JP2016158699A - Landing position evaluation method and landing position evaluation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology to calculate a landing position when running in a portable electronic apparatus attached to and used by a user.SOLUTION: A portable electronic apparatus 20 as a landing position evaluation apparatus includes: a first inertial sensor (first IMU) 30 attached to a part of a body trunk of a user; second inertial sensors (second IMU) 30a and 30b attached to the user's lower limb, or attached to an attached object attached to the lower limb; and a landing position evaluation part 220 for calculating the user's landing position using detection values of the first IMU 30 and the second IMU 30a and 30b, and evaluating the calculated landing position. The landing position evaluation part 220 includes a landing determination part 221 for determining landing when the user is running, and a difference calculation part 222 for calculating a difference between the position of the first IMU 30 and the position of the second IMU 30a and 30b at the time of landing determination by the landing determination part 221.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a landing position evaluation method during traveling and a landing position evaluation apparatus.

  Portable electronic devices that are worn on the body and arms of users who perform exercises such as running are widely used. Such portable electronic devices incorporate various sensors such as acceleration sensors and gyro sensors, and use the detection values of the built-in sensors to store various types of exercise data such as position, running speed, heart rate, steps, and running pace. Those having a function to calculate have been developed and are popular (see, for example, Patent Document 1).

JP 2013-140158 A

  However, apart from daily running records, it would be convenient and desirable to have a kind of coaching function that can evaluate the running itself such as a running form and inform the user. For example, as one of the indexes for evaluating running, there is a landing position at the time of running, and it is desirable to land almost directly below the center of gravity (directly landing). This is because the braking force is applied when landing ahead of the center of gravity, but the braking force due to the reaction force from the ground is reduced when landing almost directly below the center of gravity. Moreover, in the case of a true landing, there is an advantage that the vertical movement of the center of gravity is further reduced. All of these points are considered to be true energy efficient running.

  Conventionally, as a method for evaluating the landing position during running, there is a method using an inertial sensor attached to one part (for example, the waist) of the trunk. In this method, the point at which the vertical acceleration detected by the inertial sensor is the maximum value is detected as the “middle stance phase” in which the center of gravity is substantially directly above the landing position, and the landing position is calculated based on this middle stance phase. However, the point at which the vertical acceleration obtained by calculating the movement distance of the center of gravity by one inertial sensor attached to the trunk in this way becomes the maximum value varies depending on individual differences in the user's running form and is true. There is a possibility that an error may occur in the evaluation result of the landing position due to the point different from the middle stage.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to perform a highly accurate evaluation of a landing position during traveling in a portable electronic device that is used by being worn by a user. It is to propose a technology that makes it possible.

  [Application Example 1] A landing position evaluation apparatus according to this application example is attached to a first inertial sensor attached to one part of a user's trunk and an attachment attached to the user's lower limb or the lower limb. A landing position evaluation unit that calculates a landing position of the user by using a second inertial sensor and a detection value of the first inertial sensor and the second inertial sensor and evaluates the landing position; A position evaluation unit that determines a landing when the user travels, and a difference that calculates a difference between a position of the first inertia sensor and a position of the second inertia sensor at the time of the landing determination by the landing determination unit And a calculation unit.

According to this application example, the landing determination unit uses the detected values of the first inertia sensor attached to the trunk of the user and the second inertia sensor attached to the lower limbs or the shoes worn by the user to make the landing during running. The difference calculation unit obtains the difference between the position of the first inertia sensor and the position of the second inertia sensor at the time of landing determination. That is, the difference between the position of the center of gravity detected by the first inertial sensor and the landing position of the user detected by the second inertial sensor at the time of landing determination (distance between the positions of the center of gravity landing) is obtained. It is possible to evaluate whether the landing position of the user is good or bad. As a result, compared to the conventional landing position evaluation based on the calculation of the landing position using the detected value in the middle of the stance, it is possible to reduce the influence of individual differences in the traveling form for each user, so highly accurate landing position evaluation is possible. It can be carried out.
Therefore, it is possible to provide a landing position evaluation apparatus capable of suppressing an error due to individual differences in the form for each user and performing a highly accurate landing position evaluation.

  Application Example 2 In the landing position evaluation apparatus described in the application example, it is preferable that the second inertial sensor is attached to the user's ankle or shoe.

  According to this application example, when the landing position is evaluated, since the positional relationship between the center of gravity and the foot at the time of landing of the user is important, by attaching the second inertial sensor to the user's ankle or the shoe worn by the user, Compared with the case where the second inertial sensor is mounted on the upper part of the lower limb, a more accurate positional relationship with the center of gravity can be calculated, so that the landing position can be evaluated with high accuracy.

  Application Example 3 In the landing position evaluation apparatus according to the application example described above, it is preferable that the first inertial sensor is attached to the waist of the user.

