JP2021126245A - Training device - Google Patents

Abstract

To provide a training device for enabling effective training.SOLUTION: A training device 100 includes: a mobile wagon 110 to move in response to a posture of a training person 900; an imaging section 180 for imaging the training person 900 on the mobile wagon 110; a skeleton estimation section 205 for estimating a skeleton of the training person 900 based on a captured image of the imaging section 180; a movement control section 204 for controlling the mobile wagon based on a posture indicated by the skeleton; and handrails 162 arranged to support the training person 900 on the mobile wagon 110. The handrails 162 have a shape or a pattern to prevent the skeleton estimation section 205 from recognizing that the handrails have a linear shape.SELECTED DRAWING: Figure 1

Description

The present invention relates to a training device.

Patent Document 1 discloses a rehabilitation support device for a patient with a disability to perform rehabilitation. The rehabilitation support device of Patent Document 1 has a force plate and a load detection sensor. The subject can stand on the force plate. The load detection sensor detects the load applied to the force plate. The force plate is moving horizontally as the center of gravity of the subject moves.

Japanese Unexamined Patent Publication No. 2015-100747

In such a device, more effective training can be performed by calculating the position of the center of gravity with higher accuracy. That is, if the accuracy of the position of the center of gravity is low, there is a possibility that the operation cannot be effectively performed in the horizontal direction.

The present disclosure provides a training device capable of performing effective training.

The training device according to the present disclosure is based on a moving skeleton that moves according to the movement of the center of gravity of the trainee, an imaging unit that images the trainee on the moving trolley, and an image captured by the imaging unit. It is provided to support a skeleton estimation unit that estimates a person's skeleton, a movement control unit that controls the movement of the mobile trolley based on the posture indicated by the skeleton, and the trainee on the mobile trolley. The handrail is provided with a handrail, and the handrail has a shape or pattern such that the skeleton estimation unit does not recognize the handrail as a linear shape.

According to the present disclosure, it is possible to provide a training device capable of performing effective training.

It is a figure which shows the structure of the training apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the control system of a training apparatus. It is a figure which shows the structure of the training apparatus which concerns on Embodiment 2.

Hereinafter, the present invention will be described through embodiments of the invention, but the inventions in the claims are not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem.

<Embodiment 1>
FIG. 1 is a schematic perspective view of the training device 100 according to the present embodiment. The training device 100 is, for example, a balance training device for the trainer 900 to improve the balance ability. The training device 100 is a device for a handicapped person with a disability such as hemiplegia to acquire the movement of the center of gravity necessary for walking, and for a patient with a disability in the ankle joint to recover the ankle joint function. For example, when the trainee 900 who wants to restore the ankle joint function tries to continue to board the training device 100 while maintaining a balance, the training device 100 applies a load to the ankle joint of the trainee 900 to the extent that a rehabilitation effect can be expected. be able to.

The training device 100 is a moving trolley 110 that can move in the front-rear direction on the moving surface with the floor surface of the rehabilitation facility as a moving surface, and a trainer 900 that is erected on the moving trolley 110 and rides on the moving trolley 110. It has a frame 160 that prevents it from falling off. Further, the training device 100 has an imaging unit 180 installed at a position separated from the moving carriage 110. The mobile carriage 110 mainly includes a drive wheel 121, a caster 122, a boarding plate 130, a load sensor 140, and a control box 150.

The drive wheels 121 are arranged as two front wheels in the traveling direction. The drive wheels 121 are rotationally driven by a motor (not shown) as a drive unit to move the moving carriage 110 forward or backward. The caster 122 is a driven wheel and is arranged as two rear wheels in the traveling direction.

The boarding plate 130 is a boarding section on which the trainee 900 is boarded and both feet are placed. As the boarding plate 130, a rectangular flat plate made of, for example, a polycarbonate resin, which has a relatively high rigidity to withstand the boarding of the trainee 900, is used. The boarding plate 130 is supported on the upper surface of the moving carriage 110 via load sensors 140 arranged at the four corners.

