 30.9 [J] can be calculated.

Further, the kinetic energy KE based on the potential energy (PE) can be obtained by Equation 3.
[Equation 3]
KE = (1/2) mV1 ² [J]
However, m is the mass of one leg and V1 is the speed of raising the leg. Specifically, the speed of raising the foot can be calculated from the amount of displacement of the marker position for each frame obtained in step S4 in FIG. That is, since 1 frame is 1/30 second, if the distance moved or displaced during that time is obtained, the speed of raising the foot can be calculated.

  As an example, when m = 10.5 [kg] and V1 = 2.0 [m / s], KE = 10.5 [J] can be calculated.

Furthermore, the kinetic energy WEK by walking can be obtained from Equation 4.
[Equation 4]
WEK = (1/2) MV2 ² [J]
However, M is body weight and V2 is walking speed [km / h].

The walking speed V2 is considered as the average walking speed. The average walking speed can be calculated by dividing the walking distance obtained by Equation 1 by the total exercise time. That is, it is obtained by the following equation (5)
[Equation 5]
Average walking speed = walking distance / exercise time [km / h]
As an example, assuming that M = 65 [kg] and V2 is 4 [km / h] = 1.11 [m / s], WKE = 36.1 [J] can be calculated.

As shown in Equation 6, the calorie consumption is the sum of the potential energy PE of Equation 2, the kinetic energy KE of Equation 3, and the kinetic energy WKE of Equation 4.
[Equation 6]
Calorie consumption = PE + KE + WEK [J]
Applying the above specific example, PE + KE + WKE = (30.9 + 10.5 + 36.1) [J] = 77.5 [J] = × 0.2389 × 10 ⁻³ = 1.85 × 10 ⁻² [kcal]. . When this value is converted into 10,000 steps, it is 185 [kcal].

  On the other hand, the inventors measured calorie consumption when actually walking and walking 10,000 steps for comparison, calibration, or correction. In exercise physiology, oxygen demand, heart rate, pulse rate, etc. have been used to measure exercise intensity. Measurements based on oxygen demand are accurate but not convenient, and have been replaced by heart rate and pulse rate. However, recently, a portable respiratory metabolism device has been developed, and the oxygen demand can be easily measured, so the inventors have actually used this portable respiratory metabolism device to walk 10,000 steps. When the oxygen demand was measured.

Regarding the relationship between the oxygen demand and exercise, for example, according to the American Sports Medicine Association (ACSM), the oxygen consumption Vo2 [ml / kg / min] per 1 kg of body weight per minute is as shown in Equation 7.
[Equation 7]
Vo2 = movement speed × 0.1 (coefficient for walking) [ml / kg / min]
If the oxygen demand at rest is 3.5 [ml / kg / min] as a unit of 1 MET (Metabolic Equivalent) and the number 7 is divided by 1 MET, it becomes MET, which is a multiple of the MET unit. The number of METS and energy consumption [kcal / min] are the same numbers. For example, 3METS is 3 [kcal / min], and 7METS is 7 [kcal / min]. In Equation 7, “0.1” is used as a coefficient in the case of walking. However, in the case of running, “0.2” is used as a coefficient.

  In this way, the inventors actually measured calorie consumption from the amount of oxygen demand when actually walking and walking 10,000 steps. The result was 300 to 400 [kcal].

Therefore, in the exercise assistance system 10 of this embodiment, the calculated value is calculated as the calorie consumption corrected according to Equation 8 using the two coefficients α and β. However, the inventors can use a combination of α = 1.6 to 2.2 and β = 1 or a combination of α = 1.1 to 1.5 and β = 2 in Equation 8. I have confirmed that.
[Equation 8]
Calorie consumption calculated from oxygen demand = α {PE + KE + β (WEK)}
As shown in Equation 9, the calorie consumption may be calculated by simply multiplying the total energy calculated in Equation 6 by the coefficient γ.
[Equation 9]
Calorie consumption calculated from oxygen demand = γ {PE + KE + WEK}
In this way, since the walking distance, the average walking speed, and the calorie consumption can be calculated in step S12 in FIG. 4, in the next step S14, the display data is updated with the values calculated in the previous step S12. That is, the walking distance, the walking speed, the number of steps, and the calorie consumption newly calculated in step S12 are displayed in the display areas 12b, 12c, 12d, and 12e shown in FIG.

  However, the average walking speed may be displayed every certain time (for example, 15 seconds), and the calorie consumption may be displayed as a cumulative value every certain time (for example, 30 seconds). Similarly, in the case of running (running), the travel distance, the travel speed, and the calorie consumption are displayed, but the number of steps corresponding to the number of steps is not displayed because there is no generality.

