JP5608958B2 - Moving direction calculating device, moving direction calculating program, and moving direction calculating method - Google Patents

Description

  The present invention relates to a movement direction calculation device, a movement direction calculation program, and a movement direction calculation method that are attached to a walking body and calculate the movement direction of the walking body.

  Conventionally, many techniques for autonomously calculating the moving direction of a walking body without using a measurement signal from the outside such as a GPS signal have been provided. In order to detect the direction of movement, it is normal to use a magnetic sensor and a gyro sensor, detect the orientation of the body using information obtained from each sensor, and always advance with respect to the orientation of the body. or, it had to calculate the position by setting either proceed in advance which direction the person is.

  Specifically, for example, a combined value of the acceleration of the X axis and the Y axis between the positive value peak and the negative value peak of the Z axis acceleration using the X axis, Y axis and Z axis acceleration sensors. And a technique for obtaining a movement angle from the X-axis and Y-axis acceleration when the composite value is a positive peak is disclosed (for example, see Patent Documents 1 and 2 below).

JP 2003-302419 A JP 2007-325722 A

  However, in the conventional autonomous position detection device as described above, first, the orientation of the user's body is calculated using a magnetic sensor or a gyro sensor, and then it is determined whether or not the calculated orientation is always advanced. And calculating the moving direction. The criterion for determining whether or not the vehicle is always traveling in the calculated direction is set in advance by a user or the like, such as whether the vehicle is traveling in a preset direction or a limited direction. However, the movement of a normal person is not only forward, but also a variety of movements such as backward movement, left and right lateral walking, and movement in an oblique direction are combined, and if the movement direction is fixed to forward movement, accurate position detection is possible. There was a problem that was difficult.

  Moreover, although the movement direction can be calculated to some extent, the technique of the above-mentioned Patent Document 1 requires a great deal of calculation of square roots and trigonometric functions. For the purpose of a device for calculating the moving direction, the device body must be a portable device having a shape and weight that can be worn by a person. However, in the case of the above-described technique for calculation using such a portable device, the processing load is heavy, and further, an error factor due to shaking of a human body is included. Therefore, there has been a problem that it is not possible to expect a highly accurate calculation of the moving direction in spite of a large amount of calculation.

  Moreover, the technique of the above-mentioned Patent Document 2 has only resolutions in four directions, front, rear, left and right. Therefore, there is a problem that the accurate moving direction cannot be grasped except in a specific facility or when a pedestrian is under a specific competition.

  In order to eliminate the above-described problems caused by the conventional technology, the present invention provides a movement direction calculation device, a movement direction calculation program, and a movement direction calculation method that are light in processing load and that can calculate the movement direction of a walking body with high accuracy. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the movement direction calculation device, the movement direction calculation program, and the movement direction calculation method intersect with the X axis, which is the front direction of the walking body, at right angles to the front direction. A detecting means for detecting the acceleration in the triaxial direction of the Y axis that is the left and right direction of the walking body and the Z axis that is the vertical direction of the walking body is attached to the walking body, and the detected acceleration in the Z axis direction Using the process of specifying the peak interval of the acceleration curve representing the continuous value as the walking interval of the walking body and the acceleration curve in each axial direction at the specified walking interval, the walking body is front and rear, left and right, diagonally right A process for calculating a score that points to the possibility of moving in each of the eight directions of front and rear and diagonally left and right, and movement of the walking body in the direction with the highest calculated score among the eight directions Direction and A separate handle may be a requirement that and a process of outputting the determined moving direction.

  According to the moving direction calculation device, the moving direction calculation program, and the moving direction calculation method, using the three-axis acceleration curve detected by the detection unit, each of the eight directions of front and rear, left and right, right and left and right and left and front and left The possibility that the walking body is moving can be expressed as a score. Therefore, the moving direction of the walking body can be easily determined by referring to this score.

  According to the moving direction calculation device, the moving direction calculation program, and the moving direction calculation method, the processing load is light and the moving direction calculation of the walking body can be realized with high accuracy.

  Exemplary embodiments of a moving direction calculating device, a moving direction calculating program, and a moving direction calculating method will be described below in detail with reference to the accompanying drawings.

(Overview of moving direction calculation process)
First, an outline of the movement direction calculation process according to the present embodiment will be described. FIG. 1 is an explanatory diagram showing an outline of the movement direction calculation process.

  As shown in FIG. 1, in this embodiment, the walking direction calculation device 110 is attached to the walking body 100. The movement direction calculation device 110 includes a detection unit 111, a walking interval identification unit 112, a direction calculation unit 113, and a determination unit 114.

  As shown in FIG. 1, the detection unit 111 includes an X axis that is the front direction of the walking body 100, a Y axis that is the left and right direction of the walking body 100 that intersects at right angles to the front direction, and a vertical direction of the walking body 100. The acceleration in the triaxial direction with the Z axis as the direction is detected. In the present embodiment, the names X, Y, and Z are given in the directions shown in FIG. 1 for convenience, but the names are not particularly limited as long as the accelerations in these three directions can be detected.

  The walking interval specifying unit 112 specifies the peak interval of the acceleration curve representing the continuous value of the acceleration in the Z-axis direction detected by the detecting unit 111 as the walking interval of the walking body 100. The acceleration curve in the Z-axis direction draws a sin curve. Therefore, the peak interval represents an interval at which the maximum positive amplitude of the acceleration curve in the Z-axis direction appears or an interval at which the maximum negative amplitude appears.

  Further, the walking interval specifying unit 112 may set a threshold value in order to strictly specify the walking interval. That is, the peak indicated by the sine curve is not detected uniformly, but the pedestrian is regarded as a peak only when the maximum value peak or the minimum value peak is equal to or greater than a predetermined threshold width. It is possible to avoid a situation in which a fine peak of the acceleration curve in the Z-axis direction caused by 100 body shakes is erroneously detected as one step.

  The direction calculation unit 113 uses the acceleration curves in the X, Y, and Z axial directions at the walking interval specified by the walking interval specifying unit 112, so that the walking body 100 is front and rear, left and right, right and left front and rear, and left and right front and rear 8 A score that points to the possibility of moving in each direction is calculated.

  Here, the calculation of the score will be further described. In the case of the present embodiment, the following values are acquired from the acceleration curves in the respective axis directions at the one-step walking interval specified by the walking interval specifying unit 112 from the acceleration curves of the respective axes.

・ Amplitude value of acceleration curve in each axis direction ・ Time when acceleration curve in X axis and Y axis direction becomes maximum value and minimum value ・ Integral value of absolute value of acceleration curve in X axis and Y axis direction ・ Z axis direction X-axis and Y-axis at the second apex of the acceleration curve in the Z-axis direction. Direction acceleration

  The possibility shown below is made using these values. In accordance with this determination result, points are added to the score in the direction that is most likely to move among the eight directions. Then, the accumulation of points at the time when all the determinations are completed becomes a score in each direction.

(1) Judgment of possibility of moving to “front and back” or “left and right” (2) Judgment of possibility of moving to “front” or “back” (3) “Right” or “Right” Judgment of possibility of moving to “left” (4) Judgment of possibility of moving to “front and back”, “left and right”, or “oblique”

  The discriminating unit 114 discriminates the direction in which the score calculated by the direction calculating unit 113 is the largest among the eight directions described above as the moving direction of the walking body 100. Further, the determination unit 114 has a function of determining how to walk the walking body 100 in addition to the calculation of the direction score as described above. In the movement direction calculation device 110, it is possible to determine whether the walking body 100 is walking in a normal walking, running, sneaking or walking.

  Note that when the determination unit 114 also determines how to walk, the direction determination changes in conjunction with the walking method determination result. Specifically, when the walking body 100 is in a rushed walking, since the walking body 100 jumps up, a waveform in which the phase of acceleration in the Z-axis direction is inverted is detected. Therefore, when it is determined that the walking body 100 is a gait walking, a result opposite to the possibility of the actual moving direction is output as the direction score. Therefore, when it is determined that the walking pair 100 is a gait walking, the determination unit 114 outputs a direction that is 180 degrees opposite to the direction in which the score calculated by the direction calculation unit 113 is the largest as the movement direction.

  The moving direction of the walking body 100 determined by the determination unit 114 is uniquely output to the outside by an output unit (not shown). When the determination unit 114 determines how to walk, the determined walking method is also output. The output destination by the output means can be set arbitrarily. For example, a display unit (not shown) may be attached to the movement direction calculation device 110 to display the calculation result on the walking body 100 itself, or may be transmitted to other devices via a communication I / F (interface). Good.