  According to this application example, when the landing position is evaluated, the first inertial sensor can be mounted on the waist of the user with relatively little movement during traveling, so that the inertia during traveling can be detected stably. In addition, since the landing position can be calculated more accurately by being less affected by individual differences in the traveling form, the landing position can be evaluated with high accuracy.

  Application Example 4 In the landing position evaluation apparatus according to the application example described above, it is preferable that the second inertial sensor is attached to shoes worn on both lower limbs or both feet of the user.

  According to this application example, the landing position of both feet can be calculated by attaching the second inertial sensor to the user's lower limbs or shoes worn on both feet, so that more accurate landing position evaluation is possible. Become.

  [Application Example 5] The landing position evaluation method according to this application example is applied to a detection value of a first inertial sensor attached to one part of a user's trunk and an attachment attached to the user's lower limb or the lower limb. Calculating a landing position when the user travels using a detection value of the mounted second inertial sensor; and determining landing when the user travels from a calculation result of the landing position; Obtaining the difference between the position of the first inertia sensor and the position of the second inertia sensor at the time of landing determination, and the position of the first inertia sensor and the position of the second inertia sensor at the time of landing determination Evaluating the landing position of the user when traveling based on the difference.

According to this application example, the landing position of the user is calculated using detection values of the first inertial sensor worn on the trunk of the user and the second inertial sensor worn on the lower limbs or the shoes worn by the user, The difference between the landing positions is obtained, and the quality of the landing position is evaluated based on the difference. As a result, compared with the conventional landing position evaluation based on the calculation of the landing position using the detection value in the middle of the stance where errors are likely to occur, the influence of individual differences in the traveling form for each user can be reduced, so the accuracy is high. Landing position evaluation can be performed.
Moreover, since the landing position calculation result and the landing position evaluation result can be notified to the user in real time, the user can improve the landing position while continuing to travel.

  Application Example 6 In the landing position evaluation method according to the application example, it is preferable that the second inertial sensor is attached to the ankle or shoes of the user.

  According to this application example, when the landing position is evaluated, since the positional relationship between the center of gravity and the foot at the time of landing of the user is important, by attaching the second inertial sensor to the user's ankle or the shoe worn by the user, Compared with the case where the second inertial sensor is mounted on the upper part of the lower limb, a more accurate positional relationship with the center of gravity can be calculated, so that the landing position can be evaluated with high accuracy.

  Application Example 7 In the landing position evaluation method according to the application example, it is preferable that the first inertial sensor is attached to the waist of the user.

  According to this application example, when the landing position is evaluated, the first inertial sensor can be mounted on the waist of the user with relatively little movement during traveling, so that the inertia during traveling can be detected stably. Since it becomes difficult to be influenced by individual differences in the traveling form, it is possible to calculate the landing position more accurately and to evaluate the landing position with high accuracy.

  Application Example 8 In the landing position evaluation method according to the application example described above, it is preferable that the second inertial sensor is attached to shoes worn on both lower limbs or both feet of the user.

  According to this application example, the landing position of both feet can be calculated by attaching the second inertial sensor to the user's lower limbs or shoes worn on both feet, so that more accurate landing position evaluation is possible. Become.

  Application Example 9 In the landing position evaluation method according to the application example described above, the landing determination is performed by converting the acceleration measured by the first inertia sensor or the second inertia sensor into a coordinated direction in the traveling direction of the user. It is preferable to determine by the acceleration along.

  According to this application example, since the characteristics of the landing position clearly appear in the acceleration in the traveling direction, the acceleration measured by the first inertia sensor or the second inertia sensor is expressed in a coordinate system with the traveling direction of the user as the x axis. By converting, it is possible to determine the landing position and evaluate the landing position with higher accuracy.

  Application Example 10 In the landing position evaluation method according to the application example, the landing position evaluation is calculated from a horizontal component of a difference between a detection position of the first inertia sensor and a detection position of the second inertia sensor. The distance is preferably the distance between the center of gravity at the time of landing of the user and the landing position, and is evaluated based on the magnitude of the distance.

  According to this application example, the distance calculated from the horizontal component of the difference between the detection position of the first inertial sensor and the detection position of the second inertial sensor at the time of landing is the user's center of gravity and the horizontal distance of the foot at the time of landing. Since it is possible to think, landing position evaluation can be performed according to how far the user is landing from the center of gravity.

FIG. 3 is an explanatory diagram illustrating a configuration example of the portable electronic device according to the first embodiment. Explanatory drawing of the landing position and gravity center position at the time of landing in running. Explanatory drawing of determination of the landing timing which concerns on Embodiment 1. FIG. 1 is a functional configuration diagram of a portable electronic device according to Embodiment 1. FIG. 5 is a display example of evaluation results according to the first embodiment. 5 is a flowchart of landing position evaluation processing according to the first embodiment. FIG. 6 is a functional configuration diagram of a portable electronic device according to a second embodiment. 10 is a flowchart of landing position evaluation processing according to the second embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following drawings, the scale of each layer and each member is made different from the actual scale so that each layer and each member can be recognized.

