JP2011117945A5 - - Google Patents
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- JP2011117945A5 JP2011117945A5 JP2010238184A JP2010238184A JP2011117945A5 JP 2011117945 A5 JP2011117945 A5 JP 2011117945A5 JP 2010238184 A JP2010238184 A JP 2010238184A JP 2010238184 A JP2010238184 A JP 2010238184A JP 2011117945 A5 JP2011117945 A5 JP 2011117945A5
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上記目的を達成するため、請求項１記載の発明は、歩行計測装置において、
歩行体に保持されて歩行動作に伴う加速度を連続的に検出する加速度センサと、
地磁気の方向を連続的に検出する地磁気センサと、
前記加速度センサの検出により得られる前記加速度を表わす検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正手段と、
前記補正手段により補正された前記検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出手段と、
を備えたことを特徴としている。
In order to achieve the above object, the invention according to claim 1 is a walking measurement apparatus,
An acceleration sensor that is held by the walking body and continuously detects acceleration accompanying walking motion ;
A geomagnetic sensor that continuously detects the direction of geomagnetism,
Among the detection data representing the acceleration obtained by the detection of the acceleration sensor , either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot Correcting means for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance the detection data;
A moving direction calculating means for calculating a moving direction of the walking body on the basis of the direction of the geomagnetism detected by corrected the detected data and the geomagnetic sensor by the correction means,
It is characterized by having.
請求項２記載の発明は、請求項１記載の歩行計測装置において、
前記加速度センサは、
３軸方向の加速度をそれぞれ検出する加速度センサであり、
前記地磁気センサは、
３軸方向の地磁気をそれぞれ検出する地磁気センサであることを特徴としている。
The invention according to claim 2 is the gait measuring device according to claim 1,
The acceleration sensor is
It is an acceleration sensor that detects the acceleration in each of the three axes.
The geomagnetic sensor is
This is a geomagnetic sensor that detects geomagnetism in three axial directions .
請求項３記載の発明は、請求項２記載の歩行計測装置において、
前記加速度センサの出力に基づいて左足を踏み出す歩行動作と右足を踏み出す歩行動作の大きさの違いを算出する差異算出手段を備え、
前記補正手段は、
前記差異算出手段の算出結果に基づいて前記加速度を表わす検出データを補正することを特徴としている。
The invention according to claim 3 is the gait measuring device according to claim 2 ,
With the difference calculation means to calculate the difference in size of the walking motion to take the walking and the right foot to take the left foot on the basis of the output of the acceleration sensor,
The correction means includes
The detection data representing the acceleration is corrected based on the calculation result of the difference calculation means.
請求項６記載の発明は、請求項１記載の歩行計測装置において、
前記移動方向算出手段は、
前記補正手段により補正された前記歩行体の水平方向の加速度を表わす検出データの回帰直線を求めて、この回帰直線に基づいて前記歩行体の移動方向を算出することを特徴としている。
The invention described in claim 6 is the walking measurement apparatus according to claim 1 ,
The moving direction calculation means includes
A regression line of detection data representing the horizontal acceleration of the walking body corrected by the correcting means is obtained, and the moving direction of the walking body is calculated based on the regression line.
請求項７記載の発明は、歩行計測方法において、
歩行体に保持されて歩行動作に伴う加速度を連続的に検出する加速度センサと、地磁気の方向を連続的に検出する地磁気センサとからそれぞれ検出されたデータを受け取って演算を行う歩行計測装置における歩行計測方法であって、
歩行体の歩行動作に伴う加速度を連続的に検出する加速度検出ステップと、
前記歩行体の移動方向に関する物理量を連続的に検出する方向検出ステップと、
前記加速度検出ステップの検出結果に基づいて左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出する差異算出ステップと、
前記方向検出ステップにより得られる前記物理量の検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、前記差異算出ステップの算出結果に基づき、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正ステップと、
この補正ステップにより補正された検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出ステップと、
を含むことを特徴としている。
The invention according to claim 7 is the walking measurement method,
Walking in a walking measurement device that receives and detects data detected from an acceleration sensor that is held by a walking body and continuously detects acceleration accompanying walking motion, and a geomagnetic sensor that continuously detects the direction of geomagnetism Measuring method,
An acceleration detection step for continuously detecting acceleration associated with the walking motion of the walking body;
A direction detecting step for continuously detecting a physical quantity related to the moving direction of the walking body;
A difference calculating step for calculating a difference in size between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot based on the detection result of the acceleration detection step;
Among the physical quantity detection data obtained by the direction detection step, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot, On the basis of the calculation result of the difference calculation step, a correction step for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance,
A moving direction calculating step for calculating a moving direction of the walking body based on the detection data corrected by the correcting step and the direction of geomagnetism detected by the geomagnetic sensor ;
It is characterized by including.