  As described above, in the present embodiment, it is possible to realize a highly accurate movement direction calculation process having eight-direction resolution and walking method determination using a limited detection value of three-axis acceleration. it can.

(Hardware configuration of moving direction calculation device)
First, the hardware configuration of the moving direction calculation apparatus according to this embodiment will be described. FIG. 2 is a block diagram illustrating a hardware configuration of the moving direction calculation apparatus. As shown in FIG. 1, the moving direction calculation device 110 is a small device of a cigarette box size. Further, the moving direction calculation device 110 may be an existing terminal such as a PDA (Personal Digital Assistant) or a PC (Personal Computer) added with a hardware configuration described below, or includes a dedicated housing. It may be a device.

  Further, the movement direction calculation device 110 includes a CPU 201, a ROM 202, a RAM 203, an HDD (hard disk drive) 204, an HD (hard disk) 205, a memory drive 206, a removable memory 207 as a removable recording medium, A display 208, an input I / F (interface) 209, various sensors 210, and a network I / F 211 are provided. Each component is connected by a bus 220.

  Here, the CPU 201 governs overall control of the movement direction calculation device 110. The ROM 202 stores a program such as a boot program. The RAM 203 is used as a work area for the CPU 201. The HDD 204 controls data read / write with respect to the HD 205 according to the control of the CPU 201. The HD 205 stores data written under the control of the HDD 204.

  The memory drive 206 controls reading / writing of data with respect to the removable memory 207 according to the control of the CPU 201. The removable memory 207 stores data written under the control of the memory drive 206 or causes the memory drive 206 to read data stored in the removable memory 207 under the control of the CPU 201.

  The display 208 displays data related to the movement direction calculation result using a document, an image, as well as a cursor, an icon, or a tool box. As the display 208, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

  The input I / F 209 includes keys for inputting characters, numbers, various instructions, and the like, and inputs data. Moreover, a touch panel type input pad or a numeric keypad may be used. The input unit of the input I / F 209 may be a pointing device such as a touch panel or a trackball.

  The various sensors 210 are composed of sensors having different functions for measuring information for calculating the moving direction. Specifically, an acceleration sensor for detecting the walking interval of the walking body 100, and a magnetic sensor and a gyro sensor for calculating the moving direction of the walking body 100 are mounted. In the case of the moving direction calculation device 110 according to the present embodiment, the acceleration sensor is an essential configuration, but other sensors are optional.

  The network I / F 211 connects to the network 230 such as the Internet through the communication line 212 regardless of wired wireless, and connects the movement direction calculation device 110 to other devices via the network 230. The network I / F 211 controls an internal interface with the network 230 and controls data input / output from an external device. As the network I / F 211, for example, a modem or a LAN adapter can be employed.

(Functional configuration of moving direction calculation device)
Next, a functional configuration of the moving direction calculation apparatus according to the present embodiment will be described. FIG. 3 is a block diagram illustrating a functional configuration of the moving direction calculation apparatus. As illustrated in FIG. 3, the moving direction calculation device 110 includes a sensor unit 310, an arithmetic processing unit 320, a storage unit 330, a display unit 340, and a communication unit 350.

  The sensor unit 310 includes three types of sensors: an acceleration sensor 311, a magnetic sensor 312, and a gyro sensor 313. From these sensors, the operation content accompanying the movement of the walking body 100 is continuously detected at predetermined intervals. The sensor unit 310 is realized by, for example, the various sensors 210 described with reference to FIG. Further, as described above, it is arbitrary whether a sensor other than the acceleration sensor 311 is mounted.

  The arithmetic processing unit 320 is a functional unit that calculates the moving direction of the walking body 100 using the detection value acquired from the sensor unit 310. The arithmetic processing unit 320 is realized by, for example, the CPU 201, the ROM 202, and the RAM 203 described with reference to FIG.

  The storage unit 330 is a storage area that stores predetermined information according to the control of the CPU 201. Information stored in the storage unit 330 includes input information 331, output information 332, setting parameters 333 necessary for calculation processing, a determination table 334 in which determination processing contents and determination criteria are set, and a calculation algorithm used for the calculation processing. There are 335. The storage unit 330 is implemented by, for example, the HDD 204, HD 205, memory drive 206, and removable memory 207 described with reference to FIG.

  The display unit 340 and the communication unit 350 function as an output unit that outputs the movement direction calculation result of the walking body 100 calculated by the calculation processing unit 320. In the display unit 340, the moving direction calculation result can be notified to the walking body 100 itself by a display device such as a liquid crystal display. Moreover, since the communication part 350 can transmit a moving direction calculation result to another apparatus and a predetermined address, it can alert | report the moving direction of the walking body 100 with respect to others.

  In addition to the movement direction calculation result, the communication unit 350 can acquire the setting parameter 333, the determination table 334, and the calculation algorithm 335 necessary for calculation in the calculation processing unit 320 from the outside through communication with an external device. it can. The display unit 340 is realized by, for example, the display 208 in FIG. Moreover, the communication part 350 is implement | achieved by network I / F211 of FIG. 2, for example.

(Handling of detected values by acceleration sensor)
Next, how the acceleration sensor 311 handles detected values will be described. As described in the outline of FIG. 1, in the present embodiment, the walking body 100 is traveling in any of eight directions diagonally forward / backward / left / right from the detection value of the acceleration sensor 311, and what kind of walking is performed. Calculate what is happening. In order to perform this calculation, it is necessary to detect various values from values detected by the acceleration sensor 311. Therefore, the detection contents of various values used for moving direction calculation in this embodiment will be described below.

-Detection of walking interval First, the walking interval for each step of the walking body 100 will be described. FIG. 4 is an explanatory diagram showing a process for detecting a one-step walking interval. A curve 400 in FIG. 4 indicates a continuous value of acceleration in the Z-axis direction detected by the acceleration sensor. A peak is detected from the curve 400, and an interval AZMaxT between two peaks at t1 and t2 is detected as an interval of one step of the walking body. In FIG. 4, two peaks on the maximum value side are detected, but two peaks on the minimum value side may be calculated. When detecting either the peak on the maximum value side or the minimum value side, false detection is performed by detecting a value that exceeds a preset threshold range (here, as an example, a range of 35 to -40). Can be prevented.

Acceleration Amplitude and Peak Interval Detection Next, detection of the acceleration curve amplitude and peak interval in the X-axis direction and the Y-axis direction will be described. FIG. 5A is an explanatory diagram illustrating a time difference between the maximum value and the minimum value of the amplitude of the X-axis acceleration. FIG. 5B is an explanatory diagram illustrating a time difference between the maximum value and the minimum value of the amplitude of the Y-axis acceleration.

  A curve 510 in FIG. 5A represents a continuous value of acceleration in the X-axis direction detected by the acceleration sensor. A curve 520 in FIG. 5B represents a continuous value of acceleration in the Y-axis direction detected by the acceleration sensor. Various values are detected for both the curve 510 and the curve 520 based on the period of the curve 400.

  Specifically, in FIG. 5A, the time between the maximum amplitude AZPp of the curve 400 and the maximum amplitude AXPp of the curve 510 is detected. At this time, when the positive maximum amplitude AZPp is used as a reference, the time to the positive maximum amplitude AXPp of the curve 510 is ΔT1, and the time to the negative maximum amplitude AXPp is ΔT2. Similarly, in the case of FIG. 5B, the time to the maximum positive amplitude AYPp of the curve 520 when the positive maximum amplitude AZPp is used as a reference is ΔT3, and the time to the negative maximum amplitude AYPp is ΔT4.

Next, detection of the sum of absolute values of acceleration values in the X-axis direction and the Y-axis direction will be described. FIG. 6A is an explanatory diagram of the sum of absolute values of X-axis acceleration. FIG. 6B is an explanatory diagram of the sum of absolute values of Y-axis acceleration. As shown in FIG. 6A, the AXSUMM of the curve 510 is detected as the sum of the absolute values of the X-axis acceleration. Further, as shown in FIG. 6B, the AYSumM of the curve 520 is detected as the sum of the absolute values of the Y-axis acceleration. To be exact, in the case of FIG. 6A and FIG. 6B, the sum of absolute values is detected only by limiting the peak interval of the curve 400.