(Embodiment 1)
FIG. 1 is a configuration example of a portable electronic device 20 in the present embodiment. The portable electronic device 20 is used by being worn on the trunk of the user 10 such as the body or waist during running. The portable electronic device 20 includes an operation switch 21, a display 22, a speaker 23, and the like, a first inertial sensor (hereinafter referred to as a first IMU (Inertial Measurement Unit)) 30, a CPU (Central Processing Unit). ) And a control device (not shown) mounted with a memory. The portable electronic device 20 includes second inertial sensors (hereinafter referred to as second IMUs) 30a and 30b attached to shoes worn by the user. In the present embodiment, the second IMU 30a and the second IMU 30b are attached to each of the shoes worn by the user on both feet. That is, the portable electronic device 20 includes a first IMU 30 attached to the trunk and second IMUs 30a and 30b attached to shoes worn by the user. Note that the second IMUs 30a and 30b are not limited to the configuration of being worn on the shoes worn by the user, but may be worn on the user's lower limbs, or on lower limbs such as pants and socks. However, it is preferable that it is attached to a part closer to the foot than the knee of the lower limb, and for example, it is more preferable that the structure is attached to the ankle.
In addition, the trunk in this specification refers to a portion excluding the limbs (limbs) and includes the head, neck, chest, abdomen, and waist. In this embodiment, a sensor is attached to the waist. Explain.

  The first IMU 30 and the second IMUs 30a and 30b are sensor units having an acceleration sensor and a gyro sensor. The acceleration sensor detects acceleration in a sensor coordinate system (local coordinate system) which is a three-dimensional orthogonal coordinate system (x, y, z) associated with the sensor. The gyro sensor detects an angular velocity in a sensor coordinate system that is a three-dimensional orthogonal coordinate system (x, y, z) associated with the sensor.

  Note that the sensor coordinate system of the acceleration sensor and the sensor coordinate system of the gyro sensor are described as having the same coordinate axis. However, if they are different, one coordinate system is converted to the other coordinate system by performing a coordinate transformation matrix calculation. It is possible. A known method can be applied to the coordinate transformation matrix calculation.

  The portable electronic device 20 can perform the inertial navigation calculation using the measurement results of the first IMU 30 and the second IMUs 30a and 30b to calculate the position, speed, posture, and the like of the device. Further, the portable electronic device 20 is preferably used as a landing position evaluation apparatus that can evaluate the landing position of the user 10 during running, which is a kind of motion analysis function for running, using the calculation result of the inertial navigation calculation. It is done.

  Here, a moving body coordinate system and an absolute coordinate system are defined. The moving body coordinate system is a three-dimensional orthogonal coordinate system (P, Q, R) associated with the user 10, and the traveling direction (direction) of the user 10 is the R-axis positive direction, and the vertical upward direction is the Q-axis positive direction. The left-right direction of the user 10 orthogonal to the R axis and the Q axis is the P axis. The absolute coordinate system is, for example, a three-dimensional coordinate system (X, Y, Z) defined as an ECEF (Earth Centered Earth Fixed) coordinate system, which is an earth-centered earth-fixed coordinate system. , The Z axis is in the horizontal direction.

  Next, the landing position during traveling, its evaluation, determination method, etc. will be described. FIG. 2 is an explanatory diagram of a landing position value and a gravity center position at the time of landing in running (running). In FIG. 2, the user 10's landing posture is shown with the traveling direction (R-axis positive direction) of the user 10 being the right direction.

(A) Evaluation of landing position In running, it is desirable to land almost directly below the user's center of gravity (hereinafter referred to as “directly landing”). That is, at the timing of landing of the user 10 during traveling shown in FIG. 2, the distance D between the center of gravity landing positions, which is the distance along the traveling direction between the position of the center of gravity 11 of the user 10 and the landing position 12, is shorter. Good. That is, the shorter the center-of-gravity landing position distance D, the better the landing position 12 is evaluated.

(B) Determination of landing The timing of landing is determined from acceleration along the traveling direction of the user 10 (traveling direction acceleration; R-axis direction acceleration).

  FIG. 3 is a graph showing the acceleration in the traveling direction for one step. In FIG. 3, the graph of the magnitude of the floor reaction force is shown together with the graph of the acceleration in the traveling direction. In the graph, the horizontal axis represents time, and the vertical axis represents traveling direction acceleration and floor reaction force. This graph is obtained by an experiment in which a user wearing an acceleration sensor on the trunk (waist) travels on the floor surface on which the floor reaction force meter is installed.