請求項８記載の発明は、
歩行体に保持されて歩行動作に伴う加速度を連続的に検出する加速度センサと、地磁気の方向を連続的に検出する地磁気センサとからそれぞれ検出データを受け取って演算を行うコンピュータに、
前記加速度センサの検出データに基づいて左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出する差異算出機能と、
前記方向センサの出力に基づき得られる前記物理量の検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、前記差異算出機能による算出結果に基づき、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正機能と、
この補正機能により補正された検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出機能と、
を実現させるプログラムである。
The invention described in claim 8
To the computer that receives the detection data from the acceleration sensor that is continuously held by the walking body and detects the acceleration accompanying the walking motion, and the geomagnetic sensor that continuously detects the direction of geomagnetism, and performs calculation,
A difference calculating function for calculating a difference in size between a walking action of stepping on the left foot and a walking action of stepping on the right foot based on the detection data of the acceleration sensor;
Of the physical quantity detection data obtained based on the output of the direction sensor, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot , Based on the calculation result by the difference calculation function, a correction function for correcting in a direction to balance the difference between the detection data based on the difference in the size of the left and right walking movements;
A moving direction calculation function for calculating the moving direction of the walking body based on the detection data corrected by the correction function and the direction of geomagnetism detected by the geomagnetic sensor ;
It is a program that realizes.
Claims (8)
地磁気の方向を連続的に検出する地磁気センサと、
前記加速度センサの検出により得られる前記加速度を表わす検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正手段と、
前記補正手段により補正された前記検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出手段と、
を備えたことを特徴とする歩行計測装置。 An acceleration sensor that is held by the walking body and continuously detects acceleration accompanying walking motion ;
A geomagnetic sensor that continuously detects the direction of geomagnetism,
Among the detection data representing the acceleration obtained by the detection of the acceleration sensor , either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot Correcting means for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance the detection data;
A moving direction calculating means for calculating a moving direction of the walking body on the basis of the direction of the geomagnetism detected by corrected the detected data and the geomagnetic sensor by the correction means,
A gait measuring device comprising:
３軸方向の加速度をそれぞれ検出する加速度センサであり、
前記地磁気センサは、
３軸方向の地磁気をそれぞれ検出する地磁気センサであることを特徴とする請求項１記載の歩行計測装置。 The acceleration sensor is
It is an acceleration sensor that detects the acceleration in each of the three axes.
The geomagnetic sensor is
The walking measurement device according to claim 1, wherein the walking measurement device is a geomagnetic sensor that detects geomagnetism in three axial directions .
前記補正手段は、
前記差異算出手段の算出結果に基づいて前記加速度を表わす検出データを補正することを特徴とする請求項２記載の歩行計測装置。 With the difference calculation means to calculate the difference in size of the walking motion to take the walking and the right foot to take the left foot on the basis of the output of the acceleration sensor,
The correction means includes
The walking measurement apparatus according to claim 2 , wherein detection data representing the acceleration is corrected based on a calculation result of the difference calculation unit.
前記加速度センサにより検出される上下方向の加速度に基づき一歩ごとの時間間隔を求めて、この時間間隔の差異に基づき左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出することを特徴とする請求項３記載の歩行計測装置。 The difference calculating means includes
Obtain a time interval for each step based on the vertical acceleration detected by the acceleration sensor, and calculate the difference in size between the walking motion of stepping on the left foot and the walking motion of stepping on the right foot based on the difference in time interval The walking measurement device according to claim 3, wherein:
前記加速度センサにより検出される水平方向の加速度の大きさに基づき左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出することを特徴とする請求項３記載の歩行計測装置。 The difference calculating means includes
4. The walking measurement apparatus according to claim 3, wherein a difference in magnitude between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot is calculated based on a magnitude of horizontal acceleration detected by the acceleration sensor.
前記補正手段により補正された前記歩行体の水平方向の加速度を表わす検出データの回帰直線を求めて、この回帰直線に基づいて前記歩行体の移動方向を算出することを特徴とする請求項１記載の歩行計測装置。 The moving direction calculation means includes
And a regression line of the detected data representing the horizontal acceleration of the correcting means and the walking body that is corrected by claim 1, wherein the calculating the moving direction of the walking body on the basis of the regression line Gait measuring device.
