JP2010246676A - Exercise support system, exercise support method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an exercise support system that can instruct a correct exercise load under the condition of realistic walks or runs. <P>SOLUTION: An input part 3 inputs a target exercise status indicating the target and allowable area of exerciser's exercise status. An exercise route memory part 7 memorizes route information including exercise route map data and information about the difference in height of an exercise route. A travel control part 5 controls a travel mechanism part 6 to let a movable body 10 run in front of the exerciser along the route acquired from the exercise route memory part 7 keeping a predetermined distance from the exerciser. A biological information-receiving part 2 receives exerciser's biological information measured by a biological information measurement part 21. A travel status decision part 1 calculates exerciser's speed from exerciser's position detected by an exerciser position detection part 9 and the speed detected by a movable body position detection part 8 and adjusts the running speed of the movable body 10 so that the status of exerciser's exercise calculated from exerciser's biological information and travel speed may enter the allowable area of the target of the exercise status. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an exercise support system, an exercise support method, and a program for supporting exercisers to exercise.

  In recent years, the popularity of walking and running has been increasing against the background of health-consciousness in the world. In order to properly adjust the load on the body and continuously exercise, it is indispensable to manage the running state and health state of the exerciser. However, since the number of trainers that can perform such management is limited, there is a demand for the existence of a substitute by some method.

  Patent Document 1 describes a technique for monitoring the health status of a management subject as needed. The remote health management terminal of Patent Document 1 is wound around a patient's upper arm by a belt. The sensor unit that comes into contact with the patient's skin automatically measures the patient's body temperature, pulse rate, and blood pressure. The measured health information is transmitted wirelessly through an antenna. The remote health information management apparatus collectively manages the received health information. As a result, it is possible to remotely monitor the health condition of the patient.

  Patent Document 2 describes an exercise mechanism control system that updates the exercise program of the exerciser based on the exercise history of the exerciser to increase the physical strength of the exerciser. The exercise mechanism control system of Patent Document 2 is a heart rate measurement system for measuring an exerciser's heart rate in an exercise prescription system that measures an exerciser's heart rate by measuring an exerciser's heart rate using the exercise mechanism. The maximum oxygen intake is calculated from the measuring means and the heart rate measured by the heart rate measuring means, and the exercise program of the exerciser is updated with the maximum oxygen intake.

  Patent Document 3 describes a technique of a training method using rhythm stimulation as a pacemaker. The pacemaker disclosed in Patent Document 3 is detected by a first sensor that detects the position or acceleration of an exercising person, a target setting unit that sets a target value of a moving distance or speed of the exercising person, and the first sensor. A timing generator that generates a timing signal based on a measured value of a moving distance or speed determined based on a position or acceleration of an exercising person and a target value of the moving distance or speed of the exercising person; and a timing generating part And a stimulus generator that generates a guidance signal that can be recognized by a person exercising based on the timing signal generated by.

  In the exercise management system of Patent Document 4, the speed of the user's walking exercise is adjusted by the operation of the treadmill (first motion induction device). In addition, the walking motion of the user is induced while the motion scale is adjusted with a rhythm in harmony with the motion rhythm of the animal by the operation of the walking motion guidance device (second motion guidance device). At this time, the operation of the walking motion guidance device is controlled based on the walking speed v (the walking rate p as necessary). Thereby, this user can be trained to walk with an appropriate scale and rhythm while harmonizing each of the user's walking motion, treadmill motion, and walking motion guidance device.

  Further, Patent Document 5 describes a technology that supports the state control of a living body by drawing the living body into a resting state or a dynamic state by the behavior of a controlled object such as a robot.

Japanese Patent Laid-Open No. 10-302188 JP-A-2005-000636 JP 2005-224318 A JP 2008-253804 A JP 2000-5317 A

  In the technique related to exercise support, there is a method in which an active area where exercise is performed on an apparatus such as a treadmill installed indoors is limited. In addition, a system has been proposed that presents an exercise rhythm with acoustic and visual information and arouses exercise.

  The technology of Patent Document 1 remotely monitors the health condition but does not indicate exercise load. The technique of Patent Document 2 updates the exercise program of the exerciser based on the exercise history of the exerciser, but does not indicate exercise load during exercise. The technique of Patent Document 5 relates to state control support that draws the living body of a target into a resting state or a dynamic state by showing the movement of a robot to be controlled, and cannot indicate an exercise load.

  The treadmill of Patent Document 4 cannot create conditions encountered during actual walking or running such as curves, corners, downhills, and stairs. Further, in the method of using the rhythm stimulation of Patent Document 3 as a pacemaker, it is not possible to instruct an accurate exercise load because it only indicates an exercise rhythm.

  In view of the circumstances as described above, an object of the present invention is to provide an exercise support system capable of instructing an accurate exercise load under realistic walking or running conditions.

In order to achieve the above object, an exercise support system according to the first aspect of the present invention includes:
Target acquisition means for acquiring information indicating the target and allowable range of the exercise state of the exerciser;
Route acquisition means for acquiring route information including map data of the route of movement and information on the height difference of the route;
Leading means for traveling in front of the exerciser along the route acquired by the route acquisition unit while maintaining a predetermined distance from the exerciser;
State acquisition means for acquiring biological information and movement speed of the exerciser in the state of exercise;
Control means for adjusting the traveling speed of the leading means so that the state of movement of the exerciser calculated from the biological information and movement speed of the exerciser falls within the target allowable range of the state of movement;
Is provided.

The exercise support method according to the second aspect of the present invention includes:
A goal acquisition step for obtaining information representing the goal and tolerance range of the exercise state of the exerciser;
A route acquisition step for acquiring route information including map data of the route of the motion and information on the height difference of the route;
A leading step of causing a moving body to travel in front of the athlete while maintaining a predetermined distance from the athlete along the path;
A state acquisition step of acquiring biological information and movement speed of the exerciser in the state of exercise;
A control step of adjusting a traveling speed of the moving body so that an exercise state of the exerciser calculated from the biological information and the movement speed of the exerciser falls within a target allowable range of the exercise state;
Is provided.

A program according to a third aspect of the present invention is stored in a computer.
A goal acquisition step for obtaining information representing the goal and tolerance range of the exercise state of the exerciser;
A route acquisition step for acquiring route information including map data of the route of the motion and information on the height difference of the route;
A leading step of causing a moving body to travel in front of the athlete while maintaining a predetermined distance from the athlete along the path;
A state acquisition step of acquiring biological information and movement speed of the exerciser in the state of exercise;
A control step of adjusting a traveling speed of the moving body so that an exercise state of the exerciser calculated from the biological information and the movement speed of the exerciser falls within a target allowable range of the exercise state;
Is executed.