-Acceleration change rate detection Next, the change rate detection of the acceleration curve of a X-axis direction and a Y-axis direction is demonstrated. FIG. 7 is an explanatory diagram showing acceleration change rate detection. In FIG. 7, the rate of change ΔML of the curve 510 or the curve 520 indicating the acceleration of the other axis at the time tmin when the value of the curve 400 indicating the acceleration in the Z-axis direction is minimized is detected. Further, the rate of change ΔM0 of the curve 510 or the curve 520 indicating the acceleration of another axis at the time t0 when the value of the curve 400 indicating the acceleration in the Z-axis direction becomes 0 is also detected.

-Peak detection Next, the peak detection of the acceleration curve of a X-axis direction and a Y-axis direction is demonstrated. FIG. 8 is an explanatory diagram showing peaks of respective axes within one cycle. A curve 800 in FIG. 8 represents an example of acceleration in the Z-axis direction when the walking body 100 steals and walks. In the case of stealth like a curve 800, a plurality of peaks appear during one cycle (peak interval exceeding the threshold range). Therefore, each peak is detected as P1, P2,. Further, the accelerations of the curves 510 and 520 of the other axes at P2 are detected particularly as peak2AX (in the case of the X-axis direction) and peak2AY (in the case of the Y-axis direction).

-Strolling detection Next, staggering detection will be described. In the case of the present embodiment, when the acceleration curve in the Y-axis direction shows a predetermined behavior, it is possible to discriminate walking on the walking body 100. FIG. 9A is an explanatory diagram of left-handed stroking determination. FIG. 9-2 is an explanatory diagram of right-handed stroking determination.

  As in P910 in FIG. 9A, in the acceleration in the Y-axis direction represented by the curve 520, there is no difference (difference from the value of the curve 400) from the start time of the walking interval at the peak on the maximum value side. In this case, it is determined that the next one cycle t911 is walking while walking in the left direction. Since there is a difference between the next peak on the minimum value side of the acceleration in the Y-axis direction and the start time of the walking interval, it is determined that one cycle t912 is normal walking.

  Similarly, P920 in FIG. 9-2 does not have a difference from the start time of the walking interval (difference from the value of the curve 400) in the peak on the minimum value side in the acceleration in the Y-axis direction represented by the curve 520. In this case, it is determined that the next one cycle t921 is walking while walking in the right direction. Again, since there is a difference between the next peak on the maximum value side of the acceleration in the Y-axis direction and the start time of the walking interval, it is determined that one cycle t922 is normal walking.

  Each detection value demonstrated above is utilized when calculating the score which pointed the possibility that the walking body 100 is moving. In addition, as a setting value such as a threshold value that has appeared in the detection process described above, a value recorded in advance in the setting parameter 333 can be used. Further, how the detected value is specifically used and how the point is added to the direction score according to the determination will be described according to the procedure of the movement calculation process.

(Movement direction calculation procedure)
Next, the procedure of the moving direction calculation process using the detection value of the acceleration sensor described above will be described. 10 to 13 are flowcharts showing the procedure of the traveling direction calculation process. In the flowchart of FIG. 10, first, from the maximum value (+) peak of the acceleration curve in the Z-axis direction to the next maximum value (+) peak is set as one cycle representing a one-step walking interval (step S1001). Hereinafter, processing using the detected value of the acceleration curve in each axis direction in this one cycle is performed.

  Next, it is determined whether or not the area of the acceleration curve in the X-axis direction is larger than the area of the acceleration curve in the Y-axis direction (step S1002). In order to obtain the area of the acceleration curve in the X-axis direction and the area of the acceleration curve in the Y-axis direction, AXSUMM and AYSUMM described with reference to FIGS. 6A and 6B may be referred to.

  In step S1002, when it is determined that the area of the acceleration curve in the X-axis direction is larger than the area of the acceleration curve in the Y-axis direction (step S1002: Yes), 2 points are added to the front score and the back score, and the diagonally right front One point is added to the score, the right oblique rear score, the left oblique rear score, and the left oblique front score (step S1003). On the other hand, when it is determined that the area of the acceleration curve in the X-axis direction is equal to or smaller than the area of the acceleration curve in the Y-axis direction (step S1002: No), 2 points are added to the right score and the left score, and the right diagonally previous score 1 point is added to the right diagonally backward score, left diagonally backward, and left diagonally front score (step S1004).

  Here, FIG. 14-1 is a chart showing the area difference between the X-axis acceleration and the Y-axis acceleration when walking in the forward direction. FIG. 14-2 is a chart showing an area difference between the X-axis acceleration and the Y-axis acceleration when walking in the left direction. As illustrated in FIG. 14A, when the walking body 100 walks forward, the difference between the area of the acceleration curve in the X-axis direction and the area of the acceleration curve in the Y-axis direction is output as a positive value. Therefore, when the area of the acceleration curve in the X-axis direction is larger than the area of the acceleration curve in the Y-axis direction, since there is a high possibility of walking in the front-rear direction, a high point is added to the front-rear score.

  On the other hand, as illustrated in FIG. 14B, when the walking body 100 walks leftward, the difference between the area of the acceleration curve in the X-axis direction and the area of the acceleration curve in the Y-axis direction is output as a negative value. Therefore, when the area of the acceleration curve in the X-axis direction is equal to or smaller than the area of the acceleration curve in the Y-axis direction, since there is a high possibility of walking in the left-right direction, a high point is added to the left-right score.

  Returning to the flowchart of FIG. 10, it is next determined whether the amplitude of the acceleration curve in the X-axis direction is larger than the amplitude of the acceleration curve in the Y-axis direction (step S1005). In order to obtain the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction, the maximum amplitude AXPp and the maximum amplitude AYPp described with reference to FIGS.

  In step S1005, when it is determined that the amplitude of the acceleration curve in the X-axis direction is larger than the amplitude of the acceleration curve in the Y-axis direction (step S1005: Yes), two points are added to the previous score and the rear score, and the diagonally right front One point is added to the score, the right oblique rear score, the left oblique rear score, and the left oblique front score (step S1006). On the other hand, when it is determined that the amplitude of the acceleration curve in the X-axis direction is equal to or smaller than the amplitude of the acceleration curve in the Y-axis direction (step S1005: No), 2 points are added to the right score and the left score, and the right diagonally previous score Then, 1 point is added to the right oblique rear score, the left oblique rear score, and the left oblique front score (step S1007).

  Here, FIG. 15A is a chart showing an amplitude difference between the X-axis acceleration and the Y-axis acceleration when walking in the forward direction. FIG. 15-2 is a chart showing an amplitude difference between the X-axis acceleration and the Y-axis acceleration when walking in the left direction. As illustrated in FIG. 15A, when the walking body 100 walks forward, the difference between the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction is output as a positive value. Therefore, when the amplitude of the acceleration curve in the X-axis direction is larger than the amplitude of the acceleration curve in the Y-axis direction, since there is a high possibility of walking in the front-rear direction, a high point is added to the front-back score.

  On the other hand, as illustrated in FIG. 15B, when the walking body 100 walks leftward, the difference between the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction is output as a negative value. Therefore, when the area of the acceleration curve in the X-axis direction is equal to or smaller than the amplitude of the acceleration curve in the Y-axis direction, a high point is added to the left-right score because the possibility of walking in the left-right direction is high.

  Returning to the flowchart of FIG. 10, is the slope of the acceleration curve in the X-axis direction larger than the slope of the acceleration curve in the Y-axis direction when the acceleration curve in the Z-axis direction is the minimum value (negative value peak)? It is determined whether or not (step S1008). The slope of the acceleration curve in step S1008 may refer to the rate of change ΔML at tmin as shown in FIG.

  If the slope of the acceleration curve in the X-axis direction is larger than the slope of the acceleration curve in the Y-axis direction when the acceleration curve in the Z-axis direction is the minimum value (negative value peak) in step S1008 (step S1008: Yes). Then, 2 points are added to the previous score and the rear score, and 1 point is added to the right diagonally front score, the right diagonally rear score, the left diagonally rear score, and the left diagonally front score (step S1009). On the other hand, when it is determined that the slope of the acceleration curve in the X-axis direction when the acceleration curve in the Z-axis direction is the minimum value (negative value peak) is equal to or smaller than the slope of the acceleration curve in the Y-axis direction (step S1008). : No), 2 points are added to the right score and the left score, and 1 point is added to the right oblique front score, the right oblique rear score, the left oblique rear score, and the left oblique front score (step S1010).

  Here, FIG. 16A is a chart showing the slope square difference between the X-axis acceleration and the Y-axis acceleration when walking in the forward direction. FIG. 16-2 is a chart showing the slope square difference between the X-axis acceleration and the Y-axis acceleration when walking in the left direction. Here, the difference is obtained as a square value in order to convert the inclination into an absolute value.