In step S16, the computer 24 controls the video playback speed of the video player 26 so as to match the average walking speed calculated in step S12. As described above, when shooting is performed with a digital video camera mounted on a car, and the vehicle speed at that time is v [km / h] and the speed V [km / h] at the time of video playback, playback is performed according to Equation 10. What should I do?
[Equation 10]
V = v × S
However, S is a coefficient, and here, a value corresponding to the average walking speed is set.

  In this way, the moving speed of the moving image and the estimated average moving speed by the user 14 at that time can be adapted by controlling the video rendering speed, that is, the moving image playback speed on the video player 26. it can. Therefore, if the user 14 is walking slowly, the playback speed of the progress video is also slow, and if the walking speed is fast, the playback speed is also fast. That is, in this embodiment, the moving image playback speed is matched to the user's walking speed, so that the walking motion can be practiced in a relaxed and relaxed manner. Such a walking exercise mode is called a “relaxation training mode”.

  Next, another walking exercise mode “active training mode” will be described with reference to FIG. In this active training mode, the playback speed of a moving image (moving video) played by the projector 20, that is, the video player 26 is set to a predetermined value, and the user walks at a walking speed that matches the playback speed. This is a mode in which the user is actively trained by applying a load.

  In FIG. 6, in the first step S <b> 1, the computer 24 sets the video playback speed indicated by Formula 10 by the video player 26. In other words, when setting this mode, the unit or 14 uses a GUI (Graphical User Interface) screen (not shown) to initially set an average walking speed desired by itself (Equation 5), for example, 5 km / h. The computer 24 sets the playback speed of the video player 26 so as to match the initially set average walking speed.

  Thereafter, steps S2 to S14 are executed. Since these steps are the same as the steps having the corresponding numbers described above with reference to FIG. 4, duplicate descriptions are omitted here.

  After step S14, in step S15, the computer 24 determines whether or not the actual average walking speed at that time calculated in step S12 is too slow compared to the desired average walking speed initially set in step S1. to decide. In determining whether it is too slow, it can be determined that it is “too late” if it is slightly delayed from the desired speed. However, in this embodiment, when it is delayed by a certain percentage, for example, 10% or more from the desired speed. In addition, it is determined that it is “too late”. As an example, 5 km / h is set as the initial set speed, and if it is actually 4.5 km / h or less, it is determined that the speed is too slow. Whether such an allowable range is set when determining whether it is too late and how much the allowable range is set can be arbitrarily set according to the individuality of the target person (user). Therefore, in the above example, it is possible to determine that the walking speed is too slow when the walking speed is slightly below 5 km / h.

  If it is determined in step S15 that it is “too late”, the computer 24 displays a message on the screen 12 shown in FIG. 7, for example, such as “Please walk a little faster”. It is displayed in the message display area 12f.

  If "NO" is determined in the step S15, the computer 24 compares the actual average walking speed calculated in the step S12 with the desired average walking speed initially set in the step S1 in the next step S17. Judge whether it is too fast. In determining whether it is too fast, it can be determined as “too fast” if it is slightly faster than the desired speed, or it is determined as “too fast” only when it is faster than the desired speed by a certain percentage, for example, 10% or more. You can also As an example, 5 km / h is set as the initial set speed, and if it is actually 5.5 km / h or more, it is determined that the speed is too fast. Whether such an allowable range is set for determining whether it is too fast, and how much the allowable range is set, can be arbitrarily set according to the individuality of the target person (user). Therefore, in the above example, it is possible to determine that the walking speed is too fast when the walking speed is slightly higher than 5 km / h.

  If it is determined in step S17 that it is “too fast”, the computer 24 displays a message such as “Please walk a little slower” in the message display area 12f shown in FIG.

  If “NO” in both step S15 and step S17, the process ends as it is.

  As in this example, in the relax mode, the walking speed (running speed) measured in real time is fed back to adjust the playback speed of the video. In the active mode, the output parameter is set in an open loop using the correlation in the previous period. Since it is controlled, biofeedback is applied to the walking motion and efficient training is possible.

  In everyday experience, the surrounding landscape changes according to the walking speed, and the speed of change cannot be chosen arbitrarily. On the other hand, in the virtual environment as in this embodiment, the video playback speed and the walking speed can be selected arbitrarily independently of each other. However, if you choose to be totally free, you may feel uncomfortable due to differences from daily experiences, and you may feel sick in some cases. Therefore, in this embodiment, instead of selecting independently, an optimum selection method according to the user's training purpose is found and the training effect is enhanced. In the active training mode, for example, the user's consciousness / behavior is externally triggered to increase motivation, as in the case where the speed is increased by being pulled by a marathon pacemaker.