The load sensor 140 is, for example, a load cell, and functions as a detection unit that detects the load received from the feet of the trainee 900 standing on the moving carriage 110. The load sensors 140 are arranged at the four corners of the boarding plate 130 and support the boarding plate 130. The control box 150 accommodates an arithmetic processing unit and a memory, which will be described later.

The frame 160 includes an opening / closing door 161, a handrail 162, and a support column 163. The opening / closing door 161 opens when the trainee 900 boards the boarding plate 130 to form a passage for the trainee 900. It is closed and locked when conducting training trials. The handrail 162 is provided so as to surround the trainee 900 so that the trainee 900 can grasp it when he / she is about to lose his / her balance or feels uneasy. The frame 160 supports the display panel 170. The display panel 170 is, for example, a display unit which is a liquid crystal panel, and is arranged at a position where the trainee 900 can easily see it during the training trial.

The handrail 162 is provided to support the trainee. The handrail 162 is arranged at a position where the trainee 900 can grip the handrail 162 during the training. The trainee 900 grips the handrail 162 to support a part of the trainer 900's own weight. As a result, even if the trainee 900 loses its balance, the trainee 900 can be prevented from falling. Therefore, the trainee 900 can perform the balance training with more peace of mind.

The frame 160 is made of, for example, a metal or resin pipe or the like. The frame 160 is formed by connecting or bending the pipes. For example, the frame 160 has struts 163 that extend along the vertical direction. The four columns 163 extend upward from the moving carriage 110. The columns 163 are fixed to the squares on the front right, front left, rear right, and rear left of the moving trolley 110.

A handrail 162 is provided at the upper end of the support column 163. The handrail 162 is provided along the horizontal direction. The handrail 162 is formed in a rectangular frame shape when viewed from above. Handrails 162 are provided on the front, rear, left and right sides of the trainee 900, respectively. In top view, the handrail 162 is provided so as to surround the trainee 900. The opening / closing door 161 is arranged on the right side surface of the trainee 900 and opens / closes around a rotation axis parallel to the vertical direction. The frame 160 has a striped pattern. That is, the opening / closing door 161, the handrail 162, and the support column 163 are striped. The reason for this will be described later.

The imaging unit 180 is a distance measuring sensor that captures an image of the whole body of the trainee during training and the moving carriage 110 to acquire image data including distance information, and supplies the acquired image data to the control box 150. The image pickup unit 180 is installed so as to capture an image of the side surface of the trainee, for example, so that the center of gravity of the trainee can be estimated from the image data. The image pickup unit 180 also has a wireless communication device for sequentially transmitting image data to the control box 150. The imaging unit 180 is arranged outside the frame 160.

FIG. 2 is a diagram showing a system configuration of the training device 100. The training device 100 has an arithmetic processing unit 200, a drive unit 210, an operation reception unit 220, a display control unit 230, a memory 240, a load sensor 140, and an imaging unit 180 as a system configuration.

The arithmetic processing unit 200 is, for example, an MPU (Micro Processing Unit), and executes control of the entire device by executing a control program read from the memory 240. Further, the arithmetic processing unit 200 records the result of the executed training in the memory 240. The arithmetic processing unit 200 also plays a role as a function executing unit that executes various arithmetic operations and control of individual elements in accordance with the request of the control program. The arithmetic processing unit 200 includes a first center of gravity calculation unit 201, a second center of gravity estimation unit 202, a determination unit 203, a movement control unit 204, and a skeleton estimation unit 205.

The first center of gravity calculation unit 201 acquires the detection signals of the four load sensors 140 and calculates the load centers of gravity of both feet on the boarding surface of the trainee 900. Specifically, since the positions of the four load sensors 140 are known, the position of the center of gravity is calculated from the distribution of the load in the vertical direction detected by each load sensor 140, and that position is set as the first center of gravity. ..