  As illustrated in FIG. 16A, when the walking body 100 walks forward, the slope square difference between the X-axis acceleration and the Y-axis acceleration becomes a positive value. Therefore, if the slope of the acceleration curve in the X-axis direction is larger than the slope of the acceleration curve in the Y-axis direction when the acceleration curve in the Z-axis direction is the minimum value (negative value peak), the vehicle is walking in the front-rear direction. Since there is a high possibility, high points are added to the front and rear scores.

  On the other hand, as shown in FIG. 16B, when the walking body 100 walks in the left direction, the slope square difference between the X-axis acceleration and the Y-axis acceleration becomes a negative value. Therefore, if the slope of the acceleration curve in the X-axis direction is equal to or less than the slope of the acceleration curve in the Y-axis direction when the acceleration curve in the Z-axis direction is the minimum value (negative peak), it is possible to walk in the left-right direction. Because of its high nature, add high points to the left and right scores.

  Next, the procedure after step S1101 will be described using the flowchart of FIG. In the flowchart of FIG. 11, first, it is determined whether or not the number of vertices of acceleration in the Z-axis direction in one cycle is 6 or more (step S1101). This step S1101 is a process of determining whether or not the walking body 100 is sneaky. Therefore, when the number of vertices of acceleration in the Z-axis direction in one cycle is less than 6 (step S1101: No), it is determined that the patient is not walking steadily, and then the maximum amplitude time of the acceleration curve in the X-axis direction is determined. It is determined whether or not it is longer than the minimum amplitude time (step S1102).

  The determination in step S1102 may be made by comparing ΔT1 that is the time to the maximum positive amplitude AXPp and ΔT2 that is the time to the negative maximum amplitude AXPp in FIG. Here, when the maximum amplitude time of the acceleration curve in the X-axis direction is longer than the minimum amplitude time (step S1102: Yes), one point is added to the previous score, the right diagonally front score, and the left diagonally front score (step S1103). . On the other hand, when the maximum amplitude time of the acceleration curve in the X-axis direction is equal to or shorter than the minimum amplitude time (step S1102: No), one point is added to the rear score, the right diagonal rear score, and the left diagonal rear score (step S1104). .

  FIG. 17A is a chart showing the number of vertices of Z-axis acceleration during normal walking. FIG. 17-2 is a chart showing the number of vertices of the Z-axis acceleration when walking with shinobi. As is clear from the comparison between FIG. 17-1 and FIG. 17-2, a large number of peaks with small amplitudes appear during sneaky foot walking. Note that the setting of the number of vertices 6 is an example, and may be adjusted according to the walking characteristics and wrinkles of the walking body 100.

  Returning to the flowchart of FIG. 11, subsequently, it is determined whether or not the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is minimum is 0 or more (step S1105). The determination in step S1105 may be referred to ΔML in FIG. When it is determined that the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is the minimum is 0 or more (step S1105: Yes), 1 point for the previous score, the right diagonally front score, and the left diagonally front score Addition is performed (step S1106). On the other hand, when it is determined that the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is the minimum is less than 0 (step S1105: No), the post-score, the diagonally right back score, and the diagonally left diagonal score are obtained. One point is added (step S1107).

  Here, FIG. 18A is a chart illustrating the inclination of the X-axis acceleration when walking in the forward direction and the Z-axis acceleration is minimum. FIG. 18-2 is a chart showing the inclination of the X-axis acceleration when walking backward and the Z-axis acceleration is minimum. As illustrated in FIG. 18A, when the walking body 100 walks in the forward direction and the Z-axis acceleration is minimum, the inclination value is a positive value. Therefore, when the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is minimum is 0 or more, a high point is added to the previous score because the possibility of walking in the forward direction is high.

  On the other hand, as shown in FIG. 18-2, when the walking body 100 walks backward and the Z-axis acceleration is minimum, the inclination value is a negative value. Therefore, when the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is minimum is less than 0, a high point is added to the rear score because there is a high possibility of walking in the backward direction.

  Returning to the flowchart of FIG. 11, it is next determined whether or not the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction first becomes zero is 0 or less (step S1108). The determination in step S1108 may refer to ΔM0 in FIG. When it is determined that the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction first becomes 0 (step S1108: Yes), the previous score, the right front score, and the left front score 1 point is added to (step S1109). On the other hand, when it is determined that the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction first becomes 0 (step S1108: No), the rear score, the right diagonal rear score, the left diagonal rear One point is added to the score (step S1110).

  Here, FIG. 19A is a chart showing the inclination of the X-axis acceleration when walking forward and the Z-axis acceleration = 0. FIG. 19-2 is a chart showing the inclination of the X-axis acceleration when walking backward and the Z-axis acceleration = 0. As illustrated in FIG. 19A, when the walking body 100 walks in the forward direction and the Z-axis acceleration = 0, the inclination value is a negative value. Therefore, when the slope of the acceleration curve in the X-axis direction is 0 or less, there is a high possibility of walking in the forward direction, so a high point is added to the previous score.

  On the other hand, as shown in FIG. 19-2, when walking backward and the Z-axis acceleration = 0, the inclination value is likely to take a positive value. Therefore, when the slope of the acceleration curve in the X-axis direction is larger than 0, a high point is added to the rear score because the possibility of walking backward is high.

  Returning to the flowchart of FIG. 11, when the number of vertices of acceleration in the Z-axis direction in one cycle is 6 or more (step S1101: Yes), it is determined that the walking body 100 is walking steadily, and next Then, it is determined whether or not the acceleration in the X-axis direction at the second vertex of the Z-axis is 0 or more (step S1111).

  If it is determined in step S1111 that the acceleration in the X-axis direction is 0 or more (step S1111: Yes), 3 points are added to the previous score, the right diagonally front score, and the left diagonally front score (step S1112). On the other hand, when it is determined that the acceleration in the X-axis direction is less than 0 (step S1111: No), 3 points are added to the rear score, the right diagonal rear score, and the left diagonal rear score (step S1113).

  Here, FIG. 20-1 is a chart showing the X-axis acceleration in the case of walking in the forward direction. FIG. 20-2 is a chart showing the X-axis acceleration when walking in the backward direction. As shown in FIG. 20-1, when a sneaky foot is walked forward, there is a high possibility that a positive value will be output. Accordingly, when it is determined that the acceleration in the X-axis direction is 0 or more, a high point is added to the previous score because there is a high possibility of moving in the forward direction. On the other hand, as shown in FIG. 20-2, when the patient steals backwards, the possibility of a negative output is high. Therefore, when it is determined that the acceleration in the X-axis direction is less than 0, a high point is added to the rear score because there is a high possibility of moving in the backward direction.

  Next, the processing after step S1201 will be described using the flowchart of FIG. In the flowchart of FIG. 12, first, it is determined whether or not the start time of one step of the walking body 100 is the maximum amplitude of the acceleration curve in the Y-axis direction (step S1201). When it is determined that the start time of one step is not the maximum amplitude of the acceleration curve in the Y-axis direction (step S1201: No), on the contrary, it is determined whether the start time of one step is the minimum amplitude of the acceleration curve in the Y-axis direction ( Step S1203). The determinations in steps S1201 and S1203 may be made by referring to the amplitude AYPp of the acceleration curve in the Y-axis direction in FIG.

  If it is determined in step S1201 that the start time of one step is the maximum amplitude of the acceleration curve in the Y-axis direction (step S1201: Yes), it is determined that the walking body 100 is walking in the right direction, Three points are added to the score, the diagonally right front score, and the diagonally right rear score (step S1202), and the process proceeds to step S1301 (see FIG. 13). If it is determined in step S1203 that the start time of one step is the minimum amplitude of the acceleration curve in the Y-axis direction (step S1203: Yes), it is determined that the walking body 100 is walking in the left direction. 3 points are added to the left score, the left diagonally front score, and the left diagonally rear score (step S1204), and the process proceeds to step S1301 (see FIG. 13).

  Here, FIG. 21 is a chart showing the output time of the maximum Y-axis acceleration value when walking in the right direction. FIG. 22 is a chart showing the output time of the maximum Y-axis acceleration value when walking in the left direction. As shown in FIGS. 21 and 22, it can be seen that the time for taking the maximum value and the time for taking the minimum value are concentrated at close levels.

  Returning to the flowchart of FIG. 12, if the start time of one step is neither the maximum amplitude nor the minimum amplitude of the acceleration curve in the Y-axis direction (step S1203), then whether the number of vertices of acceleration in the Z-axis direction is 6 or more. Is determined (step S1205). This step S1205 is a process for determining whether or not the walking body 100 is sneaky and walking, as in step S1101.