  In the above-described embodiment, the color marker 16 is attached to the user's 14 foot, the position of the color marker is detected from the image signal obtained by capturing the data of the camera 18, and the user's foot is detected based on the change in the position of the color marker. Since walking (stepping) is detected, an expensive system as in the prior art is unnecessary, and an exercise assist system having a simple and inexpensive configuration can be obtained. However, it does not prevent the combined use with a conventional treadmill or the like, and for example, when the user is walking or running on the treadmill, the number of steps, walking distance, etc. may be calculated by the same method. . However, when using a treadmill or something similar, the walking distance or the like can be calculated on the treadmill or similar side, so only one of the data need be used.

  Further, in the embodiment, by tracking one color marker, it is determined whether or not the user has walked only by raising and lowering one foot. However, by mounting color markers of different colors (for example, blue and yellow) on both feet of the user and individually tracking each color marker, it is determined whether the user has walked one step by detecting the raising or lowering of both feet. You may make it do. Also in this case, the marker detection operation of FIG. 5 is merely processed for each color marker, and the basic principle and operation are not changed.

  Furthermore, in the above-mentioned embodiment, the color marker is used. However, in all the embodiments described in the specification including this embodiment, an infrared marker made of an infrared reflecting member is used, and the infrared marker is For example, it is also possible to project infrared rays from an infrared projection means such as black light, and to take an infrared marker using an infrared camera and detect the position of the infrared marker from the image. If an infrared system is used, although it is somewhat expensive, there is an advantage that disturbance can be suppressed.

  Furthermore, in all of the above-described embodiments, a passive type marker is used as the marker. However, even if an active type marker is used, the marker position can be detected by the same method. As the active type marker, a light emitting diode, an infrared diode, or the like that outputs visible light or infrared light can be used.

  Further, in this embodiment, since a color marker or an infrared marker is attached to a part of the user's body and the displacement of the marker can be detected, the displacement of the part of the body can be detected. In addition to stop walking or running motion, a number of body functions can be measured, such as forward flexing flexibility, maximum one step length and one leg standing time, for example. In other words, after training for a certain period of time, it is necessary to measure the body function to confirm the effect, but if you observe the position and movement of the marker attached to the body with the camera for various postures of the body, Such physical function can be measured.

  FIG. 8 is an illustrative view showing a state of measuring spinal flexibility by forward bending. For the measurement of spinal flexibility, the user 14 places a marker (color marker) on the wrist of one or both hands. Infrared marker, etc.) 16 is attached and bent forward in that state. At this time, if the position of the marker from the floor is observed, the flexibility of the trunk centering on the waist (vertebral column flexibility) can be measured.

  Specifically, the computer 24 measures flexibility by executing each step of FIG. 9 in each frame. That is, in the first step S102 of FIG. 9, the subroutine of FIG. 5 is executed similarly to step S2 of FIG. 4 to detect the position of the marker 16 attached to the wrist. In step S104, the computer 24 writes the position data of the marker 16 thus acquired in a position buffer (not shown).

  Next, in step S106, the computer 24 determines whether the forward bending operation of the user 14 is completed based on the change in the position of the marker 16 obtained in step S104.

  For example, the position of the marker 16 for each frame is written in the position buffer in step S104. Focusing only on the wrist height of the user 14, the Z-axis position (z value) in the position data is Each frame is compared with the previous value, and the lowest point on the Z axis is detected. For example, when the z value is sequentially decreased, it indicates that the user 14's hand has been lowered but not yet lowered, that is, in the middle of the forward bending operation. When the z value becomes the smallest, it can be determined that the forward bending operation of the user 14 has been completed. Accordingly, at this time, “YES” is determined in step S108.

  If “YES” in the step S108, the computer 24 stores the height position (z value) of the marker 16 at that time in a buffer (not shown), and in accordance with the height position in the step S110, for example, a flexibility table. To evaluate user flexibility. Similar to the previous average stride table, this flexibility table also associates the height position of the wrist from the floor with reference to gender, age, etc. and the resulting flexibility evaluation value, and was detected in step S110. The evaluation value may be searched based on the sex, age, etc., from the wrist height position when the forward bending is completed.

  FIG. 10 is an illustrative view showing a state of measuring a maximum step length by front and rear legs. The maximum step length that can be taken one step from the initial position and maintain the posture without swaying is called the maximum one step length. By measuring this maximum one step length, the range of motion of the user's legs and hip joints and the combined functions of flexibility and strength can be measured. it can.