The skeleton estimation unit 205 estimates the skeleton of the trainee 900 based on the captured image of the image pickup unit 180. The skeleton estimation unit 205 acquires an image captured from the image capturing unit 180 and performs image analysis processing. The skeleton estimation unit 205 estimates the skeleton of the trainee 900 by image analysis. For example, the skeleton estimation unit 205 detects the position of each joint in the captured image. Here, the positions of the neck joint, shoulder joint, hip joint, elbow joint, wrist joint, knee joint, ankle joint, and the like are detected. The skeleton estimation unit 205 estimates the skeleton of the trainee 900 based on each joint position. The skeleton estimation unit 205 may perform skeleton estimation by general-purpose software. The skeleton estimation unit 205 may estimate the skeleton of the whole body of the trainee 900, or may estimate a part of the skeleton. A part of the function of the skeleton estimation unit 205 may be provided in the imaging unit 180.

Here, in the skeleton estimated by the skeleton estimation unit 205, the upper arm, forearm, thigh, lower leg, trunk (torso), and the like are linear. That is, the skeleton estimation unit 205 recognizes the portion detected linearly in the captured image as the upper arm, forearm, thigh, lower leg, etc. of the trainee 900. The upper arm is a linear portion from the shoulder joint to the elbow joint, and the forearm is a linear portion from the elbow joint to the wrist joint. The thigh is a straight part from the hip joint to the knee joint, and the lower leg is a straight part from the knee joint to the ankle joint. In the following description, the upper arm and forearm are collectively referred to as an arm, and the thigh and lower leg are collectively referred to as a leg.

If the captured image of the imaging unit 180 has a linear member, the skeleton estimation unit 205 may mistakenly recognize the linear member as an arm, a leg, or the like. Since the frame 160 is around the trainee 900, the captured image includes the frame 160. The skeleton estimation unit 205 may mistakenly recognize the linear frame 160 as an arm or a leg. Therefore, in the present embodiment, the frame 160 is striped. As a result, it is possible to prevent the skeleton estimation unit 205 from erroneously recognizing the linear frame 160 as an arm or a leg. The estimation accuracy of the skeleton can be improved.

A pattern is attached to the frame 160 so that the skeleton estimation unit 205 does not recognize the frame 160 as a linear shape. For example, the frame 160 has a striped pattern in which white and black appear alternately. Here, the striped pattern is described as black and white, but the color of the striped pattern is not particularly limited. Further, a striped pattern using three or more colors may be provided.

For example, white and black appear alternately in the vertical direction on the support column 163 extending in the vertical direction. That is, in the support column 163, the upper side and the lower side of the white are black, and the lower side and the upper side of the black are white. Further, on the handrail 162 extending in the horizontal direction, white and black appear alternately in the horizontal direction. For example, in the portion of the handrail 162 extending in the left-right direction, the left and right sides of white are black, and the left and right sides of black are white. In the portion extending in the front-rear direction of the handrail 162, the front and back of white are black, and the front and back of black are white. In this way, in the direction in which the frame 160 extends, the frame 160 is colored so that different colors appear alternately.

The frame 160 has a striped pattern. As a result, it is possible to prevent the skeleton estimation unit 205 from erroneously recognizing a part of the frame 160 as an arm, a leg, or the like. Of course, it is not limited to the pattern or the striped pattern provided on the frame 160. For example, the frame 160 may be provided with a wave pattern, a dot pattern, a checkered pattern, or the like. In addition, characters, symbols, and the like may be attached as a pattern. It is not necessary to add a pattern to the entire frame 160. That is, the pattern may be attached only to the portion where the skeleton estimation unit 205 is likely to be erroneously recognized. Further, the pattern of the frame 160 may be registered in the skeleton estimation unit 205. Then, the skeleton estimation unit 205 may perform image processing so that the linear portion in which the pattern of the frame 160 is recognized is not recognized as a leg or an arm.