  If it is determined in step S1205 that the number of vertices of acceleration in the Z-axis direction is less than 6 (step S1205: No), whether or not the maximum amplitude time of the acceleration curve in the Y-axis direction is longer than the minimum amplitude time. Judgment is made (step S1206). The determination in step S1206 may be compared with reference to ΔT3, which is the time to the maximum positive amplitude AYPp in FIG. 5-2, and ΔT4, which is the time to the negative maximum amplitude AYPp.

  In step S1206, when the maximum amplitude time of the acceleration curve in the Y-axis direction is longer than the minimum amplitude time (step S1206: Yes), 1 point is added to the right score, the right diagonally front score, and the right diagonally rear score (step S1207). ). On the other hand, when the maximum amplitude time of the acceleration curve in the Y-axis direction is equal to or shorter than the minimum amplitude time (step S1206: No), 1 point is added to the left score, the left diagonally front score, and the left diagonally rear score (step S1208). .

  Subsequently, it is determined whether or not the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is minimum is 0 or more (step S1209). The determination in step S1209 may be referred to ΔML in FIG. When it is determined that the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is the minimum is 0 or more (step S1209: Yes), one point is given to the right score, the right diagonally front score, and the right diagonally rear score. Addition is performed (step S1210). On the other hand, when it is determined that the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is the minimum is less than 0 (step S1209: No), the left score, the left oblique front score, and the left oblique rear score are obtained. One point is added (step S1211).

  Here, FIG. 23A is a chart showing the inclination of the Y-axis acceleration when walking in the right direction and the Z-axis acceleration is minimum. FIG. 23-2 is a chart showing the slope of the Y-axis acceleration when walking in the left direction and the Z-axis acceleration is minimum. As shown in FIG. 23A, when the walking body 100 walks in the right direction and the Z-axis acceleration is minimum, the inclination value is a positive value. Therefore, when the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is minimum is 0 or more, a high point is added to the right score because the possibility of walking in the right direction is high.

  On the other hand, as shown in FIG. 23-2, when the walking body 100 walks in the left direction and the Z-axis acceleration is minimum, the inclination value is a negative value. Therefore, when the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is minimum is less than 0, a high point is added to the left score because the possibility of walking in the left direction is high.

  Returning to the flowchart of FIG. 12, it is then determined whether or not the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction first becomes zero is 0 or less (step S1212). The determination in step S1212 may be made by referring to ΔM0 in FIG. When it is determined that the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction is 0 is less than or equal to 0 (step S1212: Yes), 1 point is given to the right score, the right diagonally front score, and the right diagonally rear score Addition is performed (step S1213). On the other hand, if it is determined that the slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction first becomes 0 (step S1212: No), the left score, the left diagonally front score, and the diagonally left rear One point is added to the score (step S1214).

  Here, FIG. 24-1 is a chart showing the slope of the Y-axis acceleration when walking in the right direction and the Z-axis acceleration = 0. FIG. 24-2 is a chart showing the slope of the Y-axis acceleration when walking in the left direction and the Z-axis acceleration = 0. As illustrated in FIG. 24A, when the walking body 100 walks in the right direction and the Z-axis acceleration = 0, the inclination value is likely to be a negative value. Therefore, when the slope of the acceleration curve in the Y-axis direction is 0 or less, there is a high possibility of walking in the right direction, so a high point is added to the right score.

  On the other hand, as shown in FIG. 24-2, when the user walks in the left direction and the Z-axis acceleration = 0, the inclination value is likely to take a positive value. Therefore, when the slope of the acceleration curve in the Y-axis direction is larger than 0, a high point is added to the left score because the possibility of walking in the left direction is high.

  Returning to the flowchart of FIG. 12, when it is determined in step S1205 that the number of vertices of acceleration in the Z-axis direction is 6 or more (step S1205: Yes), the walking body 100 is determined to be sneaky and walking. Then, it is determined whether or not the acceleration in the Y-axis direction at the second vertex of the Z-axis is 0 or more (step S1215).

  If it is determined in step S1215 that the acceleration in the Y-axis direction is equal to or greater than 0 (step S1215: Yes), 3 points are added to the right score, the right diagonally front score, and the right diagonally rear score (step S1216). On the other hand, when it is determined that the acceleration in the Y-axis direction is less than 0 (step S1215: No), 3 points are added to the left score, the left diagonally front score, and the left diagonally rear score (step S1217).

  Here, FIG. 25A is a chart showing the Y-axis acceleration when walking in the right direction and walking in the leg. FIG. 25-2 is a chart showing the Y-axis acceleration when walking in the left direction. As shown in FIG. 25-1, when a sneaky leg is walked in the right direction, there is a high possibility that a positive value is output. Therefore, when it is determined that the acceleration in the Y-axis direction is 0 or more, a high point is added to the right score because there is a high possibility that the acceleration is moving in the right direction. On the other hand, as shown in FIG. 25-2, when the sneaky foot is walked in the left direction, there is a high possibility that a negative value is output. Therefore, when it is determined that the acceleration in the Y-axis direction is less than 0, a high point is added to the left score because there is a high possibility of moving in the left direction.

  Next, the processing after step S1301 will be described using the flowchart of FIG. In the flowchart of FIG. 13, it is first determined whether or not the amplitude of the acceleration curve in the Y-axis direction is 0 (step S1301). If it is determined that the amplitude of acceleration in the Y-axis direction is not 0 (step S1301: No), the amplitude ratio between the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction is calculated. (Step S1302). Then, the magnitude of the calculated amplitude ratio is discriminated (step S1303).

  Next, 1 point is added to each direction score according to the amplitude ratio determined in step S1303 (step S1304). Specifically, points are added as follows. FIG. 26 is a data string showing an example of the determination threshold value table for the oblique movement direction. Refer to FIG. 26 for the threshold values below.

When amplitude ratio> threshold 1A: points are added to the previous score and rear score. Amplitude ratio <threshold 1A and amplitude ratio> threshold 1B: right front right score, right rear rear score, left front left score. , Points added to left diagonally back score / amplitude ratio <threshold 1B: points added to right score and left score

  When points are added in step S1304, the process proceeds to step S1306. If it is determined in step S1301 that the amplitude of the acceleration curve in the Y-axis direction is 0 (step S1301: Yes), 1 point is added to the previous score and the rear score (step S1305), and the process of step S1306 is performed. Migrate to

  Next, it is determined whether or not the area of the acceleration curve in the Y-axis direction is 0 (step S1306). If it is determined that the area of the acceleration curve in the Y-axis direction is not 0 (step S1306: No), the area ratio between the area of the acceleration curve in the X-axis direction and the area of the acceleration curve in the Y-axis direction is calculated. (Step S1307). Then, the size of the calculated area ratio is determined (step S1308).

  Next, 1 point is added to each direction score according to the area ratio determined in step S1308 (step S1309). Specifically, points are added as follows. Again, the threshold values below refer to FIG.

When area ratio> threshold value 2A: points are added to previous score and rear score. Area ratio <threshold value 2A and area ratio> threshold value 2B: right diagonally front score, right diagonally rear score, left diagonally front score , Add points to diagonally left back score and area ratio <threshold value 2B: Add points to right score and left score

  When points are added in step S1309, the process proceeds to step S1311. If it is determined in step S1306 that the area of the acceleration curve in the Y-axis direction is 0 (step S1306: Yes), 1 point is added to the previous score and the rear score (step S1310), and the process of step S1311 is performed. Migrate to

  FIG. 27 is an explanatory diagram illustrating an example of the traveling direction determination threshold value. As shown in FIG. Based on values (amplitude and area) detected from the acceleration curve in the X-axis direction, a theoretical value is obtained, and a threshold is set by feeding back actual behavior.

  FIG. 28A is an explanatory diagram of the amplitude ratio between the X-axis acceleration and the Y-axis acceleration when walking in the forward direction. FIG. 28-2 is an explanatory diagram illustrating the amplitude ratio between the X-axis acceleration and the Y-axis acceleration when walking in a diagonally forward right direction. Further, FIG. 28-3 is an explanatory diagram showing an amplitude ratio between the X-axis acceleration and the Y-axis acceleration when walking in the left direction. As is clear from FIGS. 28-1 to 28-3, the amplitude ratio between the X-axis acceleration and the Y-axis acceleration is determined when walking in the forward direction, when walking in the diagonally forward right direction, and when walking in the left direction. Output values appear in different areas. Therefore, as in step S1304, points can be added to the direction score according to the amplitude ratio.