  In order to measure the maximum step length, the user 14 wears a marker (color marker, infrared marker, etc.) 16 on the ankles of both feet as shown in FIG. Step forward. If the distance between the two markers 16 at this time is observed, the maximum step length can be measured.

  Specifically, the computer 24 measures the open leg flexibility by executing each step of FIG. 11 in each frame. That is, in the first step S202 of FIG. 11, the subroutine of FIG. 5 is executed in the same manner as in step S2 of FIG. 4, and the respective positions of the two markers 16 attached to the ankle are detected. In step S204, the computer 24 writes the position data of the two markers 16 thus acquired in the position buffer.

  Next, in step S206, the computer 24 determines whether or not the user's 14 leg opening (maximum one step) operation is completed based on the change in the position of the marker 16 obtained in step S204.

  For example, in step S204, the positions of the two markers 16 for each frame are written in the position buffer. Focusing only on the position in the Y-axis direction, the Y-axis position (y value) in the position data is separated. The width (difference between y values of 2) is compared with the previous value every frame. For example, when the separation width of the y value is sequentially increased, it indicates that the user 14 has not yet completed the leg opening operation of both feet. When the separation width of the y value becomes the largest, it can be determined that the user 14 has completed the leg opening operation. Accordingly, at this time, “YES” is determined in step S208.

  If “YES” in step S208, the computer 24 evaluates the flexibility of the user by searching, for example, an open leg flexibility table according to the separation width of the y values of the two markers 16 at that time. Similar to the previous average stride table and the like, this flexibility table is a table in which the width between the ankles of both feet and the evaluation value of the open leg flexibility are associated with each other based on gender, age, etc. The open leg flexibility evaluation value is searched from the detected y separation value on the basis of gender, age, and the like.

  In this maximum one step detection program, in the embodiment, markers are attached to both ankles, and the distance between the two markers is measured. However, a marker is attached only to one foot to be stepped forward, and the displacement from the reference position (initial position) is measured. For example, first align the feet to use and stand upright, get the position information of the reference position in that state, and then step forward the foot with the marker attached, get the marker position information at that time, A maximum step length may be measured from the difference between the two position data.

  FIG. 12 shows the measurement operation of the one leg standing time. For example, if one leg is lifted to a height above the threshold, measurement is started, and if the time until one leg falls below the threshold is measured, a function that combines balance function, muscle strength, and knee and ankle joint flexibility is measured. it can.

  To measure the standing time for one leg, as shown in FIG. 12, the user 14 puts the marker 16 on the ankle of one leg and lifts the leg in that state. If the time during which the state is maintained is observed, the one leg standing time can be measured.

  Specifically, the computer 24 measures the one leg standing time by executing each step of FIG. 13 in each frame. That is, in the first step S302 in FIG. 13, the subroutine in FIG. 5 is executed in the same manner as in step S2 in FIG. 4 to detect the position of the marker 16 attached to one ankle. In step S304, the computer 24 writes the position data of the marker 16 thus acquired in the position buffer.

  Next, in step S306, the computer 24 determines whether the one-leg raising operation of the user 14 is completed based on the change in the position of the marker 16 obtained in step S304.

  For example, in step S304, the position of the marker 16 for each frame is written in the position buffer. In step S306, focusing only on the height of the ankle of the user 14, the position of the Z axis in the coordinate position data ( z value) is compared with the previous value every frame, and it is detected whether or not the Z-axis value is equal to or greater than a predetermined threshold value. If the z value is equal to or greater than the threshold value, it indicates that the user has lifted his / her foot higher than a certain level, indicating that a one-leg raising operation has been entered. At that stage, “YES” is detected in step S308.

  When the one leg raising operation is entered, the computer 24 advances the time counting operation by a time counter (not shown) allocated to a predetermined area in the internal memory 32 (FIG. 2). In step S312, the time counting is continued until it is detected that the z value of the marker 16 is equal to or less than a predetermined threshold, that is, until the one-leg raising operation is completed. That is, in steps S310 and S312, the computer 24 measures the standing time for raising one foot. If “NO” is determined in step S312, in step S314, the computer 24 searches, for example, a one leg standing time evaluation table according to the count time by the time counter at that time, and evaluates one leg standing time. To do. Similarly to the other tables, this table associates one-leg standing time with an evaluation value based on gender, age, etc., and the user's one-leg standing time is determined from the time count value detected in step S310. To evaluate.

  In the above example, in order to measure the flexibility related to the range of motion of the joint, the spinal column flexibility and the maximum one step length were measured. However, by tracking one of the markers 16 as in the embodiment, the flexibility of the range of motion of any joint such as the knee or shoulder can be measured.

