JP2019216799A - Running analyzer, running analyzing method, and running analyzing program - Google Patents

Abstract

To determine whether or not a subject is doing grounded running.SOLUTION: A running analyzer 10 acquires acceleration information corresponding to acceleration upward in a vertical direction (z-axis direction) with respect to an advancing direction of a subject detected by an acceleration sensor 24 while the subject is doing running, and if a minimum value of the acceleration in the vertical direction indicated by the acceleration information is a predetermined threshold or more, determines that the subject's running is grounded running having a period in which both feet are grounded.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a running analysis device, a running analysis method, and a running analysis program.

  2. Description of the Related Art Conventionally, there has been disclosed an apparatus for estimating a timing at which a user's foot separates from the ground during traveling by using an acceleration sensor worn by a user (for example, see Patent Document 1).

JP 2017-169837 A

  However, the device disclosed in Patent Literature 1 does not support a running method in which there is a period in which both feet touch the ground (hereinafter, referred to as grounded running).

  The present invention has been made in view of such a problem, and an object of the present invention is to determine whether or not it is grounded running.

In order to solve the above problems, the running analysis device according to the present invention,
A running analyzer that analyzes running of the subject based on acceleration information obtained from an acceleration sensor mounted on the subject,
Acquisition means for acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject,
When the minimum value of the vertical upward acceleration indicated by the acceleration information acquired by the acquisition means is equal to or greater than a predetermined threshold, the measured object is grounded running having a period in which both feet are in contact with the ground. Means for judging the running style of the rider,
A running analysis device comprising:

  According to the present invention, it is possible to determine whether or not the running is grounded.

It is a block diagram showing the running analysis system of an embodiment of the invention. FIG. 3 is an explanatory diagram illustrating a state where the measurement device is worn by a user. (A) is a block diagram showing a functional configuration of a running analyzer, and (b) is a block diagram showing a functional configuration of a measuring device. It is a flowchart which shows a takeoff timing estimation process. FIG. 4 is a graph exemplarily showing a part of a waveform of an acceleration signal in the Y-axis direction and the Z-axis direction of grounded running and a part of a waveform of a differential signal (dy) obtained by differentiating the acceleration in the Y-axis direction.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the illustrated example.

  The configuration of the present embodiment will be described with reference to FIGS. First, a running analysis system 1 according to the present embodiment will be described with reference to FIG.

FIG. 1 is a block diagram illustrating a running analysis system 1 according to the present embodiment.
As shown in FIG. 1, the running analysis system 1 includes a running analysis device 10 and a measurement device 20.

  The running analysis device 10 is a device that analyzes the running of the subject using sensing information (acceleration information and angular velocity information) of the subject that can be obtained from the measuring device 20.

The device disclosed in Patent Document 1 assumes normal running, and estimates the take-off timing by detecting backward acceleration generated at take-off, but in grounded running, As described above, this is a running method in which there is a period in which both feet are in contact with the ground, and the interval between the landing timing of one foot (for example, the right foot) and the takeoff timing of the other foot (for example, the left foot) is Since it is very short, the backward acceleration of takeoff is buried in a large backward acceleration generated at the time of touchdown, and the apparatus disclosed in Patent Document 1 estimates the takeoff timing in the case of grounded running. Can not do it.
On the other hand, the running analysis device 10 of the present embodiment makes it possible to determine grounded running.

  The measuring device 20 is a device for measuring acceleration and angular velocity in three axial directions when the subject runs. The measuring device 20 has, for example, an attached belt B as shown in FIG. 2, and the measuring device 20 is fixed at the waist position of the person to be measured by the belt B. Here, the left-right direction is the X axis, the front-rear direction is the Y axis, and the up-down direction is the Z axis. On the X axis, the left hand direction is positive and the right hand direction is negative. On the Y-axis, the traveling direction reverse direction is positive and the traveling direction is negative. On the Z axis, the upward direction is positive and the downward direction is negative.

  Next, the internal functional configuration of the running analysis device 10 will be described with reference to FIG. FIG. 3A is a block diagram illustrating a functional configuration of the running analysis device 10.

  As shown in FIG. 3A, the running analysis device 10 includes a CPU (Central Processing Unit) 11, an operation unit 12, a RAM (Random Access Memory) 13, a display unit 14, a storage unit 15, Unit 16. Each part of the running analysis device 10 is connected via a bus 17.

  The CPU (acquisition unit, determination unit, extraction unit, derivation unit, estimation unit) 11 controls each unit of the running analysis device 10. The CPU 11 reads out a specified program from the system program and the application program stored in the storage unit 15 and expands the program on the RAM 13, and executes various processes in cooperation with the program.

