JP6586173B2 - Walking state detection device and walking state detection program - Google Patents

Description

  The present invention relates to a walking state detection device and a walking state detection program for detecting a walking state of a user.

  Human walking is the most basic activity in daily life, and if its function is lost, social life is greatly affected. Therefore, recovery training and analysis of gait function is one of the important issues in rehabilitation. In order to accurately analyze and evaluate gait disorders, it is important to quantitatively and objectively grasp the patient's walking state.

  Conventionally, in order to evaluate the walking posture of the measurement subject, an acceleration sensor worn on the midline of the measurement subject's waist and a predetermined continuous walking period of 10 minutes or less, An evaluation unit that repeatedly obtains an evaluation amount that quantitatively represents the walking posture of the person to be measured based on the output of the acceleration sensor for each predetermined unit period, and the repeatedly obtained evaluation amount are displayed in time series on the display screen A walking posture meter including a display processing unit has been proposed.

JP 2014-217694 A

  However, the walking posture meter proposed in Patent Document 1 has a problem that the detection accuracy of the walking state is not good because the walking posture of the measurement subject is detected by the vertical acceleration of the measurement subject.

  This invention is made | formed in view of this situation, The objective is to provide the walking state detection apparatus and walking state detection program which can detect a walking state accurately.

A walking state detection device according to the present invention is a walking state detection device that detects a user's walking state based on acceleration, and a value obtained by squaring a lateral acceleration with respect to the user; A square sum calculation unit that calculates a square sum square that is a square root of a sum of a value obtained by squaring the acceleration in the front-rear direction and a value obtained by squaring the acceleration in the vertical direction with respect to the user; and a leg of the user A detection unit that detects when the user is kicked up and landing when the user's leg lands, and based on the rise time and landing time detected by the detection unit, A period calculation unit that calculates a free leg period, wherein the detection unit detects an upper chord peak in which the acceleration in the left-right direction switches from an upward trend to a downward trend, and determines when the upper chord peak is reached When the leg of the leg is raised, The lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend is detected, and the time point when the lower chord peak is reached is the time when the other leg of the user is raised, and the square root sum of squares is a downward trend from the upward trend Detecting the first crest peak at which the first crest peak is switched to, the time when the first crest peak is reached at the time of landing of the one leg, and detecting the second cosine peak at which the square root sum of squares switches from an upward trend to a downward trend, The point of time when the second upper chord peak is reached is when the other leg lands.

A walking state detection device according to the present invention is a walking state detection device that detects a user's walking state based on acceleration, and a value obtained by squaring a lateral acceleration with respect to the user; A square sum calculation unit that calculates a square sum square that is a square root of a sum of a value obtained by squaring the acceleration in the front-rear direction and a value obtained by squaring the acceleration in the vertical direction with respect to the user; and a leg of the user A detection unit that detects when the user is kicked up and landing when the user's leg lands, and based on the rise time and landing time detected by the detection unit, It has a period calculation unit for calculating a swing phase, the user and determining the state determining unit for determining a traveling state or a walking state, the detecting unit, the user in the state determination unit If it is determined that the vehicle is running, Detecting the first upper chord peak when the acceleration in the straight direction switches from an upward trend to a downward trend, and the time when the peak becomes the upper chord peak as the time of kicking up, And when the landing state is determined as the landing point, and the state determination unit determines that the user is in a walking state, the left-right acceleration switches from an upward trend to a downward trend. The point at which the upper chord peak is detected is defined as the time when the one leg of the user is kicked up, the lower chord peak at which the lateral acceleration is switched from a downward trend to an upward trend is detected, and the point at which the lower chord peak is reached Is detected when the other leg of the user is raised, and the first crest peak at which the square root sum of squares switches from an upward trend to a downward trend is detected. The point at which the first chord peak is reached is the landing time of the one leg, the second upper chord peak at which the root sum square is switched from an upward trend to a downward trend is detected, and the time point at which the second upper chord peak is reached is the other leg. When landing.

Preferably, the period calculation unit calculates, as the stance period, from the landing time of one leg to the lifting time as the standing leg period, and the free leg from the lifting time of the one leg to the landing time. Calculate as period.

Preferably, the walking state detection device includes an acceleration sensor that measures the acceleration.