  According to the exercise support system and exercise support method of the present invention, an accurate exercise load can be instructed under realistic walking or running conditions.

It is a block diagram which shows the structural example of the exercise assistance system which concerns on Embodiment 1 of this invention. It is a conceptual diagram which shows the relationship between the exercise support system which concerns on embodiment of this invention, and an exerciser. 3 is a block diagram illustrating a configuration of a moving state determination unit of a moving body according to Embodiment 1. FIG. It is a figure which shows the example of the data of the target exercise state which concerns on Embodiment 1. FIG. 3 is a conceptual diagram illustrating an example of a route according to Embodiment 1. FIG. 6 is a diagram illustrating an example of route information according to Embodiment 1. FIG. It is a figure which shows the measurement item and measurement method which concern on embodiment. 6 is a diagram illustrating an example of biometric information / exercise state data according to Embodiment 1. FIG. 4 is a flowchart illustrating an example of an exercise support operation according to the first embodiment. It is a block diagram which shows the structural example of the exercise assistance system which concerns on Embodiment 2 of this invention. It is a figure which shows the example of the data of the target exercise | movement result which concerns on Embodiment 2. FIG. FIG. 10 is a diagram illustrating an example of intermediate result data according to the second embodiment. 10 is a flowchart illustrating an example of a route selection operation according to the second embodiment. 10 is a flowchart illustrating an example of an exercise support operation according to the second embodiment. It is a block diagram which shows the structural example of the exercise assistance system which concerns on Embodiment 3 of this invention. It is a figure which shows the example of the map data which concern on embodiment. 10 is a flowchart illustrating an example of route candidate extraction operation according to the third embodiment. It is a block diagram which shows the structural example of the exercise assistance system which concerns on Embodiment 4 of this invention. 10 is a flowchart illustrating an example of an exercise support operation according to the fourth embodiment. It is a block diagram which shows the structural example of the hardware of the mobile body which concerns on embodiment of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration example of an exercise support system according to Embodiment 1 of the present invention. The exercise support system 100 includes a moving body 10 and an exerciser holding device 20. FIG. 2 is a conceptual diagram showing a state in which the exercise support system 100 according to the embodiment of the present invention is used.

  As shown in FIG. 2, the exercise support system 100 includes a moving body 10 and an exerciser holding device 20. The moving body 10 is, for example, an inverted pendulum type robot that travels with two wheels having a rotation axis on the same line. The moving body 10 may be a vehicle that travels with three wheels or four wheels, or may be a vehicle that has an endless track. The moving body 10 may be a robot that walks with two or more legs. The mobile body 10 may be a vehicle that travels on rails laid along a route.

  The moving body 10 runs ahead of the athlete along a predetermined route. The exerciser holding device 20 is attached to an exerciser's arm, chest, or waist. The exerciser holding device 20 detects biological information such as an exerciser's pulse, body temperature, blood pressure, etc., and transmits it to the moving body 10. The moving body 10 adjusts the speed of following the path so that the exercise state of the exerciser falls within the target range.

  As shown in FIG. 1, the moving body 10 includes a moving state determination unit 1, a biological information receiving unit 2, an input unit 3, a display unit 4, a movement control unit 5, a moving mechanism unit 6, an exercise path storage unit 7, and a moving body. A position detector 8 and an exerciser position detector 9 are provided. The exerciser holding device 20 includes a biological information measurement unit 21, a biological information transmission unit 22, an exerciser position measurement unit 23, and an exerciser position information transmission unit 24. In the present embodiment, the exerciser holding device 20 measures the position and transmits it to the moving body 10.

  The biological information measuring unit 21 of the exerciser holding device 20 detects biological information such as heart rate, body temperature, blood pressure, etc. of the exerciser to which the exerciser holding device 20 is attached. In addition, respiratory rate, number of steps, myoelectric potential, etc. may be measured. The biological information measuring unit 21 sends the measured biological information to the biological information transmitting unit 22. The biometric information transmission unit 22 transmits biometric information to the mobile body 10 by communication means such as Bluetooth (registered trademark), infrared communication, weak wireless, wireless LAN, or USB (Universal Serial Bus).

  The exerciser position measurement unit 23 measures the position of the exerciser holding device 20 by, for example, GPS (Global Positioning System), and sends the position information to the exerciser position information transmission unit 24. In addition to using GPS, a method of detecting a sign laid along a route and measuring a position on the route may be used. The exerciser position information transmission unit 24 transmits the position information to the moving body 10 by the same communication means as the biological information transmission unit 22. The communication means of the biometric information transmission unit 22 and the exerciser position information transmission unit 24 can use one communication means in common.

  The biological information receiving unit 2 of the moving body 10 receives the biological information transmitted from the exerciser holding device 20. The biological information reception unit 2 sends the received biological information to the movement state determination unit 1. Further, the exerciser position detection unit 9 receives position information transmitted from the exerciser holding device 20. The position of the exerciser holding device 20 or the exerciser may not be a method that the exerciser holding device 20 itself measures. The relative position of the exerciser from the moving body 10 is moved using ultrasonic measurement, millimeter wave radar, laser light measurement, a method of detecting the arrival direction of the radio wave transmitted by the exerciser holding device 20, or image analysis. You may measure with the body 10. In that case, the position on the route is measured by the moving body 10. The exerciser position detection unit 9 sends the received (detected) position of the exerciser holding device 20 (exercise person) to the movement state determination unit 1.

  The input unit 3 inputs a target of a state in which the exerciser exercises and sends the target to the movement state determination unit 1. The target of the exercise state (target exercise state) is, for example, the heart rate during movement, the moving speed, the stride, and the like. In addition, a calorie consumption rate during exercise (for example, kcal / min), an exercise posture, and the like may be defined as the target exercise state. FIG. 4 shows an example of data on the target motion state. In the example of FIG. 4, the target heart rate, the target moving speed, the target stride, and the target posture are defined as the target motion state.

  It may be set by inputting which of the goals of the exercise state is prioritized and each allowable range. For these, predetermined conditions may be determined in advance. The input unit 3 also inputs an exercise path. The exercise route may be selected from route candidates. In addition, data such as an athlete's height, weight, age, and sex may be input and used.

  Information on the target exercise state is not always input from the input unit 3. Data input by another device may be taken into the mobile unit 10 via a storage medium or a communication network. A method of providing the input unit 3 in the exerciser holding device 20, inputting the target exercise state with the exerciser holding device 20, and transmitting it to the moving body 10 may be used. In addition, candidates for combinations of target exercise states may be prepared in advance, and the exerciser may input the age, sex, exercise history, skill level, etc., and set the target exercise state by selecting from the candidates. .