  The exercise assisting system 10 according to another embodiment of the present invention shown in FIG. 14 is for the user 14 to perform a swimming (swimming) exercise in front of the screen 12, and the overall configuration is the same as that of the embodiment of FIG. Therefore, the overlapping description is omitted here. However, the user 14 performs a simulated swimming exercise by moving only the upper limb (hand) while sitting on a chair, for example. Therefore, in this embodiment, it is necessary to detect the movement of the hand of the user 14. Therefore, unlike the embodiment of FIG. 1, the color marker 16 is attached to the wrist of one hand of the user 14. The color marker 16 is captured by the camera 18 below the screen 12, and the captured image is processed by the computer 24 (FIG. 2), so that the computer 24 can detect a stroke in the swimming motion of the user 14. it can.

  In this embodiment, the amount of exercise of the user 14 is calculated and displayed or recorded by detecting the number of strokes in the simulated swimming exercise, so the internal memory 32 of the computer 24 (FIG. 2) In addition to the program shown in the flowchart of FIG. 17 to be described later, for example, a distance (stroke distance) that can be advanced in one stroke is set for each of different swimming methods, for example, crawl, butterfly, breaststroke and backstroke. A table (not shown) is provided. Therefore, by referring to the stroke distance table, the swimming distance can be obtained from the total number of strokes, and further, the swimming speed can be calculated from the stroke time. However, in the stroke table, it is also possible to set stroke distances that are subdivided on the basis of height, weight, age, sex or the like.

  Referring now to FIG. 15, in this exercise assisting system 10, whether the projector 20 is moving on the screen 12 by swimming, for example, on the surface of the pool, in order to assist the user 14 in the swimming exercise. Such a moving image (progressive image) is displayed in the image display area 12a. Further, a swimming distance display area 12b, a swimming speed display area 12c, a stroke number display area 12d, and a consumed calorie display area 12e are provided on the screen 12, respectively. The swimming distance display area 12b displays how many meters the swimming has been done if it has been moved by the swimming movement, and the swimming speed display area 12c displays the swimming speed at that time (km / h). The number of strokes exercised is displayed in the stroke number display area 12d, and the number of kcal consumed in the swimming exercise at that time is displayed in the consumption calorie display area 12e. However, these numerical values are basically estimated values obtained by calculation as in the previous embodiment.

  Referring to FIG. 16, FIG. 16 illustrates an example of the state change of the upper limb when the user 14 performs a simulated swimming exercise by the crawl swimming method.

  As is well known, focusing only on the upper limbs, in the case of crawling, first, as shown in FIG. 16 (A), align both hands in the front, and from that state with one hand (right hand in the example shown) In order to scratch the water, the hand is swung backward in the water as shown in FIG. Then, the hand (right hand) is put out on the water surface and turned forward as shown in FIG. Thereafter, the state returns to the state of FIG. Accordingly, the state shown in FIG. 16A is a so-called home position or reference state, and in this embodiment, the period from one hand starting from the home position to returning to the home position is referred to as a “stroke”.

  The same applies to the butterfly shown in FIG. 17, but in the case of the butterfly, the left and right hands move in synchronism with each other. That is, both hands are first aligned with the home position shown in FIG. 17 (A), swung backward from the garden home position and raised to the surface of the water to the state shown in FIG. 17 (B). After the scraping operation, the state shown in FIG. After FIG. 17C, the home position is returned to the state shown in FIG. Therefore, even in the case of a butterfly, it can be called “stroke” until at least one hand starts from the home position and returns to the home position again.

  As described above, if the hand or foot to be detected starts from the home position and returns to the home position is called a “stroke”, the stop walking motion (walking or running) in the embodiment of FIG. Similarly, “1 step” can be counted as “1 stroke”. Therefore, it should be noted that the term “stroke” may also be used in the case of stop walking.

  With reference to FIG. 18, the operation of the computer 24 when the user 14 performs a swimming exercise using the exercise assisting system 10 of this embodiment will be described. Note that the processing operations shown in FIG. 18 and the sub-routines associated therewith are basically executed for each display frame by the projector 20 as in the previous embodiment.

  Prior to the start of swimming exercise, input personal data, height, weight, age, sex and swimming method (crawl, etc.) required for later calculations using an input means (keyboard, mouse, etc.) not shown. At the same time, each register, buffer, counter, flag, etc. are initialized. However, when there is no subdivided table, only the swimming style and gender may be specified.