  Here, the acceleration obtained by the acceleration sensor is an acceleration in the sensor coordinate system (x, y, z) associated with the sensor. The acceleration in the R axis of the moving body coordinate system after converting the acceleration in the sensor coordinate system into the acceleration in the moving body coordinate system is the traveling direction acceleration shown in the graph of FIG. The conversion from the sensor coordinate system to the moving body coordinate system is performed in the course of inertial navigation calculation.

  The floor reaction force is a force (reaction force) generated when the leg is in contact with the ground (floor surface), and is zero when the leg is not in contact with the ground (floor surface). That is, in the graph of FIG. 3, the time t1 when the magnitude of the floor reaction force has increased from zero is the landing timing.

  Further, when the landing direction acceleration is made, the braking force due to the floor reaction force acts and, when landing, instantaneously fluctuates greatly in the negative direction. Then, when the graph of the acceleration in the traveling direction is compared with the graph of the magnitude of the floor reaction force, the acceleration in the traveling direction becomes a maximum value at the landing timing. That is, in the traveling direction acceleration for one step from landing to takeoff, the time t1 having the maximum value immediately before the time t2 that is the minimum value is the landing timing. The landing timing can be determined by detecting this maximum value.

(C) Calculation of the center-of-gravity landing position distance D at the landing timing The position of the center of gravity 11 and the position of the landing position 12 of the user 10 when the landing is determined by the determination of the landing timing are the first IMU 30, the second IMU 30a, and 30b. As a result of the inertial navigation calculation based on the detected value, it is calculated as a position on the moving body coordinate system (P, Q, R). Therefore, the difference between the position of the first IMU 30 on the moving object coordinate system and the position of the second IMUs 30a and 30b on the moving object coordinate system at the landing timing is calculated, and the user 10 out of the obtained distance on the moving object coordinate system is calculated. The distance along the traveling direction (traveling direction distance; R-axis direction distance) is the center-of-gravity landing position distance D.
Note that since only the horizontal component of the center-of-gravity landing position distance D is necessary for determining whether the vehicle is landing directly below, only the horizontal component is used for the landing position evaluation.

(D) Display of Evaluation Results The distance ΔR for each step obtained as described above is displayed on the display 22 as shown in FIG. 5A as the landing position evaluation results, for example. FIG. 5A is a display example of the evaluation result. FIG. 5A shows a display example in the form of a histogram in which the horizontal axis represents the movement distance and the vertical axis represents the number of calculations (frequency).

  It is also possible to calculate the travel distance in the deceleration period in real time while traveling, and to display the latest travel distance as a past travel distance. In such a case, as shown in FIG. 5 (b), for each step of travel, the travel distance during the deceleration period of the travel is calculated, and the frequency corresponding to the newly calculated travel distance is incremented by “1”. In addition to updating the display, a predetermined mark 42 can be additionally displayed on the graph 41 corresponding to the newly calculated movement distance, or the graph 41 can be highlighted.

  Moreover, it is good also as displaying as a numerical value, whenever the distance (DELTA) R for every step is calculated. As the moving distance in the deceleration period is shorter, it indicates that the vehicle has landed just below the center of gravity, and this alone is a significant index for the user.

  Further, if the terminal device responsible for the display function of the portable electronic device 20 shown in FIG. 1 is separated and the portable electronic device 2 and the terminal device are connected by wireless communication, the terminal device The evaluation result may be displayed. The terminal device may be a wristwatch type device, or may be configured as a smartphone or a tablet terminal.

[Internal configuration]
FIG. 4 is a block diagram illustrating a functional configuration (internal configuration) of the portable electronic device 20. 4, the portable electronic device 20 includes a first IMU 30, second IMUs 30a and 30b, an operation unit 110, a display unit 120, a sound output unit 130, a communication unit 140, a clock unit 150, and a processing unit 200. And a storage unit 300.

  The first IMU 30 includes an acceleration sensor 31 and a gyro sensor 32. Of the second IMU 30a and the second IMU 30b, one second IMU 30a has an acceleration sensor 31a and a gyro sensor 32a, and the other second IMU 30b has an acceleration sensor 31b and a gyro sensor 32b. The acceleration sensors 31, 31a, 31b of the first IMU 30 and the second IMUs 30a, 30b detect acceleration on each axis (x axis, y axis, z axis) of the sensor coordinate system. The acceleration (sensor coordinate acceleration) detected by each acceleration sensor 31, 31a, 31b is stored and stored as sensor coordinate acceleration data 331 in association with the measurement time. The gyro sensors 32, 32a, 32b of the first IMU 30 and the second IMUs 30a, 30b detect angular velocities on the respective axes (x axis, y axis, z axis) of the sensor coordinate system. Angular velocities (sensor coordinate angular velocities) detected by the respective gyro sensors 32, 33a, 32b are accumulated and stored as sensor coordinate angular velocity data 332 in association with the measurement time. In the first IMU 30 and the second IMUs 30a and 30b, the time synchronization between the IMUs is performed by broadcasting the time stamp of the portable electronic device 20 to the first IMU 30, the second IMU 30a and the IMU 30b, and the local time at which each IMU receives the time stamp. The time stamp is transmitted to the portable electronic device 20, and the time axis is corrected by two time stamps (time stamp by the first IMU 30 and time stamps by the second IMUs 30a and 30b) obtained thereby.