  The movement path storage unit 7 stores map data of the movement path and height difference data of each part along the movement path. FIG. 5 is a conceptual diagram illustrating an example of a route according to the first embodiment. The map data of the movement path defines the positions of points set in the path and the shape of the path between them. In FIG. 5, points A, B, C. . . Indicated with a circle. The path between each point is indicated by a solid line. The actual position (on the earth) corresponding to the reference point on the map of the route and the scale and orientation of the map indicate which point on the map the measured position of the moving object 10 or the exerciser is. Further, the actual position can be calculated from the position of the set route on the map, and the set route can be traced.

  FIG. 6 shows an example of route data. In FIG. 6, the identification code of each path, the coordinates of the start point and end point of the path, the distance (path) from the start point to the end point, and the height difference are defined. The start point and end point of the path correspond to the points set in the route map of FIG. The height difference is a height obtained by subtracting the height of the start point from the height of the end point of the path. In FIG. 6, a plurality of routes I, II. . . It is shown that the data is retained. For example, the route I is a route from the point S in FIG. 5 to the point Q through the points E, H, I, L, and O.

  The motion path data is taken into the moving body 10 via a storage medium such as a CD (compact disk) or a USB memory, or a communication network. A method of downloading exercise path data from a server via a communication network every time exercise support is performed.

  The mobile body position detection unit 8 in FIG. 1 measures the position of the mobile body 10 by, for example, GPS (Global Positioning System), and sends position information to the movement state determination unit 1. In addition to using GPS, a method of detecting a sign laid on the route and measuring a position on the route may be used.

  The moving state determination unit 1 is configured so that the moving body 10 moves in front of the exerciser along the set route so that the exercise state of the exerciser becomes the target exercise state and keeps a predetermined distance from the exerciser. The speed of the moving body 10 is determined so as to travel (lead). The movement state determination unit 1 reads out the map data and the height difference of the set route from the movement route storage unit 7. The current position of the moving body 10 is detected by the moving body position detector 8. The current exercise state of the exerciser can be calculated from the biometric information received by the biometric information receiving unit 2, the position of the exerciser, and the speed that is the derivative thereof. The movement state determination unit 1 determines the speed of the moving body so that the exercise state of the exerciser becomes the target exercise state based on the biological information of the exerciser and the movement speed information.

  FIG. 3 shows a configuration of the moving state determination unit 1 of the moving body 1. The movement state determination unit 1 includes an exercise path load amount database 11 (hereinafter referred to as an exercise path load amount DB 11), a load calculation unit 12, an information reception unit 13, an exercise path speed calculation unit 14, and a movement mechanism command generation unit 15. The

  The information receiving unit 13 receives information from the biological information receiving unit 2, the input unit 3, the exercise path storage unit 7, the moving body position detection unit 8 and the exerciser position detection unit 9, and sends it to the exercise path / speed calculation unit 14. . The exercise route / speed calculation unit 14 sends route information and target exercise state data to the load calculation unit 12. The load calculation unit 12 calculates the exercise load when the route travels in the target exercise state using the data of the exercise route load DB 11 and returns it to the exercise route / speed calculation unit 14. For example, the heart rate or the calorie consumption rate when traveling at the speed of the target exercise state is calculated from the distance and height difference of the route. Or, conversely, the speed at which the target heart rate or calorie consumption rate is achieved is calculated.

  In that case, using the distance and height difference of the route to be traveled, the speed is determined so as to be within the allowable range of the target heart rate and the stride and within the allowable range of the moving speed. At that time, data such as the height, weight, age, and sex of the athlete may be taken into consideration. It can be determined in advance by experiment how the movement state depends on the path condition and the movement speed, or on the contrary, what the movement speed should be in order to realize the target movement state under the path condition.

  The exercise path / speed calculation unit 14 calculates and determines a speed in consideration of the exercise load on the exerciser. The movement path / speed calculation unit 14 sends the path and speed information to the movement mechanism command generation unit 15. The movement mechanism command generation unit 15 generates a speed command for controlling the movement mechanism, and transmits it to the movement mechanism control unit. In this way, the moving state determining unit 1 determines the speed of the moving body 10 and transmits it to the moving mechanism control unit.

  The movement control unit 5 in FIG. 1 controls the moving speed of the moving mechanism unit 6 so that the instructed speed is obtained. As described above, the moving mechanism unit 6 is an inverted pendulum type robot that travels on, for example, two wheels. In addition, there are cases where the vehicle travels on three or four wheels, the vehicle includes an endless track, the vehicle travels on a rail, or the robot walks with two or more legs. The moving mechanism unit 6 travels along the route in front of the athlete at the speed commanded by the movement control unit 5.

  In order to travel along the route, not only the map data and positioning by GPS, but also a curb on the route may be detected and controlled along the actual course. In order for the moving body 10 to follow the route, a line may be drawn on the route and the line may be followed. When the moving body 10 travels on a rail, it is mechanically restricted so as not to deviate from the route.

  The display unit 4 of the moving body 10 includes a display such as a liquid crystal display or a light emitting diode, or a speaker, and displays information that alerts the athlete when the measured exercise state is out of the target exercise state. . In addition, a path candidate may be displayed when displaying a target exercise state or setting a path.

  When the course is determined, the moving body 10 starts leading the exerciser and receives the biological information of the exerciser. FIG. 7 shows measurement items and measurement methods according to the embodiment. Of these, for example, the heart rate can be detected by counting pressure pulses per unit time or measuring the period of pressure pulses. Also, the stride can be calculated from the speed and the number of steps. The number of steps can be detected by counting the impact pulse or measuring the period of the impact pulse.

  As described above, the relative distance between the exerciser and the moving body 10 is, for example, ultrasonic measurement, millimeter wave radar, laser light measurement, or a method of detecting the arrival direction of the radio wave transmitted by the exerciser holding device 20 or image analysis. Can be measured using The posture of the exerciser can be calculated from the detected value by attaching an acceleration sensor to each part of the exerciser. Alternatively, the relative distance may be calculated by recognizing the athlete by analyzing an image of the athlete. The relative distance can also be calculated from the difference in positioning between the exerciser holding device 20 and the moving body 10.

  FIG. 8 shows an example of biometric information / exercise state data according to the first embodiment. The exercise state of FIG. 8 includes the heart rate of the biological information, and the moving speed, the stride, and the posture are shown. In FIG. 8, the target posture is represented by a dotted line, and the measured posture is represented by a solid line.