  Then, as shown in FIG. 14, FIG. 16, or FIG. 17, the user 14 performs a swimming exercise in front of the screen 12. Therefore, the computer 24 activates the video player 26 and causes the projector 20 to display a moving image (for example, a water surface image of a pool) as shown in FIG. 15 in the video display area 12a (FIG. 15) of the screen 12. At the same time, in step S402, the computer 24 detects the position in the real space of the color marker 16 worn by the user 14 on the wrist of one hand. However, the detection of the color marker 16 is executed according to the subroutine shown in FIG. As the coordinates of the color marker 16, either the center of gravity coordinates or the plane coordinates may be used.

  In step S404 in FIG. 18, the computer 24 writes the position of the color marker 16 obtained in step S402 in a position buffer (not shown) provided in the internal memory 32 (FIG. 2).

  Thereafter, the computer 24 performs stroke determination in step S406. The stroke determination in step S406 is to determine whether or not the user 14 has made one stroke of exercise, and is determined as follows as an example.

  In step S404, the position of the color marker 16 for each frame is written into the position buffer. Focusing only on the wrist height of the user 14, the Z-axis position (z value) in the position data is Compared to the frame and the previous value, the peak point (the highest point) on the Z axis is detected. For example, when the z value increases sequentially, it indicates that the hand of the user 14 has been gradually increased but has not yet reached the peak. When the z value gradually increases and then becomes smaller than the previous value, it can be determined that the hand position has passed the highest peak point. In this way, the highest point (peak) of the user's hand is detected. Specifically, in the case of the crawl of FIG. 16, the state of FIG. 16C is detected, and in the case of the butterfly of FIG. 17, the state of FIG. 17B is detected and the color marker 16, that is, the height of the wrist of the user 14 is detected. It is determined that there was movement of the upper limb of one stroke each time the peak of the height is detected.

  More simply, it may be determined that there has been one stroke of motion when the z value exceeds a predetermined threshold value (z value of a height that can be estimated to have raised the hand).

  In the next step S408, the computer 24 determines whether one stroke is detected as a result of the stroke determination in step S406. If “NO” is determined in step S408, since one stroke has not yet been detected in the frame at that time, the processing ends.

  When one stroke is detected in step S406, “YES” is determined in step S408, and in step S410, the computer 24 increments a stroke number counter (not shown) in the internal memory 32 by +1. Therefore, the total number of strokes in the swimming luck performed by the user in the step S410 is stored in the stroke number counter.

  In the next step S412, the swimming distance and calorie consumption are calculated and the swimming speed is calculated based on the number of strokes obtained in step S410.

First, the swimming distance can be obtained by multiplying the number of strokes by the stroke distance. Here, the stroke distance can be obtained from the table previously set in the internal memory 32 described above based on the swimming method, the height and sex of the user, and the like. That is, the swimming distance can be calculated by Equation 11.
[Equation 11]
Swimming distance = number of strokes x stroke distance [m]
The calorie consumption can be calculated in the same manner as described in the previous embodiment by determining the position energy and kinetic energy of the hand and the kinetic energy by swimming movement from a standard swimming model. That is, the calorie consumption can be calculated by applying a specific numerical value to the above-described Expression 2 to Expression 6. However, since Equations 2 to 6 are calculation formulas in the case of foot movement, naturally, in this embodiment, which is hand movement, specific numerical values to be substituted into Equations 12 to 16 need to be changed. .

First, the positional energy PE ′ of the hand is obtained by Expression 12.
[Equation 12]
PE '= m'gh' [J]
However, m ′ is the mass of one hand, and can be calculated as 7.7% of the body weight M as an example. Further, g is a gravitational acceleration, and is 9.81 [m / s2]. H ′ is the height (peak point) of the raised hand.

  As an example, when m ′ = 65 [kg] × 0.077 = 5.0 [kg] and h ′ = 0.2 [m], PE ′ = 9.81 [J] can be calculated.

Further, the kinetic energy KE ′ based on the potential energy (PE ′) is obtained by Equation 3.
[Equation 13]
KE ′ = (1/2) m′V3 ² [J]
However, m 'is the mass of one hand and V3 is the speed which raises a hand. Specifically, the hand raising speed V3 can be calculated from the amount of displacement of the marker position for each frame obtained in step S404 of FIG. That is, since one frame is 1/30 second, the speed of raising a hand can be calculated by obtaining the distance moved or displaced during that time.

  As an example, when m ′ = 5.0 [kg] and V3 = 2.0 [m / s], KE ′ = 10.0 [J] can be calculated.

Furthermore, the kinetic energy SEK by swimming can be obtained from Equation 14.
[Formula 14]
SEK = (1/2) MV4 ² [J]
However, M is a body weight and V4 is a swimming speed [km / h].