  The operation unit 110 is realized by an input device such as a touch panel or a button switch, and outputs an operation signal corresponding to the performed operation to the processing unit 200. The operation switch 21 in FIG. 1 corresponds to this.

  The display unit 120 is realized by a display device such as an LCD (Liquid Crystal Display), for example, and performs various displays based on display signals from the processing unit 200. This corresponds to the display 22 in FIG.

  The sound output unit 130 is realized by a sound output device such as a speaker, for example, and performs various sound outputs based on the sound signal from the processing unit 200. The speaker 23 in FIG. 1 corresponds to this.

  The communication unit 140 is implemented by a wireless communication device such as a wireless local area network (LAN) or Bluetooth (registered trademark), a wired communication cable jack, a control circuit, or the like, and performs communication with an external device.

  The clock unit 150 is an internal clock of the portable electronic device 20 and is configured by an oscillation circuit having a crystal oscillator or the like, and outputs a time signal such as a current time measured and an elapsed time from a specified timing to the processing unit 200. To do.

  The processing unit 200 is realized by an arithmetic device such as a CPU, for example, and performs overall control of the portable electronic device 20 based on programs and data stored in the storage unit 300, operation signals from the operation unit 110, and the like. In the present embodiment, the processing unit 200 includes an inertial navigation calculation unit 210 and a landing position evaluation unit 220 as a calculation unit.

  The inertial navigation calculation unit 210 detects the detection results of the first IMU 30 and the second IMU 30a, 30b (sensor coordinate acceleration detected by the acceleration sensors 31, 31a, 31b and sensor coordinate angular velocity detected by the gyro sensors 32, 32a, 32b). Is used to calculate the position in the absolute coordinate system (absolute coordinate position), the velocity (absolute coordinate velocity), and the attitude angle (absolute coordinate attitude angle). In the inertial navigation calculation process, coordinate conversion from the sensor coordinate system (x, y, z) to the moving body coordinate system (P, Q, R) and the absolute coordinate system (X, Y, Z) is performed.

  This will be described in detail. With reference to the fact that the force acting when the user is stopped is only the gravitational acceleration, and the force acting when the user starts moving is only the acceleration in the moving direction in addition to the gravitational acceleration, the first IMU 30 From the detection results of the second IMUs 30a and 30b, initial posture angles (absolute coordinate posture angles) of the first IMU 30 and the second IMUs 30a and 30b in the absolute coordinate system are obtained. That is, the moving body coordinate system (P, Q, R) in the initial state can be defined, and a coordinate transformation matrix from the sensor coordinate system to the moving body coordinate system is obtained. Therefore, after setting the movement start position of the user, the moving speed vector of the moving object coordinate system is calculated from the detection results of the first IMU 30 and the second IMU 30a, 30b as needed, and the inertial navigation calculation is realized by adding and adding these. . By designating the movement start position on the absolute coordinate system, the traveling position and speed in the absolute coordinate system can be obtained.

  In addition, by correcting the absolute coordinate posture angle at any time using the detection values of the gyro sensors 32, 32a, and 32b, the orientation of the user can be grasped at any time. Therefore, the moving body coordinate system is updated at any time, and the calculation result by inertial navigation is obtained. As a result, the absolute coordinate position, the absolute coordinate velocity, and the absolute coordinate posture angle during the movement of the user are obtained.

  However, the R-axis direction (see FIG. 1) of the moving body coordinate system during traveling changes according to the direction of the body of the user 10 during traveling. Specifically, when the user travels, the user 10 advances the legs in the order of left and right, so that the torso including the waist is twisted alternately to the left and right. That is, since the direction of the body part swings from side to side, the yaw angle of the moving body coordinate system in which the direction of the body part is the R-axis direction changes periodically. As a result, if the moving speed vectors obtained in the moving object coordinate system are simply integrated to add, errors are mixed into the absolute coordinate position, absolute coordinate speed, and absolute coordinate attitude angle, and the accurate calculation is performed. Absent.

  Therefore, the left and right rotations (twisting) of the body part are regarded as noise, and correction processing for correcting the error of the calculation result by inertial navigation is performed to correct the moving body coordinate system. Specifically, the state vector X is an amount of change in each value of the absolute velocity vector, absolute coordinate posture angle, absolute coordinate position, and yaw angle (difference between previous value and current value: error), and the observed value Z is By applying a Kalman filter process that changes the yaw angle obtained from the detection values of the gyro sensors 32, 32a, and 32b, the absolute coordinate velocity, the absolute coordinate posture angle, and the absolute coordinate position are corrected. As a result of this correction processing, the change in the yaw angle is suppressed, and the traveling direction of the user 10, that is, the R-axis direction of the moving body coordinate system is corrected. In the present embodiment, the inertial navigation calculation unit 210 executes a calculation process in which correction processing using the Kalman filter is incorporated in the inertial navigation calculation of the conventional method as needed. Hereinafter, although simply referred to as “inertial navigation calculation” or “inertial navigation calculation process”, both are processes incorporating the above correction process.