The second center of gravity estimation unit 202 analyzes the posture of the trainer from the estimated skeleton, and estimates the second center of gravity, which is the position of the center of gravity of the trainer, from the analyzed posture of the trainer. The second center of gravity estimation unit 202 estimates the center of gravity by storing, for example, a database such as the mass of the skeleton and the height and weight of the trainee in advance, and collating the trainee's physique estimated from the image data with the database. You may.

The determination unit 203 determines that a predetermined message such as a warning is output to the trainee during training. The predetermined alert is a message urging the trainee to take the correct posture, for example, when the posture of the trainee does not match the training content being tried. In order to determine whether to output such a message, the determination unit 203 calculates the difference between the center of gravity and the posture, and compares the calculated difference between the first center of gravity and the second center of gravity with a preset threshold value. By doing so, it is determined to output a warning to the trainee.

The movement control unit 204 controls the movement carriage 110 based on the posture indicated by the skeleton estimated by the skeleton estimation unit 205. The movement control unit 204 generates a drive signal to be transmitted to the drive unit 210, and controls the movement of the mobile carriage 110 via the drive unit 210. The drive signal is, for example, a signal instructing the drive unit 210 to move at a preset speed or a preset acceleration according to a change in the center of gravity or posture. The drive signal may be a signal instructing the drive unit 210 to move a preset distance according to a change in the center of gravity or the posture. Therefore, the movement control unit 204 controls the movement of the moving carriage 110 based on the position of the center of gravity indicated by the skeleton estimated by the skeleton estimation unit 205.

The operation reception unit 220 receives input operations from the trainee 900 and the operator, and transmits an operation signal to the arithmetic processing unit 200. The trainee 900 and the operator operate the operation buttons provided on the device, the touch panel superimposed on the display panel 170, the attached remote controller, etc., which constitute the operation reception unit 220, to turn on / off the power and try the training. Gives a start instruction, inputs numerical values related to settings, and selects menu items.

The display control unit 230 generates a message to the trainee, a graphic image of the task game, and the like according to the display signal from the arithmetic processing unit 200, and displays them on the display panel 170. As a message to the trainee 900, the display control unit 230 in the present embodiment displays a message to warn that the posture during training is incorrect.

The memory 240 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 240 stores a control program or the like for controlling the training device 100. It also stores various parameter values, functions, lookup tables, etc. used for control. That is, when the arithmetic processing unit 200 executes the control program stored in the memory 240, the first center of gravity calculation unit 201, the second center of gravity estimation unit 202, the determination unit 203, the movement control unit 204, and the skeleton estimation unit 205 The process is executed.

The load sensor 140 detects the load applied from the foot of the trainee 900 via the boarding plate 130, and transmits the detection signal to the arithmetic processing unit 200. In this embodiment, the four load sensors 140 that support the boarding plate 130 transmit the vertical load detected by each to the arithmetic processing unit 200 as a detection signal.

The drive unit 210 includes a drive circuit and a motor for driving the drive wheels 121. Further, the drive unit 210 includes a rotary encoder that detects the amount of rotation of the drive wheels 121. The drive unit 210 is a drive unit that drives the drive wheels 121, and drives the drive wheels 121 according to a drive signal generated by the movement control unit. The drive unit 210 drives the drive wheels 121 to move the moving carriage 110, for example, at a preset speed or a preset acceleration in response to a change in the center of gravity of the trainee 900, or within a preset travel distance. ..

As described above, in the present embodiment, the handrail 162 has a striped pattern. As a result, it is possible to prevent the handrail 162 from being mistakenly recognized as an arm or a leg. Since the accuracy of skeleton estimation can be improved, the second center of gravity estimation unit 202 can estimate the position of the center of gravity with high accuracy. Therefore, the trainer 900 can effectively perform the training.

<Embodiment 2>
The training device 100 according to the second embodiment will be described with reference to FIG. FIG. 3 is a diagram showing a main part of the training device 100. In the second embodiment, only the frame 160 is different. Since the configurations other than the frame 160 are the same as those in the first embodiment, the description thereof will be omitted as appropriate.