  Based on the information received from the exerciser holding device 20, the moving body 10 calculates things that cannot be directly measured, such as the calorie consumption and posture of the exerciser. The moving body 10 calculates the difference between the exercise state of the exerciser and the target exercise state. Moreover, it is calculated whether the numerical value of the motion state is within an allowable range. When the exercise state exceeds the allowable range of the target exercise state, for example, when the heart rate or body temperature is out of the allowable range, the running speed of the moving body 10 is changed and the exercise is performed from the display unit 4 of FIG. A warning may be displayed to the person. In some cases, take measures such as stopping exercise.

  On the other hand, when the exercise state is within the allowable range, an instruction for correcting the difference from the target of the biological information is displayed using screen output or voice output. For example, as shown in Fig. 8, when the moving speed is 2.5 m / s, faster than the target speed of 2 m / s, and the relative distance from the athlete is too close, an instruction such as “Run a little slower” Information is displayed using characters and voice. If the posture is different from the target and the upper body is tilted, instruction information such as “Let the upper body tilt a little to the right” is displayed in the same manner. If the difference is still not corrected, especially when the exercise speed of the exerciser is slow, the moving body 10 takes measures to reduce the movement speed.

  FIG. 9 is a flowchart illustrating an example of the operation of the exercise support process according to the first embodiment. First, a target motion state is input by the input unit 3 (step S10). Next, route information is input (step S11). The route information may be input by a method of selecting from route candidates stored in the exercise route storage unit 7. When the route information is set, the movement state determination unit 1 sets a target speed in the movement control unit 5 and starts leading the exerciser along the route (step S12).

  The exerciser position detection unit 9 receives (or detects) the position information of the exerciser (step S13). In addition, the biological information receiving unit 2 receives the biological information transmitted from the exerciser holding device 20 (step S14). Then, an exercise state is calculated from the position information and biological information of the exerciser, the position and speed of the moving body 10 (step S15).

  If the relative position (relative distance) of the exerciser with respect to the moving body 10 is within a predetermined allowable range (step S16; YES), it is checked whether the exercise state is within the allowable range (step S17). When the relative position exceeds the allowable range (step S16; NO), or when the movement state exceeds the allowable range (step S17; NO), the traveling speed is adjusted so that the relative position and the movement state are within the allowable range. (Step S18).

  If the relative position is within the allowable range (step S16; YES) and the motion state is within the allowable range (step S17; YES), there is no need to change the traveling speed. If the end point of the set route has not been reached and the route has not ended (step S19; NO), the process returns to step S13 to repeat the operation from the acquisition of the position information of the exerciser. If the end of the route is reached and the route ends (step S19; YES), the exercise support process ends. In this way, it is possible to explicitly indicate an effective exercise pace by leading the exerciser while grasping the position and biological information of the exerciser.

  As described above, according to the first embodiment, it is possible to perform exercise support that follows the path of realistic walking or running conditions with an appropriate load according to the target exercise state.

(Embodiment 2)
FIG. 10 is a block diagram illustrating a configuration example of the exercise support system 100 according to Embodiment 2 of the present invention. The exercise support system 100 according to the second embodiment inputs a target value (target exercise result) as a result of exercise along a path, and selects a path that matches the target exercise result. The exercise support system 100 of FIG. 10 includes an exercise path selection unit 31 in addition to the configuration of the first embodiment.

  In the second embodiment, the target exercise result data is input by the input unit 3. FIG. 11 shows an example of target exercise result data. In the example of FIG. 11, a target exercise time of 30 minutes and a target calorie consumption of 200 kcal are defined as the target exercise results. Each tolerance range is determined for the target exercise result. The allowable range may be input for each target exercise result, or may be determined by a common calculation formula or value.

  The exercise path selection unit 31 calculates the result of the exercise when moving along the route with the value of the target exercise state for each of the route candidates stored in the exercise route storage unit 7. For example, the time and calorie consumption when the route is traveled at the speed of the target exercise state are calculated. For example, the calorie consumption is calculated from the running speed, the distance of the route, and the height difference (and weight) using a predetermined calculation formula obtained through experiments. Then, a route in which the calculated exercise result matches the predetermined range of the target exercise result is selected.

  In the second embodiment, the result of the previous exercise (intermediate exercise result) is further calculated during the exercise that follows the path. Calculate the motion status of the remaining paths so that when the path motion ends, the motion results become the target motion results, that is, the motion results of the remaining paths become the difference between the target motion results and the mid-motion results. Then, the speed of following the remaining route is determined. Then, the traveling of the moving body 10 is controlled at the newly determined speed.

  FIG. 12 shows an example of data of the mid-exercise results. In the example of FIG. 12, the elapsed exercise time is 10 minutes, and the calorie consumption so far is 30 kcal. The mid-exercise result can be calculated in the same manner as the exercise result from the actual traveling speed and route. In the case of the mid-exercise result of FIG. 12 with respect to the target exercise result of FIG. 11, the target of the exercise results of the remaining paths is an exercise time of 20 minutes and a calorie consumption of 170 kcal.

  In order to achieve the target exercise result, it is possible to deviate from the target exercise state. In that case, it is assumed that a policy such as which item of the target motion state or the target motion result is prioritized, the allowable limit when deviating, and in which direction the motion state is determined is given. Priorities, tolerance limits, policies, etc. may be entered and determined by the exerciser. Moreover, you may enable it to select in a menu format.

  FIG. 13 is a flowchart illustrating an example of a route selection operation according to the second embodiment. The exercise path selection unit 31 inputs the target exercise result from the input unit 3 (step S20), and inputs the target exercise state (step S21). Either order may be the order.

  The exercise path selection unit 31 sets the first number 1 to the path number variable i, and sets the variable Min for comparing the minimum value to the maximum value of the variable (step S22). The exercise route selection unit 31 selects a route candidate of number i (step S23), and calculates an exercise result i when the route candidate i travels in the target exercise state (step S24). The exercise result i is the same item as the target exercise result.

  If the absolute value of the difference between the exercise result i and the target exercise result is smaller than the variable Min (step S25; YES), the absolute value of the difference between the exercise result i and the target exercise result is set in the variable Min. Further, the value of the variable i is substituted for the selected route number (step S26). Initially, since the absolute value of the difference between the exercise result i and the target exercise result is always smaller than the variable Min (the initial value of the variable Min is set as such), the number i is selected. If the absolute value of the difference between the exercise result i and the target exercise result is not smaller than the variable Min (step S25; NO), the variable Min and the selected route number are not changed.