  Further, FIG. 29A is a chart showing an area ratio between the X-axis acceleration and the Y-axis acceleration when walking in the forward direction. FIG. 29-2 is a chart showing the area ratio between the X-axis acceleration and the Y-axis acceleration when walking in the diagonally forward right direction. FIG. 29-3 is a chart showing an area ratio between the X-axis acceleration and the Y-axis acceleration when walking in the left direction. Also in FIGS. 29-1 to 29-3, the area ratio of the X-axis acceleration and the Y-axis acceleration is clearly different depending on the case of walking in the forward direction, the case of walking in the diagonally forward right direction, and the case of walking in the left direction. Output values appear in different areas. Therefore, points can be added to the direction score according to the area ratio as in step S1309.

  Returning to the flowchart of FIG. 13, the front, rear, right, left, right diagonally forward, right diagonally rear, left diagonally front, and left diagonally rear scores are compared, and the direction having the maximum score value is determined. It is set as a moving walk (step S1311). FIG. 30 is an explanatory diagram illustrating an output example of score calculation results in each direction. As shown in FIG. 30, the points added in each step are accumulated and calculated as a score. In the example of FIG. 30, since the maximum score value is in front of the right side, it is determined that the walking body 100 is moving in the front side of the right side.

  Returning to the flowchart of FIG. 13, it is next determined whether or not the walking body 100 is in a gait walking (step S1312). Here, FIG. 31A is a chart illustrating the inclination of the X-axis acceleration when the vehicle runs forward and the Z-axis acceleration is minimum. FIG. 31-2 is a chart showing the inclination of the X-axis acceleration when the vehicle runs forward and the Z-axis acceleration = 0. Normally, the slope of the X-axis acceleration in the case where the user walks forward and the Z-axis acceleration is minimum is output as a positive value as shown in FIG. However, in FIG. 31-1, since the gait is running, the phase is reversed and output as a negative value.

  Further, the inclination of the X-axis acceleration when walking in the forward direction and the Z-axis acceleration = 0 is output as a negative value as shown in FIG. However, in FIG. 31-2, since the gait is running, the phase is reversed and output as a positive value even in such a case. That is, when it is determined that the walking body 100 is walking on the ground, it must be processed in consideration of the fact that the output value is inverted.

  Therefore, when it is determined in step S1312 that the walking body 100 is walking on the ground (step S1312: Yes), the movement direction calculated in step S1311 is reversed by 180 degrees (step S1313). Then, the moving direction is calculated by adding the moving direction information to the body orientation information of the walking body 100 (step S1314), and the series of processes is terminated.

  When the magnetic sensor 312 and the gyro sensor 313 are mounted, the orientation information of the walking body 100 can be obtained from detection values of these sensors. In addition, when the magnetic sensor 312 and the gyro sensor 313 are not mounted, body orientation information may be input without the walking body 100 itself.

  In step S1312, if it is determined that the walking body 100 is walking on the ground (step S1312: Yes), it is determined that the reversed moving direction is used and the walking body 100 is not walking on the ground. In this case (step S1312: No), the calculated movement direction is used as it is.

  In addition, although the value of the point addition mentioned above may be uniform for each score of front, back, right, left, right front, right back, left front, and left front, depending on the environment and the walking body 100 You may add the point which weighted each determination condition.

  As described above, in the moving direction calculation device 110 of the present embodiment, the acceleration sensor 311 only needs to detect the acceleration of three axes from the outside. Then, only by extracting a predetermined value from the acceleration curve, which is a continuous value of the three-axis acceleration, and by comparing the extracted values, the eight directions of front and rear, left and right, right and left and right and left and right and left are front and rear. The possibility that the walking body is moving can be expressed as a score. Then, by referring to this score, the moving direction of the walking body can be easily determined. As described above, in this embodiment, the processing load is light and the moving direction calculation of the walking body can be realized with high accuracy.

  The moving direction calculation method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a medium that can be distributed via a network such as the Internet.

  Further, the moving direction calculation device 110 described in the present embodiment is a PLD (hereinafter simply referred to as “ASIC”) such as a standard cell or a structured specific integrated circuit (ASIC) (hereinafter simply referred to as “ASIC”) or a PLD (such as an FPGA). It can also be realized by Programmable Logic Device). Specifically, for example, the function (111 to 114) of the moving direction calculation device 110 described above is defined by HDL description, and the HDL description is logically synthesized and given to the ASIC or PLD, thereby moving direction calculation device 110. Can be manufactured.

  The following additional notes are disclosed with respect to the embodiment described above.

(Supplementary Note 1) Three axes: an X-axis that is the front direction of the walking body, a Y-axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and a Z-axis that is the vertical direction of the walking body Detecting means for detecting the acceleration in the direction;
A walking interval specifying unit that specifies a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting unit as a walking interval of the walking body;
Using the acceleration curve in each axial direction at the walking interval specified by the walking interval specifying means, it is possible that the walking body is moving in each direction of front and rear, left and right, right and left diagonally front and back, left and right front and rear 8 directions Direction calculating means for calculating a score that points to sex;
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating means among the eight directions;
Output means for outputting the direction determined by the direction determination means;
A moving direction calculation device comprising:

(Supplementary note 2) The movement according to supplementary note 1, wherein the walking interval specifying means specifies a peak interval at which an amplitude of an acceleration curve in the Z-axis direction is equal to or greater than a threshold value as a walking interval of the walking body. Direction calculation device.

(Supplementary note 3) The direction calculating means integrates the absolute value of the acceleration curve in the X-axis direction and the absolute value of the acceleration curve in the Y-axis direction at the walking interval specified by the walking interval specifying means. The moving direction according to appendix 1 or 2, wherein point addition processing is performed to increase a score in either direction of a score in the front-rear direction and a score in the left-right direction according to a difference from the value. Calculation device.

(Supplementary Note 4) The direction calculation means, according to the difference between the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction in the walking interval specified by the walking interval specifying means, 4. The moving direction calculation apparatus according to any one of appendices 1 to 3, wherein point addition processing is performed to increase a score in any direction of a front-rear direction score and a left-right direction score.

(Supplementary Note 5) The direction calculation means includes a square value of the slope of the acceleration curve in the X-axis direction when the acceleration in the Z-axis direction is minimized in the walking interval specified by the walking interval specifying means; A point addition process is performed to increase the score in either the front-rear direction score or the left-right direction score in accordance with the difference from the square value of the slope of the acceleration curve in the Y-axis direction. The moving direction calculation device according to any one of Supplementary notes 1 to 4.

(Additional remark 6) The said direction calculation means is the maximum value of the acceleration curve of the said X-axis direction from the start position of the said walking interval of the acceleration curve of the said Z-axis direction in the walking interval specified by the said walking interval specification means. According to the difference between the time to the peak position and the time from the start position of the walking interval to the peak position on the minimum value side of the acceleration curve in the X-axis direction, the forward score and the backward score 6. The moving direction calculation device according to any one of appendices 1 to 5, wherein a point addition process for increasing a score in any direction is performed.

(Supplementary note 7) The direction calculation means determines whether the slope of the acceleration curve in the X-axis direction is a positive value when the acceleration in the Z-axis direction is minimized in the walking interval specified by the walking interval specifying means. Any one of Supplementary notes 1 to 6, wherein a point addition process is performed to increase the score in either the forward score or the backward score depending on whether the score is negative. The moving direction calculation device according to one.

(Additional remark 8) The said direction calculation means is positive in the inclination of the acceleration curve of the said X-axis direction when the acceleration of the said Z-axis direction becomes 0 initially in the walk interval specified by the said walk interval specific | specification means. Any one of appendices 1 to 7, wherein point addition processing is performed to increase the score in either direction of the forward score and the backward score depending on whether the value is negative or negative. The moving direction calculation apparatus according to one.

(Supplementary Note 9) In the walking interval specified by the walking interval specifying unit, the direction calculating unit may be configured such that the Z-axis direction acceleration curve is located on the maximum value side of the Y-axis direction acceleration curve from the start position of the walking interval. Depending on the difference between the time to the peak position and the time from the start position of the walking interval to the peak position on the minimum value side of the acceleration curve in the Y-axis direction, the score of the right direction point and the score of the left direction The moving direction calculation device according to any one of appendices 1 to 8, wherein a point addition process for increasing a score in any direction is performed.