The frame 160 has a shape such that the skeleton estimation unit 205 does not recognize the frame 160 as a linear shape. In the present embodiment, the frame 160 has a circular shape. Here, four circular rings are provided as the frame 160. The frame 160 is formed by providing circular rings on the front, back, left, and right sides of the trainee 900. Similar to the first embodiment, the trainee 900 enters the inside of the frame 160 and performs the balance training. One of the four wheels may be opened and closed in the same manner as the opening / closing door 161 of the first embodiment. The arc portion on the upper side of the frame 160 serves as the handrail 162. That is, the trainee 900 can grip the upper portion of the frame 160 to receive support. With this configuration, it is possible to prevent the handrail 162 from being erroneously recognized as an arm or a foot, so that the estimation accuracy of the skeleton can be improved.

Although the frame 160 is circular in FIG. 3, the frame 160 may have a curved shape. For example, the frame 160 may have an arc shape, an elliptical shape, or a wavy shape. Furthermore, the shape may be a combination of a plurality of curved shapes. The frame 160 preferably has a curved shape that is easy for the trainee 900 to grasp. Of course, the entire frame 160 does not have to have a curved shape. For example, the frame 160 may have a curved shape only in a place where it is easily mistakenly recognized as an arm or a leg.

Further, the first embodiment and the second embodiment can be combined as appropriate. For example, after the frame 160 has a curved shape, a striped pattern or the like may be added to the curved shape portion. Alternatively, a part of the frame 160 may have a curved shape and the remaining part may have a linear shape. Then, a striped pattern or the like may be attached to the linear portion. The handrail 162 has a shape or pattern such that the skeleton estimation unit 205 does not recognize the handrail 162 as a linear shape. By doing so, the estimation accuracy of the skeleton can be improved.

Recent improvements in camera performance and processor processing power have made it possible to estimate the skeleton without markers. That is, the skeleton estimation unit 205 can estimate the skeleton from the captured image without the trainee 900 attaching the detection marker to the joint or the like. Without the marker, the linear handrail 162 may be mistakenly recognized as an arm or leg. Therefore, in the present embodiment, the handrail 162 has a shape or pattern such that the skeleton estimation unit 205 does not recognize the handrail 162 as a straight line. As a result, the skeleton estimation accuracy can be improved, so that the posture and the position of the center of gravity can be calculated with high accuracy. Therefore, since the mobile carriage 110 can be appropriately driven, the trainee 900 can perform effective training.

The program executed by the arithmetic processing unit 200 or the like is stored using various types of non-transitory computer readable medium and supplied to a computer (a computer including an information notification device). can do. Non-temporary computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further, this example includes a CD-ROM (Read Only Memory), a CD-R, and a CD-R / W. Further, this example includes semiconductor memories (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be supplied to the computer by various types of transient computer readable medium. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. Further, the present invention may be carried out by appropriately combining the above-described embodiments and examples thereof.

100 Training device 110 Mobile trolley 121 Drive wheel 122 Caster 130 Boarding plate 131 Mounting surface 140 Load sensor 150 Control box 160 Frame 161 Opening and closing door 162 Handrail 170 Display panel 180 Imaging unit 200 Calculation processing unit 201 1st center of gravity calculation unit 202 2 Center of gravity estimation unit 203 Judgment unit 204 Movement control unit 205 Skeleton estimation unit 210 Drive unit 220 Operation reception unit 230 Display control unit 240 Memory 900 Trainee

Claims (1)

A mobile trolley that moves according to the movement of the trainee's center of gravity,
An imaging unit that images the trainee on the mobile trolley,
A skeleton estimation unit that estimates the trainee's skeleton based on the captured image of the imaging unit, and a skeleton estimation unit.
A movement control unit that controls the movement of the moving carriage based on the posture indicated by the skeleton.
It is equipped with a handrail provided to support the trainee on the mobile carriage.
The handrail is a training device having a shape or pattern such that the skeleton estimation unit does not recognize the handrail as a linear shape.

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