  The operation unit 12 has a key input unit such as a keyboard and a pointing device such as a mouse, receives a key input and a position input, and outputs operation information to the CPU 11.

  The RAM 13 is a volatile memory and forms a work area for temporarily storing various data and programs.

  The display unit 14 includes an LCD (Liquid Crystal Display), an EL (Electro Luminescence) display, and the like, and performs various displays according to display information instructed by the CPU 11.

  The storage unit 15 is configured by a nonvolatile semiconductor memory, a hard disk drive (HDD), or the like. The storage unit 15 stores various programs including a program for executing the take-off timing estimation process (described later) in the CPU 11, and data necessary for executing the process by the program, or data such as a process result. These various programs are stored in the form of readable program codes, and the CPU 11 sequentially executes operations according to the program codes.

  The communication unit 16 receives sensing information (acceleration information and angular velocity information) from the measuring device 20 mounted on the subject, and includes, for example, a wired communication unit such as a USB terminal, or Bluetooth (registered trademark). The communication unit adopts a wireless standard such as

  Next, a functional configuration of the measuring device 20 will be described with reference to FIG. FIG. 3B is a block diagram illustrating a functional configuration of the measuring device 20.

  The measurement device 20 includes a CPU 21, an operation unit 22, a RAM 23, an acceleration sensor 24, a gyro sensor 25, a storage unit 26, and a communication unit 27. Each part of the measuring device 20 is connected via a bus 28.

  Since the CPU 21 and the RAM 23 are the same as the CPU 11 and the RAM 13 of the running analysis device 10, duplicate description will be omitted, and different portions will be mainly described.

  The CPU 21 controls each unit of the measuring device 20. Further, the CPU 21 stores the acceleration information of each axis output from the acceleration sensor 24 in the storage unit 26. Further, the CPU 21 stores the angular velocity information about each axis output from the gyro sensor 25 in the storage unit 26.

  The operation unit 22 includes a power button (not shown) for switching power ON / OFF, a start / stop button (not shown) for instructing start / stop of data acquisition, and the like. The CPU 21 controls each section based on the information.

The acceleration sensor 24 detects accelerations in three directions orthogonal to each other. Then, the acceleration sensor 24 outputs acceleration information corresponding to the detected acceleration of each axis to the CPU 21.
The gyro sensor 25 detects angular velocities around three axes orthogonal to each other. Then, the gyro sensor 25 outputs angular velocity information corresponding to the detected angular velocity about each axis to the CPU 21.
It is assumed that the acceleration of each axis and the angular velocity around each axis are sampled at a predetermined sampling cycle (for example, 200 Hz).

  The storage unit 26 is configured by a flash memory, an EEPROM (Electrically Erasable Programmable ROM), or the like, and is a storage unit that can write and read data and programs. The storage unit 26 stores acceleration information in a form in which time information is added by the CPU 21 and time synchronization of acceleration information of each axis is performed, and time storage of time information is added by the CPU 21 and angular velocity information centered on each axis. The angular velocity information of the taken shape is stored.

  The communication unit 27 outputs sensing information (acceleration information and angular velocity information) to the running analysis device 10 based on control by the CPU 21. For example, a wired communication unit such as a USB terminal or Bluetooth (registered trademark) The communication unit adopts a wireless standard such as

Next, the takeoff timing estimation processing executed by the running analysis device 10 will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing the takeoff timing estimation process. FIG. 5 is a graph exemplarily showing a part of a waveform of an acceleration signal in the Y-axis direction and the Z-axis direction of the grounded running and a part of a waveform of a differential signal (dy) obtained by differentiating the acceleration in the Y-axis direction. .
Here, the coordinates are converted from the sensor coordinate system to a universal world coordinate system for the running operation. Note that a method of converting data from the sensor coordinate system to the world coordinate system is well-known, and a description thereof will be omitted.
The takeoff timing estimation processing is executed by the CPU 11 reading out from the storage unit 15 and cooperating with the takeoff timing estimation processing program appropriately developed in the RAM 13.

As shown in FIG. 4, first, based on the acceleration information acquired from the measurement device 20, the CPU 11 detects an upward direction perpendicular to the traveling direction of the subject, which is detected during a period from the start to the end of the running. It is determined whether or not the minimum value of the acceleration (Z) of the Z axis, which is the acceleration, is equal to or more than a predetermined threshold value (for example, 0 (m / s ² )) (step S1). Here, the reason why the threshold value is set to 0 (m / s ² ) is that the grounded running has a feature that the acceleration of the Z axis does not become a negative value. The lowest value of the acceleration (Z) on the Z-axis is more preferably the lowest value (for one foot) in which the waist of the subject has passed the lowest position during the contact of one foot in each running cycle. It is good to target the object from the time of the bottom) to the time when the other foot touches the ground.