  The calculation result of the inertial navigation calculation by the inertial navigation calculation unit 210 is stored as inertial navigation calculation data 340. The inertial navigation calculation data 340 includes absolute coordinate velocity data 344, absolute coordinate position data 345, and absolute coordinate posture angle data 346, which are data of speed, position, and posture angle at each time in the absolute coordinate system, and a moving object. It includes moving body coordinate acceleration data 341, moving body coordinate speed data 342, and moving body coordinate position data 343, which are data of acceleration, speed, and position at each time in the coordinate system.

  The landing position evaluation unit 220 includes a landing determination unit 221, a difference calculation unit 222, and an evaluation result display control unit 226, and evaluates the landing position of the user 10 using the detection results of the first IMU 30 and the second IMUs 30a and 30b. I do.

  The landing determination unit 221 determines the landing timing based on the detection values of the acceleration sensor 31 of the first IMU 30 and the acceleration sensors 31a and 31b of the second IMUs 30a and 30b. That is, the time of the maximum value immediately before the minimum value in the traveling direction acceleration for one step is determined as the landing timing (see FIG. 3). Here, the traveling direction acceleration is stored as the acceleration on the R axis of the moving body coordinate acceleration data 341.

  The difference calculation unit 222 is the position on the moving body coordinate system (P, Q, R) of the first IMU 30 and the second IMU 30a, IMU 30b calculated by the inertial navigation calculation unit 210 at the time when the landing determination unit 221 determines that the landing has occurred. Are obtained, and the difference between these positions is calculated. That is, the distance D between the center of gravity landing positions (see FIG. 2), which is the distance between the center of gravity 11 and the landing position 12 in the moving body coordinate system at the landing timing. The calculated center-of-gravity landing position distance D is stored as landing position evaluation data 350 for each of the P-axis, Q-axis, and R-axis components.

  The evaluation result display control unit 226 performs control for displaying the evaluation result of the landing position on the display unit 120 based on the landing position evaluation data 350. The display of the evaluation result may be performed after the end of traveling (see FIG. 5A), or may be updated and displayed step by step in real time during traveling (see FIG. 5B). .

  The storage unit 300 is realized by a storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and stores a program, data, and the like for the processing unit 200 to control the portable electronic device 20 in an integrated manner. At the same time, it is used as a work area of the processing unit 200 and temporarily stores calculation results executed by the processing unit 200 according to various programs, sensor data from the first IMU 30 and the second IMUs 30a and 30b, and the like.

  In this embodiment, the storage unit 300 stores an inertial navigation calculation program 310, a landing position evaluation program 320, sensor data 330, inertial navigation calculation data 340, and landing position evaluation data 350. The sensor data 330 includes sensor coordinate acceleration data 331 and sensor coordinate angular velocity data 332. The inertial navigation calculation program 310 is a program for causing the processing unit 200 to function as the inertial navigation calculation unit 210, and the landing position evaluation program 320 is a program for causing the processing unit 200 to function as the landing position evaluation unit 220.

[Process flow]
FIG. 6 is a flowchart for explaining the flow of the landing position evaluation process. This process is a process executed by the landing position evaluation unit 220 according to the landing position evaluation program 320, and is started when an instruction to start evaluation is given by the user 10 wearing the portable electronic device 20 before the start of traveling. The

  First, it is determined from the detection value (acceleration) of the acceleration sensor that the landing period of one step has ended (step S1). The change in acceleration during the hovering period when none of the feet of the user is landing is smaller than the change of acceleration during the landing period when any of the feet is landing. From this, it is possible to distinguish and determine the landing period and the stagnant period from the change in acceleration. When it is determined that the landing period of one step has ended (step S1: YES), the landing position is evaluated for the one-step traveling that has ended.

  That is, the inertial navigation calculation unit 210 calculates the landing position based on the positions of the completed first step of the first IMU 30 and the second IMU 30a, 30b on the moving body coordinate system (step S3). Next, the landing determination unit 221 determines the landing timing from the traveling direction acceleration for the completed one step (step S5). Next, the difference calculation unit 222 obtains the positions of the first IMU 30 and the second IMU 30a and IMU 30b on the moving body coordinates at the determined landing timing, and the difference between those positions, that is, the center of gravity 11 and the landing position at the landing timing. A distance D between the center of gravity landing positions (refer to FIG. 2), which is a distance between the center of gravity and the position 12, is calculated (step S7).