歩行体の歩行動作に伴う加速度を連続的に検出する加速度検出ステップと、
前記歩行体の移動方向に関する物理量を連続的に検出する方向検出ステップと、
前記加速度検出ステップの検出結果に基づいて左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出する差異算出ステップと、
前記方向検出ステップにより得られる前記物理量の検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、前記差異算出ステップの算出結果に基づき、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正ステップと、
この補正ステップにより補正された検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出ステップと、
を含むことを特徴とする歩行計測方法。 Walking in a walking measurement device that receives and detects data detected from an acceleration sensor that is held by a walking body and continuously detects acceleration accompanying walking motion, and a geomagnetic sensor that continuously detects the direction of geomagnetism Measuring method,
An acceleration detection step for continuously detecting acceleration associated with the walking motion of the walking body;
A direction detecting step for continuously detecting a physical quantity related to the moving direction of the walking body;
A difference calculating step for calculating a difference in size between a walking motion of stepping on the left foot and a walking motion of stepping on the right foot based on the detection result of the acceleration detection step;
Among the physical quantity detection data obtained by the direction detection step, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot, On the basis of the calculation result of the difference calculation step, a correction step for correcting the difference between the detection data based on the difference in the size of the left and right walking movements in a direction to balance,
A moving direction calculating step for calculating a moving direction of the walking body based on the detection data corrected by the correcting step and the direction of geomagnetism detected by the geomagnetic sensor ;
A gait measurement method comprising:
前記加速度センサの検出データに基づいて左足を踏み出す歩行動作と右足を踏み出す歩行動作との大きさの違いを算出する差異算出機能と、
前記方向センサの出力に基づき得られる前記物理量の検出データのうち、左足を踏み出す歩行動作の際に得られる検出データと、右足を踏み出す歩行動作の際に得られる検出データとの何れか又は両方を、前記差異算出機能による算出結果に基づき、左右の歩行動作の大きさの違いに基づく前記検出データの差異を均衡させる方向に補正する補正機能と、
この補正機能により補正された検出データと前記地磁気センサにより検出された地磁気の方向とに基づいて前記歩行体の移動方向を算出する移動方向算出機能と、
を実現させるプログラム。 To the computer that receives the detection data from the acceleration sensor that is continuously held by the walking body and detects the acceleration accompanying the walking motion, and the geomagnetic sensor that continuously detects the direction of geomagnetism, and performs calculation,
A difference calculating function for calculating a difference in size between a walking action of stepping on the left foot and a walking action of stepping on the right foot based on the detection data of the acceleration sensor;
Of the physical quantity detection data obtained based on the output of the direction sensor, either or both of detection data obtained during a walking motion of stepping on the left foot and detection data obtained during a walking motion of stepping on the right foot , Based on the calculation result by the difference calculation function, a correction function for correcting in a direction to balance the difference between the detection data based on the difference in the size of the left and right walking movements;
A moving direction calculation function for calculating the moving direction of the walking body based on the detection data corrected by the correction function and the direction of geomagnetism detected by the geomagnetic sensor ;
A program that realizes
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| JP5982969B2 (en) * | 2012-04-09 | 2016-08-31 | セイコーエプソン株式会社 | Liquid ejection apparatus and liquid ejection method |
| JP6371056B2 (en) * | 2013-12-26 | 2018-08-08 | 株式会社早稲田エルダリーヘルス事業団 | Mobile motion state display device, method and system, and program |
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| US7747409B2 (en) * | 2004-03-12 | 2010-06-29 | Vectronix Ag | Pedestrian navigation apparatus and method |
| JP4931241B2 (en) * | 2007-09-25 | 2012-05-16 | Ｋｄｄｉ株式会社 | Mobile terminal and program for determining direction change of pedestrian's direction of travel |
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| JP5608958B2 (en) * | 2008-03-31 | 2014-10-22 | 富士通株式会社 | Moving direction calculating device, moving direction calculating program, and moving direction calculating method |
| JP2009288022A (en) * | 2008-05-28 | 2009-12-10 | Sumitomo Electric Ind Ltd | Abnormality determination device of earth magnetism sensor, travel azimuth specification device, computer program, and abnormality determination method of earth magnetism sensor |
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