In step S1, if it is determined that the minimum value of the acceleration (Z) on the Z axis is not equal to or greater than the predetermined threshold, that is, it is not grounded running (step S1; NO), the CPU 11 performs the normal running Is performed (step S8), and the takeoff timing estimating process ends. The details of the take-off estimation processing for normal running are described in Patent Document 1 described above, and thus description thereof will be omitted.
On the other hand, if it is determined in step S1 that the minimum value of the Z-axis acceleration (Z) is equal to or greater than the predetermined threshold, that is, it is determined that ground running is performed (step S1; YES), the CPU 11 sets the measuring device 20 Is differentiated (dY) on the Y-axis acceleration (Y), which is the acceleration of the subject in the direction opposite to the traveling direction, based on the acceleration information acquired from (step S2).

  Next, the CPU 11 sequentially extracts the next foot contact timing (N) from the start timing of the running until the end timing of the running is reached (step S3). Here, the variable N is a variable representing the sampling timing. In addition, the extraction method of the grounding timing in the grounded running can apply the extraction method of the grounding timing for the normal running, and since the extraction method of the grounding timing is described in Patent Document 1, Description is omitted.

  Next, as shown in FIG. 5, the CPU 11 determines the differential signal (dy) at the next foot contact timing (N) based on the waveform corresponding to the time axis of the differential signal (dy) differentiated in step S2. It is determined whether or not the first maximum point MP is detected (step S4).

  In step S4, when it is determined that the first maximum point MP of the differential signal (dy) is not detected at the next foot contact timing (N) (step S4; NO), the first of the differential signal (dy) is determined. Until the maximum point MP is detected, the sampling timing is updated one sample at a time (N = N + 1) (step S5), and the process of step S4 is repeated.

  Then, in step S4, when it is determined that the first maximum point MP of the differential signal (dy) is detected (step S4; YES), the CPU 11 determines the time when the maximum point MP is detected as shown in FIG. (Sampling timing) is estimated as takeoff timing (step S6).

  Next, the CPU 11 determines whether the next foot contact timing can be extracted (step S7).

In step S7, when it is determined that the next foot contact timing can be extracted (step S7; YES), the CPU 11 returns the process to step S3, and repeats the subsequent processes.
On the other hand, if it is determined in step S7 that it is not possible to extract the next foot contact timing (step S7; NO), the CPU 11 ends the take-off determination estimation process.

As described above, according to the present embodiment, the running analysis device 10 is directed vertically upward (Z-axis direction) with respect to the traveling direction of the subject detected by the acceleration sensor 24 while the subject is running. Acquire acceleration information corresponding to the acceleration of, if the minimum value of the vertical upward acceleration indicated by the acceleration information is equal to or greater than a predetermined threshold, it is a grounded running having a period where both feet are in contact with the ground That is, the running method of the subject is determined.
Therefore, according to the running analysis apparatus 10, it is possible to determine whether or not the running is grounded by utilizing the feature that the acceleration in the Z axis does not become a negative value in the grounded running.

Further, according to the present embodiment, the running analysis device 10 sequentially extracts the contact timing of each foot of the subject based on the acceleration information acquired from the acceleration sensor 24, and performs the measurement on the subject based on the acceleration information. The differential signal (dy) is derived by differentiating the acceleration in the reverse direction (Y-axis direction) of the traveling direction, and appears in the waveform with respect to the time axis of the differential signal (dy) immediately after the extracted landing timing of one foot. This means that the maximum point MP is estimated as the takeoff timing.
For this reason, according to the running analysis device 10, by differentiating the acceleration in the Y-axis direction, when the other foot takes off which is buried in the large acceleration in the y-axis direction generated when one foot touches the ground. , A small acceleration in the y-axis direction can be detected, so that the takeoff timing can be appropriately estimated even in the case of grounded running.

  In the present embodiment, by utilizing the feature that the acceleration of the Z-axis does not become a negative value in the grounded running, it is determined whether or not the grounded running is performed. Based on the acceleration information obtained from the acceleration sensor 24, the contact timing of each foot of the subject is sequentially extracted, and based on the acceleration information, the acceleration of the subject in the reverse direction (Y-axis direction) is differentiated. A differential signal (dy) is derived by using the above method, and a maximum point MP appearing immediately after the extracted touchdown timing of one foot is estimated as a takeoff timing in a waveform of the differential signal (dy) with respect to a time axis. The take-off timing may be estimated using the present take-off timing estimation method for the grounded running determined in (1).