  Here, as the absolute value of the difference between the exercise result i and the target exercise result, the absolute value of the vector difference obtained by normalizing each element of the target exercise result can be used. Or you may limit to one or two or more items contained in a target exercise result. When limited to one item, the absolute value of the difference between the numerical values can be used. In order to evaluate the difference between the exercise result i and the target exercise result, the absolute value of the difference is not necessarily limited. For example, a value obtained by projecting the difference vector between the exercise result i and the target exercise result on a predetermined axis may be used. In general, it may be an arbitrary evaluation function.

  The exercise route selection unit 31 adds 1 to the route number variable i (step S27). If the route number variable i does not exceed the number of route candidates (step S28; NO), the motion route selection unit 31 returns to step S23 and returns the number. The above process is repeated from the point of selecting the path of the variable i. When the route number variable i exceeds the number of route candidates (step S28; YES), the route selection process is terminated. As a result, the number of the route that gives the exercise result closest to the target exercise result when traveling in the target exercise state is set as the selected route number.

  FIG. 14 is a flowchart illustrating an example of an exercise support operation according to the second embodiment. As in the first embodiment, the athlete is led along the set route and the speed is controlled so as to achieve the target exercise state. In the second embodiment, the mid-exercise result is calculated, the remaining motion state is determined so that the final motion result becomes the target motion result, and the traveling speed is adjusted accordingly.

  In the second embodiment, since the target motion state is input for route selection and the route is selected, the target motion state input (step S10 in FIG. 9) and the route information input (step S11) are shown in FIG. Is not listed. Steps S30 to S33 in FIG. 14 are the same as steps S12 to S15 in FIG.

  After calculating the exercise state (step S33), the exercise path selection unit 31 (or the movement state determination unit 1) calculates the midway exercise result (step S34). Next, the speeds of the remaining paths are calculated so as to be a difference obtained by subtracting the midway exercise result from the target exercise result (step S35). Then, the target motion state is changed to the speed of the remaining route (step S36). When the target exercise state is changed, a message to that effect is displayed from the display unit 4 to the exerciser.

  The subsequent operations in steps S37 to S40 are the same as those in steps S16 to S19 in FIG. If the end point of the set route has not been reached and the route has not ended (step S40; NO), the process returns to step S31 and the operation is repeated from the acquisition of the position information of the exerciser. If the end of the route is reached and the route ends (step S40; YES), the exercise support process ends.

  As described above, according to the exercise support system 100 of the second embodiment, a target exercise result is input and a path suitable for the input is selected, so that an appropriate exercise load that matches the target exercise result and the target exercise state can be obtained. Can be directed. Moreover, since the mid-exercise result is calculated and the remaining exercise state is changed in accordance with the target exercise result, a more appropriate exercise load can be instructed.

(Embodiment 3)
FIG. 15 is a block diagram illustrating a configuration example of the exercise support system 100 according to Embodiment 3 of the present invention. In the third embodiment, candidate motion paths are extracted from the map data in addition to the second embodiment. The moving body 10 according to the third embodiment includes an exercise path extraction unit 32 in addition to the configuration of the second embodiment.

  The exercise route extraction unit 32 extracts route candidates that match the route conditions from the map data stored in the exercise route storage unit 7. The route condition is input from the input unit 3. The path condition includes, for example, the start point and end point of the movement, the length of the path, and the height difference of the path.

  FIG. 16 is a diagram illustrating an example of map data according to the embodiment. The data in FIG. 16 corresponds to the map data in FIG. 5, and is a list of information on the actual paths between the points in FIG. The map data in FIG. 16 includes a path identification code, start point coordinates, end point coordinates, path distance, and path height difference. The start point and end point of the path correspond to the points set in the route map of FIG. The height difference is a height obtained by subtracting the height of the start point from the height of the end point of the path. The direction following each path may be reversed. In that case, the start point and the end point are switched, and the sign of the height difference is reversed and handled. If there is a path that cannot pass in the reverse direction, each path is considered to have a direction, and the path that can pass in both directions may be registered in the map data by switching the start point and the end point.

  For example, if the start point and the distance are given as the route condition, route candidates that match the route condition can be extracted from the map data as shown in FIG. First, a path including the starting point of the route is selected. The start point of the route may not coincide with the start point or end point of the path. If there are multiple paths including the start point, list all of them. Connect another path that has the start or end point of the selected path as the start or end point. Next, paths are connected, and a path whose total distance matches the condition distance is output as a route candidate.

  When other conditions, for example, when the end point of a route is given, a path connecting from the start point and connecting a path including the end point may be selected so that the total distance up to that point meets the condition . When the upper limit of the height difference is specified, it is only necessary to exclude those whose height difference exceeds the condition. When the end point and distance of the route are given, the route candidate can be extracted by tracing backward from the end point. In addition, when a start point and an end point are given, route candidates can be extracted in the same manner even when the start point and the end point match. For other conditions, such as a route that includes a specific path, a route that does not pass any path more than twice, or a route that does not include a loop, pick those that meet the condition, and those that do not meet the condition By excluding it, route candidates can be extracted.

  FIG. 17 is a flowchart illustrating an example of operation of extracting route candidates according to the third embodiment. The exercise route extraction unit 32 acquires a list of paths that are map data from the exercise route storage unit 7 (step S41). In addition, a route condition is input from the input unit 3 (step S42). Here, it is assumed that the route condition includes the start point.

  The motion path extraction unit 32 lists paths including the starting point of the path from the path list (step S43). A temporary route list is generated using each path including the start point as a temporary route (step S44).

  For each provisional route in the provisional route list, it is checked whether or not the route condition is met (step S45). If there is a provisional route that meets the route condition (step S45; YES), the provisional route that meets the route condition is added to the route candidate list (step S46). If there is no provisional route that meets the route condition (step S45; NO), the route candidate is not added to the route candidate list.

  If there is a provisional route in the remaining provisional route list from which the route candidate is taken (step S47; YES), a new provisional route list is added as a new provisional route by adding a path including that point to the end point of each provisional route. Is generated (step S48). Then, the process returns to step S45 to check whether there is a provisional route that meets the route condition.

  When a path is added to the end point of the provisional route, whether or not the last path of the provisional route is included in the added path depends on the condition of the route or the characteristics of the path and the attribute of the moving object 10. That is, if a U-turn can be made, it can be folded in the last pass, but if a U-turn cannot be made, it cannot be folded in the last pass. The exercise route extraction unit 32 generates a provisional route in consideration of these conditions.