The swimming speed V4 is considered as the average swimming speed. The average swimming speed can be calculated by dividing the swimming distance obtained by Equation 11 by the total exercise time. That is, it is obtained by Equation 15.
[Equation 15]
Average swimming speed = Swimming distance / Exercise time [km / h]
As an example, assuming that M = 65 [kg] and V4 is 2 [km / h] = 0.555 [m / s], SKE = 0.5 × 65 [kg] × 0.308 = 10.01 [J] can be calculated.

As shown in Equation 16, the calorie consumption is the sum of the potential energy PE ′ in Equation 12, the kinetic energy KE ′ in Equation 13, and the kinetic energy WKE ′ in Equation 14.
[Equation 16]
Calorie consumption = PE '+ KE' + SEK [J]
Applying the above specific example, PE ′ + KE ′ + SKE≈ (9.81 + 10 + 10) [J] = 29.81 [J], and (× 0.2389 × 10 ⁻³ = 0.711 × 10 ⁻² [kcal] When this value is converted into 10,000 strokes, it is 71.1 [kcal].

  However, although not described in detail, as in the previous embodiment, the calorie consumption by such calculation may be corrected using a correction coefficient determined based on actual measurement values.

  In this way, since the swimming distance, average swimming speed, and calorie consumption can be calculated in step S412 of FIG. 18, in the next step S414, the display data is updated with the values calculated in the previous step S412. That is, the swimming distance, the swimming speed, the number of strokes and the calorie consumption newly calculated in step S412 are displayed in the display areas 12b, 12c, 12d and 12e shown in FIG.

  However, the average swimming speed may be displayed every predetermined time (for example, 15 seconds), and the accumulated calorie may be displayed every predetermined time (for example, 30 seconds).

In step S416, the computer 24 controls the video reproduction speed of the video player 26 so as to match the average swimming speed calculated in step S412. For example, when a picture is taken with a digital video camera moving on the water surface of a pool, the moving speed at that time is v [km / h], and the speed V [km / h] at the time of video reproduction is reproduced according to Expression 17. What should I do?
[Equation 17]
V = v × S
However, S is a coefficient, and here, a value corresponding to the average swimming speed is set.

  The operation example of FIG. 18 corresponds to the “relaxation training mode” in the embodiment of FIG. 1, but also in the embodiment of FIG. 14, as with the “active training mode” in the embodiment of FIG. When the user performs a simulated swimming exercise at a swimming speed that matches the reproduction speed, it is also possible to train the user actively with a load.

  However, this swimming exercise also focuses on muscle activity rather than calorie consumption as exercise, as will be described later in the rowing exercise, so it is not always necessary to calculate calorie consumption by a strict calculation formula such as walking exercise. For example, oxygen consumption may be obtained by changing the pitch of several subjects, and calorie consumption per stroke may be calculated from the average.

  Further, in the exercise assistance system 10 of another embodiment shown in FIG. 19, the user 14 is caused to perform a rowing exercise as shown in FIG. That is, also in this embodiment, the color marker 16 is attached to the wrist of the right hand of the user 14, and in this state, the boating (boating) exercise is performed only with the upper limb as shown in FIG.

  As can be easily understood in boating, the initial position or the home position is a state where both hands holding the oar (not shown) are protruded forward as shown in FIG. Inclined to the state of FIG. 20 (B), and then draws both hands holding the oar toward the body to take the state of FIG. 20 (C), and then goes through the state of FIG. 20 (D) again. Returning to the initial position of FIG. Any one state of such a stroke, for example, the state of FIG. 20A may be detected by the color marker 16.

  Further, in such a boat motion, the screen 12 displays a moving image of moving in a water area where the boat is actually raised, such as a river, a lake, a pond or the sea, as shown in FIG.

  In the boat exercise of FIG. 19 embodiment, calorie consumption and the like can be calculated and displayed as necessary.

  It should be understood that the specific numbers shown above are merely examples, and are not limited to these, and can be changed as appropriate.