Although the embodiments of the present invention have been described above, it is needless to say that the present invention is not limited to such embodiments, and that various modifications can be made without departing from the scope of the invention.
Hereinafter, the inventions described in the claims appended to the application form of this application are appended. The item numbers of the appended claims are as set forth in the claims originally attached to the application form of this application.

(Appendix)
<Claim 1>
A running analyzer that analyzes running of the subject based on acceleration information obtained from an acceleration sensor mounted on the subject,
Acquisition means for acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject,
When the minimum value of the vertical upward acceleration indicated by the acceleration information acquired by the acquisition means is equal to or greater than a predetermined threshold, the measured object is grounded running having a period in which both feet are in contact with the ground. Means for judging the running style of the rider,
A running analysis device comprising:
<Claim 2>
The minimum value of the vertical upward acceleration is a minimum value for a period from the lowest time of one foot to the time of contact of another foot in a running cycle. Running analysis device.
<Claim 3>
Extraction means for sequentially extracting the contact timing of each foot of the subject based on the acceleration information,
Deriving means for deriving a differentiated signal by differentiating the acceleration of the subject in the direction opposite to the traveling direction based on the acceleration information,
Estimating means for estimating, as a takeoff timing, a maximum point appearing immediately after the landing timing of one foot extracted by the extracting means in a waveform with respect to a time axis of the differential signal derived by the deriving means,
The running motion analysis device according to claim 1 or 2, further comprising:
<Claim 4>
A running analysis method for analyzing the running of the subject based on acceleration information obtained from an acceleration sensor mounted on the subject,
A step of acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject;
When the minimum value of the vertical upward acceleration indicated by the obtained acceleration information is equal to or greater than a predetermined threshold, the running method of the subject is grounded running having a period in which both feet are in contact with the ground. The step of determining
A running analysis method comprising:
<Claim 5>
Computer of a running analysis device that analyzes the running of the subject based on acceleration information obtained from an acceleration sensor attached to the subject,
Acquisition means for acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject,
When the minimum value of the vertical upward acceleration indicated by the acceleration information acquired by the acquisition means is equal to or greater than a predetermined threshold, the measured object is grounded running having a period in which both feet are in contact with the ground. Means for judging the running style of the rider,
A running analysis program characterized by functioning as a.

1 running analysis system 10 running analysis device 11 CPU
12 Operation unit 13 RAM
14 display unit 15 storage unit 16 communication unit 20 measuring device

Claims (5)

A running analyzer that analyzes running of the subject based on acceleration information obtained from an acceleration sensor mounted on the subject,
Acquisition means for acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject,
When the minimum value of the vertical upward acceleration indicated by the acceleration information acquired by the acquisition means is equal to or greater than a predetermined threshold, the measured object is grounded running having a period in which both feet are in contact with the ground. Means for judging the running style of the rider,
A running analysis device comprising:   The minimum value of the vertical upward acceleration is a minimum value for a period from the lowest time of one foot to the time of contact of another foot in a running cycle. Running analysis device. Extraction means for sequentially extracting the contact timing of each foot of the subject based on the acceleration information,
Deriving means for deriving a differentiated signal by differentiating the acceleration of the subject in the direction opposite to the traveling direction based on the acceleration information,
Estimating means for estimating, as a takeoff timing, a maximum point appearing immediately after the landing timing of one foot extracted by the extracting means in a waveform with respect to a time axis of the differential signal derived by the deriving means,
The running motion analysis device according to claim 1 or 2, further comprising: A running analysis method for analyzing the running of the subject based on acceleration information obtained from an acceleration sensor mounted on the subject,
A step of acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject;
When the minimum value of the vertical upward acceleration indicated by the obtained acceleration information is equal to or greater than a predetermined threshold, the running method of the subject is grounded running having a period in which both feet are in contact with the ground. The step of determining
A running analysis method comprising: Computer of a running analysis device that analyzes the running of the subject based on acceleration information obtained from an acceleration sensor attached to the subject,
Acquisition means for acquiring acceleration information corresponding to an upward acceleration perpendicular to the traveling direction of the subject detected by the acceleration sensor during the running of the subject,
When the minimum value of the vertical upward acceleration indicated by the acceleration information acquired by the acquisition means is equal to or greater than a predetermined threshold, the measured object is grounded running having a period in which both feet are in contact with the ground. Means for judging the running style of the rider,
A running analysis program characterized by functioning as a.

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