  If there is no provisional route in the provisional route list (step S47; NO), the route candidate extraction process is terminated. Although not described in FIG. 17, even if a temporary route exceeds the route condition and more paths are added, there is no possibility of meeting the route condition from the temporary route list.

  A route candidate list can be generated by extracting route candidates. After that, a path that matches the target motion result is selected by the processing of the second embodiment.

  As described above, according to the exercise support system 100 of the third embodiment, route candidates that match the route conditions given from the map data can be extracted. As a result, a route condition is given and a route candidate is generated, and a route that matches the target motion result can be selected from the route candidates.

(Embodiment 4)
FIG. 18 is a block diagram showing a configuration example of the exercise support system 100 according to Embodiment 4 of the present invention. In the fourth embodiment, in addition to the second embodiment, the midway exercise result is calculated, and the remaining paths are changed so that the target exercise result can be achieved. While the second embodiment has a possibility of changing the target exercise condition, in the fourth embodiment, the route is changed by giving priority to the target exercise condition. The exercise support system 100 according to the fourth embodiment includes an exercise route selection / resetting unit 33 instead of the exercise route selection unit 31 according to the third embodiment (or the second embodiment).

  In addition to the function of the exercise route selection unit 31 of the second embodiment, the exercise route selection / resetting unit 33 has a function of changing the remaining route using the midway exercise result. Until the mid-exercise result is calculated, it is the same as the exercise path selection unit 31 of the second embodiment.

  The exercise path selection / resetting unit 33 calculates an intermediate exercise result and calculates a difference between the target exercise result and the intermediate exercise result. The exercise route extraction unit 32 extracts route candidates under route conditions starting from the current position. The motion route selection / reset unit 33 starts from the current position with the current position as the starting point, and the motion result when traveling in the target motion state matches the difference between the target motion result and the mid-motion result (the remaining Route) is selected (reset).

  The remaining route candidates are extracted in the same manner as the route extraction in the third embodiment. For example, if route information of all combinations of routes shorter than the route that can be selected as the first route is stored in advance starting from all points in FIG. 5, it is not necessary to extract the remaining route candidates again. Good.

  The remaining route selection by the exercise route selection / resetting unit 33 is exactly the same as the route selection in the second embodiment. That is, the starting point of the route may be replaced with the current point, and the target motion result may be replaced with the difference between the target motion result and the mid-motion result.

  The movement state determination unit 1 continues the exerciser's guidance along the reset route (remaining route). Since the remaining paths are selected to match the target exercise condition, the target exercise state does not change in principle. In addition, when changing a route on the way, it is desirable to display on the display unit 4 that the route is changed.

  FIG. 19 is a flowchart illustrating an example of an exercise support operation according to the fourth embodiment. The operation from the start of the lead (step S50) to the calculation of the mid-exercise result (step S54) is the same as the exercise support operation of the second embodiment (FIG. 14). When the exercise route selection / resetting unit 33 calculates the mid-exercise result (step S54), the exercise route extraction unit 32 extracts route candidates starting from the current position from the map data (step S55).

  The exercise route selection / resetting unit 33 selects a route that matches the difference between the target exercise result and the mid-exercise result, from among the route candidates, in which the exercise result traveled in the target exercise state along the route (step S56). ). Then, the original remaining route is changed to the selected route (new remaining route) (step S57). When the route is changed on the way, it is displayed from the display unit 4 to the exerciser that the route is changed.

  Steps S58 through S61 are the same as steps S37 through S40 in FIG. 14 (or steps S16 through S19 in FIG. 9). If the end point of the set route has not been reached and the route has not ended (step S61; NO), the process returns to step S51 to repeat the operation from the acquisition of the position information of the exerciser. If the end of the route is reached and the route ends (step S61; YES), the exercise support process ends.

  As described above, according to the exercise support system 100 of the fourth embodiment, the mid-exercise result is calculated, and the remaining paths are changed to achieve the target exercise result according to the target exercise state. Can be instructed to exercise.

  FIG. 20 is a block diagram illustrating an example of a hardware configuration of the moving body 10 in the exercise support system 100 illustrated in FIG. 1, FIG. 10, FIG. 15, or FIG. As shown in FIG. 20, the moving body 10 includes a control unit 41, a main storage unit 42, an external storage unit 43, an operation unit 44, a display unit 45, an input / output unit 46, and a transmission / reception unit 47. The main storage unit 42, the external storage unit 43, the operation unit 44, the display unit 45, the input / output unit 46, and the transmission / reception unit 47 are all connected to the control unit 41 via the internal bus 40.

  The control unit 41 includes a CPU (Central Processing Unit) and the like, and executes processing of the moving body 10 according to a control program 50 stored in the external storage unit 43.

  The main storage unit 42 is composed of a RAM (Random-Access Memory) or the like, loads a control program 50 stored in the external storage unit 43, and is used as a work area of the control unit 41.

  The external storage unit 43 includes a nonvolatile memory such as a flash memory, a hard disk, a DVD-RAM (Digital Versatile Disc Random-Access Memory), a DVD-RW (Digital Versatile Disc ReWritable), and the processing described above is performed by the control unit 41. A program to be executed is stored in advance, and in accordance with an instruction from the control unit 41, data stored in the program is supplied to the control unit 41, and data supplied from the control unit 41 is stored. 1, 10, 15, or 18 is configured in the external storage unit 43.

  The operation unit 44 includes a pointing device such as a keyboard and a mouse, and an interface device that connects the keyboard and the pointing device to the internal bus 40. Via the operation unit 44, route information, route selection, target motion state, target motion result or route condition are input and supplied to the control unit 41.

  The display unit 45 includes a CRT (Cathode Ray Tube) or an LCD (Liquid Crystal Display), and displays information instructed to the exerciser.

  The input / output unit 46 includes a serial interface or a parallel interface connected to various sensors 48 and actuators 49. The sensor 48 and the actuator 49 are installed in the moving mechanism unit 6 of the moving body 10, detect each data of the moving mechanism unit 6, and operate the moving mechanism unit 6. The sensor 48 of the moving body 10 is, for example, a contact sensor, a pressure sensor, a displacement sensor, an acoustic sensor (microphone) or an image sensor (imaging device), or any combination thereof. The control unit 41 inputs data detected from each sensor 48 via the input / output unit 46. The displacement of the actuator 49 may be input as a sensor signal. The control unit 41 instructs the actuator 49 via the input / output unit 46 to control the operation of the moving body 10.

  The transmission / reception unit 47 includes a wireless communication device and a serial interface or a LAN (Local Area Network) interface connected to them. The transmission / reception unit 47 receives biological information and exerciser position information from the exerciser holding device 20. In addition, route map data and the like are retrieved from a server (not shown) via a network and downloaded.