FIG. 1 is an illustrative view showing an exercise assistance system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the electrical configuration of the embodiment of FIG. FIG. 3 is an illustrative view showing each display area on the screen of FIG. 1 embodiment. FIG. 4 is a flowchart showing the operation in the relaxed training mode in the FIG. 1 embodiment. FIG. 5 is a flowchart showing a subroutine for detecting the coordinate position of the color marker. FIG. 6 is a flowchart showing the operation in the active training mode in the FIG. 1 embodiment. FIG. 7 is an illustrative view showing a message display area on the screen in FIG. 6 embodiment. FIG. 8 is an illustrative view showing an operation when measuring the flexion flexibility in the embodiment of FIG. FIG. 9 is a flowchart showing an operation when measuring the flexion flexibility in the embodiment of FIG. FIG. 10 is an illustrative view showing an operation when measuring a maximum of one step in the embodiment of FIG. FIG. 11 is a flowchart showing the operation when measuring a maximum step length in the embodiment of FIG. FIG. 12 is an illustrative view showing an operation when the one-leg standing time is measured in the embodiment of FIG. FIG. 13 is a flowchart showing the operation when measuring the one leg standing time in the embodiment of FIG. FIG. 14 is an illustrative view showing an exercise assistance system according to another embodiment of the present invention. FIG. 15 is an illustrative view showing each display area on the screen of FIG. 14 embodiment. FIG. 16 is an illustrative view showing one example of an operation when measuring a stroke in FIG. 14 embodiment. FIG. 17 is an illustrative view showing another example of the operation when measuring the stroke in the embodiment of FIG. FIG. 18 is a flowchart showing the operation in the training mode in the embodiment of FIG. FIG. 19 is an illustrative view showing an exercise assistance system according to another embodiment of the present invention. FIG. 20 is an illustrative view showing one example of an operation when measuring a stroke in the embodiment of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Exercise assistance system 12 ... Screen 14 ... User 16 ... Color marker 18 ... Camera 20 ... Projector 24 ... Computer 26 ... Video player

Claims (16)

An exercise assistance system for assisting such exercise in which a user's hand or foot repeats a predetermined movement,
A color marker for attachment to at least one hand or foot of the user;
A camera that outputs an image signal including the color marker;
An exercise assisting system comprising: position detection means for processing the image signal to detect the position of the color marker; and stroke detection means for detecting the movement stroke based on the position. The exercise assistance according to claim 1, further comprising: a stroke number counter that counts the number of strokes detected by the stroke detection unit; and an average speed calculation unit that calculates an average speed based on the number of strokes counted by the stroke number counter. system.   The exercise assistance system according to claim 2, further comprising consumption calorie calculation means for calculating consumption calorie based on the number of strokes. Color markers for wearing on at least one ankle of the user,
A camera that outputs an image signal including the color marker;
An exercise assistance system comprising: position detection means for processing the image signal to detect the position of the color marker; and walking detection means for detecting the user's walking based on the position. A step counter that is incremented when the walking detection unit detects a foot lift corresponding to one step; and an average walking speed calculation unit that calculates an average walking speed based on the number of steps counted by the step counter. The exercise assistance system according to claim 4.   The exercise assistance system according to claim 5, further comprising a moving image display means for displaying a moving image that moves at a moving speed so that a user who performs a walking exercise can be seen.   The exercise assistance system according to claim 6, further comprising video moving speed control means for controlling the moving speed of the moving image according to the average walking speed. A speed comparison unit that compares the moving speed of the moving image with the average walking speed, and a message addition unit that can apply a message to the user according to a comparison result of the speed comparison unit. The exercise assistance system described.   The exercise assistance system according to any one of claims 4 to 8, further comprising consumption calorie calculation means for calculating consumption calorie according to a change in the position of the color marker detected by the position detection means. Color markers for wearing on at least one wrist of the user,
A camera that outputs an image signal including the color marker;
An exercise assistance system comprising: position detection means for processing the image signal to detect the position of the color marker; and forward bending detection means for detecting a forward bending action of the user based on the position. Color markers for wearing on at least one ankle of the user,
A camera that outputs an image signal including the color marker;
An exercise assistance system comprising: position detection means for processing the image signal to detect the position of the color marker; and maximum one step detection means for detecting a maximum step length of the user based on the position. Color marker for wearing on one of the user's ankles,
A camera that outputs an image signal including the color marker;
Position detection means for detecting the position of the color marker by processing the image signal;
One-leg raising detection means for detecting the user's one-leg raising action based on the position;
An exercise assistance system comprising time counting means for counting a time during which the one leg raising detection means continues to detect the one leg raising action. Color markers for wearing on at least one wrist of the user,
A camera that outputs an image signal including the color marker;
An exercise assistance system comprising: position detection means for processing the image signal to detect the position of the color marker; and stroke detection means for detecting a stroke in the simulated swimming movement of the user based on the position. The exercise assistance system according to claim 13, further comprising: a stroke number counter that is incremented for each stroke; and an average swimming speed calculation unit that calculates an average swimming speed based on the number of strokes counted by the stroke number counter.   The exercise assistance system according to claim 14, further comprising moving image display means for displaying a moving image moving at an average swimming speed.   The exercise support system according to claim 15, further comprising video moving speed control means for controlling the moving speed of the moving image according to the average swimming speed.

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