(Supplementary Note 10) The direction calculation means determines whether the slope of the acceleration curve in the Y-axis direction is a positive value when the acceleration in the Z-axis direction is minimized in the walking interval specified by the walking interval specifying means. Any one of Supplementary notes 1 to 9, wherein a point addition process is performed to increase the score in either the right score or the left score depending on whether the score is negative. The moving direction calculation device according to claim 1.

(Supplementary Note 11) The direction calculation means has a negative slope of the acceleration curve in the Y-axis direction when the acceleration in the Z-axis direction first becomes 0 in the walking interval specified by the walking interval specifying means. Any one of Supplementary notes 1 to 10, wherein point addition processing is performed to increase the score in either the right direction score or the left direction score in accordance with a value or a positive value. The moving direction calculation device according to one.

(Additional remark 12) The said direction calculation means is back and forth according to the ratio between the amplitude of the acceleration curve in the X-axis direction and the amplitude of the acceleration curve in the Y-axis direction in the walking interval specified by the walking interval specifying means. The moving direction calculation apparatus according to any one of appendices 1 to 11, wherein point addition processing is performed to increase a score in any one of a direction, a left-right direction, and an oblique direction.

(Additional remark 13) The said direction calculation means is the absolute value of the integral value of the absolute value of the acceleration curve of the said X-axis direction, and the acceleration curve of the acceleration curve of the said Y-axis direction in the walk interval specified by the said walk interval specification means. According to any one of supplementary notes 1 to 12, wherein point addition processing is performed to increase the score in any one of the front-rear direction, the left-right direction, and the diagonal direction according to the ratio of the value to the integral value. The moving direction calculation device described.

(Supplementary Note 14) In the walking interval specified by the walking interval specifying means, when the number of peaks in the acceleration curve in the Z-axis direction is greater than or equal to a predetermined value, the walking method determination that determines that the walking body is walking steadily With means,
14. The moving direction calculation device according to any one of appendices 1 to 13, wherein the output means outputs information indicating that the walking body is stealthy and walking according to the determination result of the determination means. .

(Supplementary Note 15) When the walking method determining unit determines that the walking body is stealthy and walking, the direction calculating unit replaces the point addition process with the acceleration curve in the Z-axis direction. 15. The movement according to appendix 14, wherein point addition processing is performed to increase the score in any one of the front-rear direction, the left-right direction, and the diagonal direction according to the peak that appears next to the start position of the walking interval. Direction calculation device.

(Supplementary Note 16) The direction calculating means increases the rightward score when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction. Addition processing,
In the point addition process by the direction calculation unit, the direction determination unit determines a direction having the largest score as a moving direction of the walking body,
When the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction, the walking method determining unit is walking on the gait. And
The output means outputs information indicating that the walking body is walking in a staggered manner according to the determination result of the walking method determination means together with the direction determined by the direction determination means. 16. The moving direction calculation device according to Supplementary Note 14 or 15, which is a feature.

(Appendix 17)
The direction calculation means performs a point addition process for increasing the left direction point when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction,
In the point addition process by the direction calculation unit, the direction determination unit determines a direction having the largest score as a moving direction of the walking body,
When the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction, the walking method determining unit is walking on the gait. And
The output means outputs information indicating that the walking body is stealthy and walking with the direction determined by the direction determining means, according to the determination result of the walking method determining means. The moving direction calculation device according to any one of 16.

(Additional remark 18) When the said direction discrimination means determines that the said walking body is rushing and walking by the said way-of-walking means, the reverse direction of the direction with the largest score calculated by the said direction calculation means is said The moving direction according to any one of appendices 14 to 17, wherein the moving direction is determined as a moving direction of the walking body, and information indicating that the walking body is in a gait walking according to a determination result of the determining unit. Calculation device.

(Supplementary note 19) A computer for receiving an output from an acceleration sensor attached to an acceleration sensor attached to a walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body Detecting means for detecting
Walking interval specifying means for specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting means as a walking interval of the walking body;
Whether the walking body is moving in each of the eight directions of front and rear, left and right, right and left front and rear, left and right front and rear, using the acceleration curve in each axis direction at the walking interval specified by the walking interval specifying means. Direction calculating means for calculating a score that points to possibility;
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating unit among the eight directions;
Output means for outputting the direction determined by the direction determination means;
It is made to function as a moving direction calculation program characterized by the above-mentioned.

(Appendix 20) A device for receiving an output from an acceleration sensor attached to an acceleration sensor attached to a walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body A detection step for detecting
A walking interval specifying step of specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting step as a walking interval of the walking body;
Whether or not the walking body is moving in each of eight directions of front and rear, left and right, right and left diagonally front and rear, and left and right diagonal front and rear, using the acceleration curve in each axial direction at the walking interval specified by the walking interval specifying step. A direction calculation step of calculating a score that points to possibility;
A direction discriminating step for discriminating a direction in which the score calculated by the direction calculating step is the largest among the eight directions as a moving direction of the walking body;
An output step for outputting the direction determined by the direction determination step;
The moving direction calculation method characterized by including.

It is explanatory drawing which shows the outline | summary of a moving direction calculation process. It is a block diagram which shows the hardware constitutions of a moving direction calculation apparatus. It is a block diagram which shows the functional structure of a moving direction calculation apparatus. It is explanatory drawing which shows the detection process of the walk interval of one step. It is explanatory drawing which shows the time difference of the maximum value of the amplitude of X-axis acceleration, and a minimum value. It is explanatory drawing which shows the time difference of the maximum value and minimum value of the amplitude of a Y-axis acceleration. It is explanatory drawing which shows the sum of the absolute value of X-axis acceleration. It is explanatory drawing which shows the sum of the absolute value of a Y-axis acceleration. It is explanatory drawing which shows the change rate detection of an acceleration. It is explanatory drawing which shows the peak of each axis | shaft within one period. It is explanatory drawing which shows the saddle-walking determination of the left direction. It is explanatory drawing which shows the right-handed stroking determination. It is a flowchart (the 1) which shows the procedure of the advancing direction calculation process. It is a flowchart (the 2) which shows the procedure of the advancing direction calculation process. It is a flowchart (the 3) which shows the procedure of the advancing direction calculation process. It is a flowchart (the 4) which shows the procedure of the advancing direction calculation process. It is a graph which shows the area difference of the X-axis acceleration at the time of walking in the front direction, and a Y-axis acceleration. It is a graph which shows the area difference of the X-axis acceleration at the time of walking to the left direction, and a Y-axis acceleration. It is a graph which shows the amplitude difference of the X-axis acceleration at the time of walking in the front direction, and a Y-axis acceleration. It is a graph which shows the amplitude difference of the X-axis acceleration at the time of walking to left direction, and a Y-axis acceleration. It is a graph which shows the inclination square difference of the X-axis acceleration at the time of walking to the front, and a Y-axis acceleration. It is a graph which shows the inclination square difference of the X-axis acceleration at the time of walking to the left direction, and a Y-axis acceleration. It is a graph which shows the number of vertices of the Z-axis acceleration at the time of normal walking. It is a graph which shows the number of vertices of the Z-axis acceleration at the time of shinobi foot walking. It is a chart which shows the inclination of the X-axis acceleration when walking in the forward direction and the Z-axis acceleration is minimum. It is a graph which shows the inclination of the X-axis acceleration in the case of walking back and having the minimum Z-axis acceleration. It is a chart which shows the inclination of the X-axis acceleration when walking in the forward direction and the Z-axis acceleration = 0. It is a graph which shows the inclination of the X-axis acceleration in the case of walking backward and Z-axis acceleration = 0. It is a graph which shows the X-axis acceleration at the time of sneaking in the forward direction and walking. It is a graph which shows the X-axis acceleration at the time of sneaking in the backward direction and walking. It is a graph which shows the output time of the Y-axis acceleration maximum value at the time of stroking rightward. It is a graph which shows the output time of the Y-axis acceleration maximum value at the time of walking on the left. It is a chart which shows the inclination of the Y-axis acceleration when walking in the right direction and the Z-axis acceleration is minimum. It is a chart which shows the inclination of the Y-axis acceleration when walking in the left direction and the Z-axis acceleration is minimum. It is a chart which shows the inclination of the Y-axis acceleration when walking in the right direction and the Z-axis acceleration = 0. It is a chart which shows the inclination of the Y-axis acceleration when walking in the left direction and the Z-axis acceleration = 0. It is a graph which shows the Y-axis acceleration at the time of walking in a right direction and walking. It is a graph which shows the Y-axis acceleration at the time of sneaking in the left direction and walking. It is a data string which shows an example of the determination threshold value table of a diagonal movement direction. It is explanatory drawing which shows an example of the advancing direction discrimination | determination threshold value. It is explanatory drawing which shows the amplitude ratio of the X-axis acceleration at the time of walking in the front direction, and a Y-axis acceleration. It is explanatory drawing which shows the amplitude ratio of the X-axis acceleration at the time of walking in the diagonally forward right direction, and a Y-axis acceleration. It is explanatory drawing which shows the amplitude ratio of the X-axis acceleration at the time of walking to the left direction, and a Y-axis acceleration. It is a graph which shows the area ratio of the X-axis acceleration at the time of walking in the front direction, and a Y-axis acceleration. It is a graph which shows the area ratio of the X-axis acceleration at the time of walking in the diagonally forward right direction, and a Y-axis acceleration. It is a graph which shows the area ratio of the X-axis acceleration at the time of walking to the left direction, and a Y-axis acceleration. It is explanatory drawing which shows the example of an output of the score calculation result of each direction. It is a graph which shows the inclination of the X-axis acceleration in the case of running forward and the minimum Z-axis acceleration. It is a graph which shows the inclination of the X-axis acceleration in the case of running forward and Z-axis acceleration = 0.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Walking body 110 Moving direction calculation apparatus 111 Detection part 112 Walking interval specific | specification part 113 Direction calculation part 114 Discriminating part 201 CPU
202 ROM
203 RAM
204 HDD
205 HD
206 Memory Drive 207 Removable Memory 208 Display 209 Input I / F
210 Various sensors 211 Network I / F
220 Bus 230 Network (NET)
310 sensor unit 311 acceleration sensor 312 magnetic sensor 313 gyro sensor 320 arithmetic processing unit 330 storage unit 331 input information 332 output information 333 setting parameter 334 determination table 335 calculation algorithm 340 display unit 350 communication unit