  Thereafter, the landing position evaluation unit 220 determines whether an evaluation end instruction has been given (step S11). If an evaluation end instruction has not been issued (step S11: NO), the process returns to step S1. If an evaluation end instruction is given (step S11: YES), the evaluation result display control unit 226 displays the evaluation result (step S13). When the above processing is performed, the landing position evaluation unit 220 ends this processing.

[Function and effect]
Thus, according to the portable electronic device 20 of the present embodiment, the detection values of the first IMU 30 worn on the user's trunk and the second IMU 30a or the second IMU 30b worn on the lower limbs or the shoes worn by the user are used. Thus, the landing determination unit 221 determines the landing when the user travels, and the difference calculation unit 222 determines the difference between the position of the first IMU 30 and the position of the second IMU 30a or the second IMU 30b at the time of landing determination. That is, the center-of-gravity landing position distance D, which is the difference between the position of the center of gravity detected by the first IMU 30 and the landing position of the user detected by the second IMU 30a or the second IMU 30b at the time of landing determination, is obtained. It is possible to evaluate whether the landing position of the user is good or bad. As a result, compared to the conventional landing position evaluation based on the calculation of the landing position using the detected value in the middle of the stance, the influence of individual differences in the traveling form for each user can be reduced. Can be evaluated with high accuracy.

(Embodiment 2)
FIG. 7 is a functional configuration diagram of the portable electronic device 20 according to the second embodiment. FIG. 8 is a flowchart of the landing position evaluation process according to the second embodiment. The landing evaluation apparatus according to the present embodiment will be described with reference to these drawings. In addition, about the component same as Embodiment 1, the same number is used and the overlapping description is abbreviate | omitted.

  In FIG. 7, the portable electronic device 1020 according to the second embodiment stores, in the storage unit 300, target landing position data 360 that is target landing position data, and a threshold 361 that serves as an evaluation index based on the target landing position data 360. Is remembered.

  The landing position evaluation unit 220 includes a landing position determination unit 223. The landing position determination unit 223 compares the target landing position data 360 stored in the storage unit 300 with the result calculated by the difference calculation unit 222 and determines whether the threshold value 361 stored in the storage unit 300 has been exceeded.

  In the present embodiment, in the landing position evaluation by the landing position evaluation unit 220, for example, when the landing position determination unit 223 determines the landing position abnormality to the user as in the case where the landing position exceeds the threshold value 361, the evaluation result The display control unit 226 displays on the display unit 120 that the landing position is abnormal by displaying light lighting / flashing or an image such as a character or an icon, or a sound or buzzer that informs the sound output unit 130 of the landing position abnormality. Controls to issue alerts to the user, such as outputting sounds.

[Process flow]
In the flowchart for explaining the flow of the landing position evaluation process shown in FIG. 8, steps S1 to S7 are performed according to the same flow as in the first embodiment. Next, the target landing position data 360 stored in the storage unit 300 is compared with the result calculated by the difference calculation unit 222, and it is determined whether or not the threshold value 361 stored in the storage unit 300 is exceeded (step S19). When the determination result exceeds the threshold value 361 (step S19: Yes), the evaluation result display control unit 226 controls the display unit 120, and the landing position is inappropriate on the display unit 120 due to light or an image. The sound output unit 130 is controlled and a buzzer sound is output to notify the user that the landing position is inappropriate (step S21). If the determination result does not exceed the threshold 361 (step S19: No), it is determined whether an evaluation end instruction has been made (step S11) as in the first embodiment (step S11). S11: NO), the process returns to step S1, and if an evaluation end instruction is given (step S11: YES), the evaluation result display control unit 226 displays the evaluation result (step S13), and the present process is terminated.

[Function and effect]
As described above, according to the portable electronic device 1020 of the present embodiment, the user can recognize in real time that it has been determined that the target landing position has been deviated. You can run while modifying the form.
In addition, since the sound output unit 130 reports the landing position abnormality to the user together with the display unit 120, the user can recognize the landing position abnormality in real time without looking at the display unit 120 while traveling. It is possible to continue running and checking the running form without affecting the running. In addition, it is possible to use such that the user recognizes an abnormality in the traveling form by the sound of the sound output unit 130 and confirms the detailed contents by the display of the display unit 120.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be added to the above-described embodiment. A modification will be described below.

(Modification) (
<Man-machine interface function>
A device having a man-machine interface function of the portable electronic device 20 described in the above embodiment may be provided. Specifically, for example, a terminal device having a function corresponding to the display unit 120 is realized as a wristwatch type device, and is connected to the portable electronic device 20 by wireless communication. And it is good also as displaying the evaluation result by the landing position evaluation part 220 on a terminal device at any time. In addition to the display unit 120, functions corresponding to the operation unit 110 and the sound output unit 130 may be provided in the terminal device.