  The moving state determination unit 1, the biological information receiving unit 2, the input unit 3, the display unit 4, the movement control unit 5, the movement path storage unit 7, the moving body position detection unit 8 of FIG. The processing of the exerciser position detection unit 9, the exercise route selection unit 31 or the exercise route selection / resetting unit 33, and the exercise route extraction unit 32 is performed by a control program 50 including a control unit 41, a main storage unit 42, and an external storage unit 43. The operation unit 44, the display unit 45, the input / output unit 46, the transmission / reception unit 47, and the like are used as resources for processing.

  The following configurations are included as preferable modifications of the present invention.

About the exercise support system according to the first aspect of the present invention,
Preferably, target result acquisition means for acquiring information indicating the target and allowable range of the exercise result of the exerciser,
Route candidate acquisition means for acquiring a plurality of the route information;
From the path information and the target of the motion state, an exercise result calculation means for calculating a result of the exercise when moving along the route with the value of the target of the exercise state;
From among a plurality of pieces of route information acquired by the route candidate acquisition means, a route in which the exercise result calculated from the route information and the target of the exercise state fits a predetermined range from the target of the exercise result is selected. Route selection means,
With
The leading means travels in front of the athlete along the route selected by the route selecting means while maintaining a predetermined distance from the athlete.

Preferably, the result of the exercise includes information on calories burned,
The exercise result calculation means calculates calorie consumption from the distance of the route and the movement speed of the exercise state.

Preferably, the route candidate acquisition unit includes an extraction unit that extracts a motion route candidate from the map data.
The route selection unit selects a route that fits a predetermined range from a target of the result of the exercise, from among route candidates including the route candidate extracted by the extraction unit.

Preferably, in the middle of leading the exerciser with the leading means, halfway result calculating means for calculating a halfway result that is a result of the exercise so far,
A speed calculation means for calculating a moving speed of a remaining path that achieves the goal of the exercise result from a value obtained by subtracting the intermediate result from the goal of the exercise result; and
The control means adjusts the traveling speed of the leading means according to the moving speed of the remaining route.

Preferably, prediction means for calculating a predicted value that is a result of the movement of the remaining path from the remaining path and the target of the state of the movement,
When the sum of the intermediate result and the predicted value exceeds a predetermined range from the goal of the exercise result, the exercise result calculated from the path information and the goal of the exercise state is the goal of the exercise result. Route resetting means for selecting, as a new remaining route, a route closest to a value obtained by subtracting the intermediate result from
Is provided.

  Furthermore, when the exercise state of the exerciser exceeds a predetermined range from the exercise state target, the exerciser includes means for displaying information indicating that the exerciser is out of the exercise state target. May be.

About the exercise support method according to the second aspect of the present invention,
Preferably, a target result acquisition step of acquiring information indicating the target and allowable range of the exercise result of the exerciser,
A route candidate acquisition step of acquiring a plurality of the route information;
An exercise result calculating step for calculating an exercise result when exercised along the route with a value of the exercise state target from the path information and the exercise state target;
From among a plurality of route information acquired in the route candidate acquisition step, a route in which the exercise result calculated from the route information and the goal of the exercise state fits a predetermined range from the goal of the exercise result is selected. A route selection step to
With
In the leading step, along the route selected in the route selection step, the moving body is caused to travel in front of the exerciser while maintaining a predetermined distance from the exerciser.
It is characterized by that.

Preferably, the result of the exercise includes information on calories burned,
In the exercise result calculation step, calories burned are calculated from the distance of the path and the movement speed of the exercise state.

Preferably, the route candidate obtaining step includes an extraction step of extracting a motion route candidate from the map data,
The route selection step selects a route that fits a predetermined range from a target of the result of the exercise from among route candidates including the route candidate extracted in the extraction step.

Preferably, in the middle of leading the exerciser in the leading step, a midway result calculating step of calculating a midway result that is a result of the previous exercise,
A speed calculating step of calculating a moving speed of the remaining path that achieves the target of the motion result from a value obtained by subtracting the intermediate result from the target of the motion result;
With
The control step adjusts the traveling speed of the moving body according to the traveling speed of the remaining route.

Preferably, a prediction step of calculating a predicted value that is a result of the movement of the remaining path from the remaining path and the target of the state of movement,
When the sum of the intermediate result and the predicted value exceeds a predetermined range from the goal of the exercise result, the exercise result calculated from the path information and the goal of the exercise state is the goal of the exercise result. A route resetting step for selecting, as a new remaining route, a route closest to the value obtained by subtracting the intermediate result from
Is provided.

  Further, when the exercise state of the exerciser exceeds a predetermined allowable range from the exercise state target, information indicating that the exerciser is out of the exercise state target is displayed. You may prepare.

  In addition, the hardware configuration and the flowchart described above are merely examples, and can be arbitrarily changed and modified.

  The central part that performs processing for the exercise support system including the control unit 41, the main storage unit 42, the external storage unit 43, the transmission / reception unit 47, the internal bus 40, etc. It can be realized using a computer system. For example, a computer program for executing the above operation is stored and distributed in a computer-readable recording medium (flexible disk, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. Thus, the moving body 10 that executes the above-described processing may be configured. Further, the computer program may be stored in a storage device included in a server device on a communication network such as the Internet, and the mobile object 10 may be configured by being downloaded by a normal computer system.

  Further, when the functions of the mobile unit 10 are realized by sharing an OS (operating system) and an application program, or by cooperation between the OS and the application program, only the application program part is stored in a recording medium or a storage device. May be.

  It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board (BBS, Bulletin Board System) on a communication network, and the computer program distributed via the network. The computer program may be started and executed in the same manner as other application programs under the control of the OS, so that the above-described processing may be executed.

  ADVANTAGE OF THE INVENTION According to this invention, it can utilize for the exercise | movement assistance with respect to the person under the exercise | movement for the health maintenance or health promotion of a person with insufficient exercise, and an elderly person, or during rehabilitation.