Claims (9)

A three-axis acceleration of an X-axis that is the front direction of the walking body, a Y-axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and a Z-axis that is the vertical direction of the walking body Detecting means for detecting
A walking interval specifying unit that specifies a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting unit as a walking interval of the walking body;
Extraction means for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying means;
A walking method determining means for determining that the walking body is walking in a staggered manner when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction. When,
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, right and left front and rear, and eight left and right front and rear, the number of conditions satisfied by the value extracted by the extraction unit, Calculated as a score representing the possibility of moving in each direction, and when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction, Direction calculation means for performing point addition processing for increasing the score of the direction;
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating means among the eight directions;
An output unit that outputs information indicating that the walking body is walking in a staggered manner according to a determination result of the walking method determining unit together with the direction determined by the direction determining unit;
A moving direction calculation device comprising: A three-axis acceleration of an X-axis that is the front direction of the walking body, a Y-axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and a Z-axis that is the vertical direction of the walking body Detecting means for detecting
A walking interval specifying unit that specifies a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting unit as a walking interval of the walking body;
Extraction means for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying means;
A walking method determining means for determining that the walking body is walking in a staggered manner when the start position of the walking interval of the acceleration curve in the Z-axis is a peak on the minimum value side of the acceleration curve in the Y-axis direction. When,
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, right and left front and rear, and eight left and right front and rear, the number of conditions satisfied by the value extracted by the extraction unit, When calculating as a score indicating the possibility of moving in each direction, and the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction, Direction calculation means for performing point addition processing to increase the direction point;
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating means among the eight directions;
An output unit that outputs information indicating that the walking body is stealthy and walking according to a determination result of the walking method determination unit together with the direction determined by the direction determination unit;
A moving direction calculation device comprising: 3. The moving direction according to claim 1, wherein the walking interval specifying unit specifies a peak interval at which an amplitude of an acceleration curve in the Z-axis direction is equal to or greater than a threshold value as a walking interval of the walking body. Calculation device. In the walking interval specified by the walking interval specifying means, when the number of peaks of the acceleration curve in the Z-axis direction is equal to or greater than a predetermined value, the walking interval determining means for determining that the walking body is walking steadily,
4. The moving direction calculation apparatus according to claim 3, wherein the output means outputs information indicating that the walking body is sneaky and walking on the basis of a determination result of the walking way determination means. The direction discriminating unit moves the gait body in a direction opposite to the direction in which the score calculated by the direction calculating unit is the largest when the walking type discriminating unit discriminates that the walking body is rushing and walking. The information according to any one of claims 1 to 4, wherein the information indicating that the walking body is in a gait walking is output in accordance with a determination result of the walking method determination means while determining the direction. Moving direction calculation device. A computer that receives the output from the acceleration sensor attached to the acceleration sensor attached to the walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body Detecting means for detecting
Walking interval specifying means for specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting means as a walking interval of the walking body;
Extraction means for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying means;
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, right and left front and rear, and eight left and right front and rear, the number of conditions satisfied by the value extracted by the extraction unit, Calculated as a score representing the possibility of moving in each direction, and when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction, Direction calculation means for performing point addition processing for increasing the direction score;
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating unit among the eight directions;
When the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction together with the direction determined by the direction determining means, the walking body is walking Output means for outputting information indicating that the walking body is walking on the basis of a determination result determined to be
It is made to function as a moving direction calculation program characterized by the above-mentioned. A computer that receives the output from the acceleration sensor attached to the acceleration sensor attached to the walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body Detecting means for detecting
Walking interval specifying means for specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting means as a walking interval of the walking body;
Extraction means for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying means;
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, right and left front and rear, and eight left and right front and rear, the number of conditions satisfied by the value extracted by the extraction unit, When calculating as a score indicating the possibility of moving in each direction, and the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction, Direction calculation means for performing point addition processing to increase the direction point ,
Direction discriminating means for discriminating, as the moving direction of the walking body, a direction having the largest score calculated by the direction calculating unit among the eight directions;
When the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction together with the direction determined by the direction determining means , the walking body is walking Output means for outputting information indicating that the walking body is sneaky and walking according to the determination result determined to be
It is made to function as a moving direction calculation program characterized by the above-mentioned. A device that receives an output from an acceleration sensor attached to an acceleration sensor attached to a walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body A detection step for detecting
A walking interval specifying step of specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting step as a walking interval of the walking body;
An extraction step for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying step;
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, diagonally right and left, and diagonally left and right, the number of conditions satisfied by the value extracted by the extraction step, Calculated as a score representing the possibility of moving in each direction, and when the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the maximum value side of the acceleration curve in the Y-axis direction, A direction calculation step for performing point addition processing for increasing the direction score ;
A direction discriminating step for discriminating a direction in which the score calculated by the direction calculating step is the largest among the eight directions as a moving direction of the walking body;
When the start position of the walking interval of the acceleration curve in the Z-axis direction becomes a peak on the maximum value side of the acceleration curve in the Y-axis direction together with the direction determined by the direction determination step , the walking body walks and walks An output step for outputting information indicating that the walking body is walking in a staggered manner according to the determination result determined to be
The moving direction calculation method characterized by including. A device that receives an output from an acceleration sensor attached to an acceleration sensor attached to a walking body,
Acceleration in the three-axis direction of the X axis that is the front direction of the walking body, the Y axis that is the left-right direction of the walking body that intersects at right angles to the front direction, and the Z axis that is the vertical direction of the walking body A detection step for detecting
A walking interval specifying step of specifying a peak interval of an acceleration curve representing a continuous value of acceleration in the Z-axis direction detected by the detecting step as a walking interval of the walking body;
An extraction step for extracting a value characterizing the acceleration curve in each axial direction from the acceleration curve in each axial direction in the walking interval specified by the walking interval specifying step;
Among one or more conditions for determining that the walking body is moving in each direction of front and rear, left and right, diagonally right and left, and diagonally left and right, the number of conditions satisfied by the value extracted by the extraction step, When calculating as a score indicating the possibility of moving in each direction, and the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction, A direction calculation step for performing point addition processing to increase the direction point;
A direction discriminating step for discriminating a direction in which the score calculated by the direction calculating step is the largest among the eight directions as a moving direction of the walking body;
When the start position of the walking interval of the acceleration curve in the Z-axis direction is a peak on the minimum value side of the acceleration curve in the Y-axis direction together with the direction determined by the direction determination step, the walking body walks and walks An output step for outputting information indicating that the walking body is walking in a sneaky manner according to the determination result determined to be
The moving direction calculation method characterized by including.

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