[Function and effect]
As described above, by providing a device having a man-machine interface function, it is possible to easily confirm a display during traveling and to operate the portable electronic device 20.

  As mentioned above, although embodiment of this invention made by the inventor and its modification were demonstrated concretely, this invention is not limited to above-described embodiment, In the range which does not deviate from the summary, it is various. Those skilled in the art will readily understand that changes can be made. Accordingly, all such modifications are intended to be included in the scope of the present invention. For example, a term described at least once together with a different term having a broader meaning or the same meaning in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Also, the configuration and operation of a portable electronic device as a landing position evaluation device and the landing position evaluation method using the same are not limited to those described in the present embodiment, and various modifications can be made. It is.

  DESCRIPTION OF SYMBOLS 10 ... User, 11 ... Center of gravity, 12 ... Landing position, 20, 1020 ... Portable electronic device as landing position evaluation device, 21 ... Operation switch, 22 ... Display, 23 ... Speaker, 30 ... First as first inertial sensor 1 IMU, 30a, 30b ... 2nd IMU as second inertial sensor, 31, 31a, 31b ... acceleration sensor, 32, 32a, 32b ... gyro sensor, 41 ... graph, 42 ... predetermined mark, 110 ... operation unit, 120 ... Display unit 130 ... Sound output unit 140 ... Communication unit 150 ... Clock unit 200 ... Processing unit 210 ... Inertial navigation calculation unit 220 ... Landing position evaluation unit 221 ... Landing determination unit 222 ... Difference calculation unit, 223 ... Landing position determination unit, 226 ... Evaluation result display control unit, 300 ... Storage unit, 310 ... Inertial navigation calculation program, 320 ... Landing position Value program, 330 ... sensor data, 331 ... sensor coordinate acceleration data, 332 ... sensor coordinate angular velocity data, 340 ... inertial navigation calculation data, 341 ... mobile object coordinate acceleration data, 342 ... mobile object coordinate speed data, 343 ... mobile object coordinates Position data, 344 ... Absolute coordinate speed data, 345 ... Absolute coordinate position data, 346 ... Absolute coordinate posture angle data, 350 ... Landing position evaluation data, 360 ... Target landing position data, 361 ... Threshold value.

Claims (10)

A first inertial sensor attached to one part of the user's trunk;
A second inertial sensor attached to a lower limb of the user or an attachment attached to the lower limb;
A landing position evaluation unit that calculates the landing position of the user using the detection values of the first inertia sensor and the second inertia sensor, and evaluates the landing position;
The landing position evaluation unit is configured to calculate a difference between a landing determination unit that determines landing when the user travels, and a position of the first inertia sensor and a position of the second inertia sensor at the time of landing determination by the landing determination unit. A landing position evaluation apparatus including a difference calculation unit to be obtained. In the landing position evaluation apparatus according to claim 1,
The landing position evaluation apparatus, wherein the second inertial sensor is attached to an ankle or shoes of the user. In the landing position evaluation apparatus according to claim 1 or 2,
The landing position evaluation apparatus, wherein the first inertial sensor is attached to a waist of the user. In the landing position evaluation apparatus according to any one of claims 1 to 3,
The landing position evaluation apparatus, wherein the second inertial sensor is attached to shoes worn on both lower limbs or both feet of the user. Using the detection value of the first inertial sensor attached to one part of the user's trunk and the detection value of the second inertial sensor attached to the user's lower limb or an attachment attached to the lower limb, Calculating the landing position of the user when traveling,
From the calculation result of the landing position, making a landing determination at the time of traveling of the user,
Obtaining a difference between the position of the first inertia sensor and the position of the second inertia sensor at the time of landing determination;
Evaluating the landing position during travel of the user based on the difference between the position of the first inertia sensor and the position of the second inertia sensor at the time of the landing determination;
Landing position evaluation method characterized by In the landing position evaluation method according to claim 5,
A landing position evaluation method, wherein the second inertial sensor is attached to an ankle or shoes of the user. In the landing position evaluation method according to claim 5 or 6,
A landing position evaluation method, wherein the first inertial sensor is attached to a waist of the user. In the landing position evaluation method according to any one of claims 5 to 7,
The landing position evaluation method, wherein the second inertial sensor is attached to a shoe worn on both lower limbs or both feet of the user. In the landing position evaluation method according to any one of claims 5 to 8,
The landing position evaluation method according to claim 1, wherein the landing determination is performed by converting the acceleration measured by the first inertial sensor or the second inertial sensor, and determining the acceleration based on the acceleration along the traveling direction of the user. In the landing position evaluation method according to any one of claims 5 to 8,
The landing position evaluation is performed by calculating a distance calculated from a horizontal component of a difference between a detection position of the first inertia sensor and a detection position of the second inertia sensor at the time of landing as a center of gravity position and a landing position of the user at the time of landing. A landing position evaluation method, wherein the evaluation is based on the distance.

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