DESCRIPTION OF SYMBOLS 1 Movement state determination part 2 Biometric information reception part 3 Input part 4 Display part 5 Movement control part 6 Movement mechanism part 7 Movement path memory | storage part 8 Mobile body position detection part 9 Exerciser position detection part 10 Mobile body 11 Movement path load amount database (Exercise path load DB)
DESCRIPTION OF SYMBOLS 12 Load calculation part 13 Information receiving part 14 Movement path | route speed calculation part 15 Movement mechanism command production | generation part 20 Exerciser holding device 21 Biometric information measurement part 22 Biological information transmission part 23 Exerciser position measurement part 24 Exerciser position information transmission part 31 Movement path selection section 32 Movement path extraction section 33 Movement path selection / resetting section 41 Control section 42 Main storage section 43 External storage section 44 Operation section 45 Display section 46 Input / output section 47 Transmission / reception section 48 Sensor 49 Actuator 50 Control program 100 Movement Support system

Claims (15)

Target acquisition means for acquiring information indicating the target and allowable range of the exercise state of the exerciser;
Route acquisition means for acquiring route information including map data of the route of movement and information on the height difference of the route;
Leading means for traveling in front of the exerciser along the route acquired by the route acquisition unit while maintaining a predetermined distance from the exerciser;
State acquisition means for acquiring biological information and movement speed of the exerciser in the state of exercise;
Control means for adjusting the traveling speed of the leading means so that the state of movement of the exerciser calculated from the biological information and movement speed of the exerciser falls within the target allowable range of the state of movement;
An exercise support system comprising: Target result acquisition means for acquiring information indicating the target and allowable range of the exercise result of the exerciser;
Route candidate acquisition means for acquiring a plurality of the route information;
From the path information and the target of the motion state, an exercise result calculation means for calculating a result of the exercise when moving along the route with the value of the target of the exercise state;
From among a plurality of pieces of route information acquired by the route candidate acquisition means, a route in which the exercise result calculated from the route information and the target of the exercise state fits a predetermined range from the target of the exercise result is selected. Route selection means,
With
The leading means travels in front of the exerciser while maintaining a predetermined distance from the exerciser along the route selected by the route selection unit.
The exercise support system according to claim 1, wherein: The result of the exercise includes information on calories burned,
The exercise support system according to claim 2, wherein the exercise result calculation unit calculates calorie consumption from the distance of the route and the movement speed of the exercise state. The route candidate acquisition means includes an extraction means for extracting an exercise route candidate from the map data,
The route selection means selects a route that fits within a predetermined range from a target of the result of the exercise from among route candidates including the route candidate extracted by the extraction means.
The exercise support system according to claim 2 or 3, characterized by the above. In the middle of leading the exerciser with the leading means, halfway result calculating means for calculating a halfway result that is the result of the previous exercise,
A speed calculation means for calculating a moving speed of a remaining path that achieves the goal of the exercise result from a value obtained by subtracting the intermediate result from the goal of the exercise result; and
5. The exercise support system according to claim 2, wherein the control unit adjusts a traveling speed of the leading unit according to a moving speed of the remaining route. Prediction means for calculating a predicted value that is a result of the movement of the remaining path from the remaining path and the target of the state of movement,
When the sum of the intermediate result and the predicted value exceeds a predetermined range from the goal of the exercise result, the exercise result calculated from the path information and the goal of the exercise state is the goal of the exercise result. Route resetting means for selecting, as a new remaining route, a route closest to a value obtained by subtracting the intermediate result from
The exercise support system according to claim 5, further comprising:   Means for displaying information indicating that the exerciser is out of the exercise state target when the exercise state of the exerciser exceeds a predetermined range from the exercise state target; The exercise support system according to any one of claims 1 to 6. A goal acquisition step for obtaining information representing the goal and tolerance range of the exercise state of the exerciser;
A route acquisition step for acquiring route information including map data of the route of the motion and information on the height difference of the route;
A leading step of causing a moving body to travel in front of the athlete while maintaining a predetermined distance from the athlete along the path;
A state acquisition step of acquiring biological information and movement speed of the exerciser in the state of exercise;
A control step of adjusting a traveling speed of the moving body so that an exercise state of the exerciser calculated from the biological information and the movement speed of the exerciser falls within a target allowable range of the exercise state;
An exercise support method comprising: A target result acquisition step for acquiring information representing the target and allowable range of the exercise result of the exerciser;
A route candidate acquisition step of acquiring a plurality of the route information;
An exercise result calculating step for calculating an exercise result when exercised along the route with a value of the exercise state target from the path information and the exercise state target;
From among a plurality of route information acquired in the route candidate acquisition step, a route in which the exercise result calculated from the route information and the goal of the exercise state fits a predetermined range from the goal of the exercise result is selected. A route selection step to
With
In the leading step, along the route selected in the route selection step, the moving body is caused to travel in front of the exerciser while maintaining a predetermined distance from the exerciser.
The exercise support method according to claim 8. The result of the exercise includes information on calories burned,
The exercise support method according to claim 9, wherein in the exercise result calculation step, calorie consumption is calculated from the distance of the route and the movement speed of the exercise state. The route candidate obtaining step includes an extraction step of extracting a motion route candidate from the map data,
The route selection step selects a route that fits a predetermined range from a target of the result of the exercise from among route candidates including the route candidate extracted in the extraction step.
The exercise support method according to claim 9 or 10, characterized in that In the middle of leading the athlete in the leading step, a midway result calculating step for calculating a midway result that is a result of the exercise so far;
A speed calculating step of calculating a moving speed of the remaining path that achieves the target of the motion result from a value obtained by subtracting the intermediate result from the target of the motion result;
With
The exercise support method according to claim 9, wherein the control step adjusts a traveling speed of the moving body in accordance with a moving speed of the remaining route. A prediction step of calculating a prediction value that is a result of the movement of the remaining path from the remaining path and the target of the state of movement;
When the sum of the intermediate result and the predicted value exceeds a predetermined range from the goal of the exercise result, the exercise result calculated from the path information and the goal of the exercise state is the goal of the exercise result. A route resetting step for selecting, as a new remaining route, a route closest to the value obtained by subtracting the intermediate result from
The exercise support method according to claim 12, further comprising:   When the exercise state of the exerciser exceeds a predetermined allowable range from the exercise state target, the exerciser comprises a step of displaying information indicating that the exerciser is out of the exercise state target. 14. The exercise support method according to any one of claims 8 to 13, wherein the exercise support method is performed. On the computer,
A goal acquisition step for obtaining information representing the goal and tolerance range of the exercise state of the exerciser;
A route acquisition step for acquiring route information including map data of the route of the motion and information on the height difference of the route;
A leading step of causing a moving body to travel in front of the athlete while maintaining a predetermined distance from the athlete along the path;
A state acquisition step of acquiring biological information and movement speed of the exerciser in the state of exercise;
A control step of adjusting a traveling speed of the moving body so that an exercise state of the exerciser calculated from the biological information and the movement speed of the exerciser falls within a target allowable range of the exercise state;
A program that executes

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