The walking state detection program according to the present invention is a walking state detection program for detecting a user's walking state based on acceleration, and a value obtained by squaring a lateral acceleration with respect to the user; A square sum calculation step for calculating a square sum of squares which is a square root of a sum of a value obtained by squaring the acceleration in the front-rear direction and a value obtained by squaring the acceleration in the vertical direction with respect to the user; Detection step of detecting when the user is kicked up and landing when the user's leg is landing, and based on the rise time and landing time detected in the detection step, to execute the period calculation step of calculating a swing phase to a computer, the detection step, when the acceleration of the lateral direction detects the upper chord peak switched from a rising trend to a falling trend, serving as the top chord peak , When the one leg of the user is kicked up, the lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend is detected, and the point at which the lower chord peak is reached is the point of the other leg of the user At the time of kicking up, the first upper chord peak at which the square sum square root switches from an upward trend to a downward trend is detected, and the time when the first upper chord peak is at the time of landing of the one leg, the square sum square root tends to rise The second upper chord peak that switches to a downward trend is detected, and the time when the second upper chord peak is reached is the landing time of the other leg.

The walking state detection program according to the present invention is a walking state detection program for detecting a user's walking state based on acceleration, and a value obtained by squaring a lateral acceleration with respect to the user; A square sum calculation step for calculating a square sum of squares which is a square root of a sum of a value obtained by squaring the acceleration in the front-rear direction and a value obtained by squaring the acceleration in the vertical direction with respect to the user; Detection step of detecting when the user is kicked up and landing when the user's leg is landing, and based on the rise time and landing time detected in the detection step, a period calculation step of calculating a swing phase, to execute a determining condition determination step to the computer or the user is in running state or a walking state, the detection process, the front in the state determining step When it is determined that the user is in a running state, the first crest peak at which the acceleration in the vertical direction switches from an upward trend to a downward trend is detected, and the time point when the top crest peak is reached is the time of the kicking, and the vertical direction Detecting the first lower chord peak at which the acceleration of the switch from the downward trend to the upward trend is the landing point, and when the state determination step determines that the user is in a walking state, The upper chord peak in which the acceleration in the left-right direction switches from an upward trend to a downward trend is detected, and the point at which the upper chord peak is reached is the time when the one leg of the user is kicked up. The lower chord peak that switches to is detected, and the point at which the lower chord peak is reached is the time when the other leg of the user is kicked up, and the square root sum of squares is lowered from the rising trend. Detecting the first crest peak at which the first crest peak is switched to, the time when the first crest peak is reached at the time of landing of the one leg, and detecting the second cosine peak at which the square root sum of squares switches from an upward trend to a downward trend, The point of time when the second upper chord peak is reached is when the other leg lands.

A walking state detection device according to the present invention is a walking state detection device that detects a user's walking state based on acceleration, and when the user's leg is kicked up and when the user's leg is landing A detection unit that detects the landing time, and a period calculation unit that calculates a standing period or a free leg period of the user based on the kicking time and the landing time detected by the detection unit, The detection unit detects an initial upper chord peak at which the acceleration switches from an upward tendency to a downward tendency, and sets the time point at which the acceleration becomes the upper chord peak as the time of kicking.
According to the above configuration, since the first upper chord peak at which the acceleration is switched from the upward tendency to the downward tendency is detected and the time point when the acceleration becomes the upper chord peak is set as the time of kicking up, the walking posture can be detected with high accuracy.

Preferably, in the present invention, the detection unit detects an initial lower chord peak at which the acceleration switches from a downward trend to an upward trend, and sets the time point when the acceleration becomes the lower chord peak as the landing time.
According to the above configuration, the first lower chord peak at which the acceleration is switched from the downward tendency to the upward tendency is detected, and the time point when the acceleration becomes the lower chord peak is set as the landing time, so that the walking posture can be accurately detected.

A walking state detection device according to the present invention is a walking state detection device that detects a user's walking state based on acceleration, and when the user's leg is kicked up and when the user's leg is landing A detection unit that detects the landing time, and a period calculation unit that calculates a standing period or a free leg period of the user based on the kicking time and the landing time detected by the detection unit, The detection unit detects an initial upper chord peak at which the acceleration switches from an upward trend to a downward trend, and sets the time when the upper chord peak is reached as the landing time.
According to the above configuration, the first upper chord peak at which the acceleration is switched from the upward trend to the downward trend is detected, and the time point when the upper chord peak is reached is set as the landing time. Since it is confirmed by actual measurement that the time is the landing time, the walking posture can be accurately detected.

Preferably, in the present invention, the detection unit sets the time at which the acceleration tends to decrease and becomes 1 G (G is gravitational acceleration) as the time of kicking.
According to the above configuration, the time when the acceleration tends to decrease and becomes 1 G (G is gravitational acceleration) is set as the time of kicking. Since it is confirmed by actual measurement that the time point is at the time of kicking up, the walking posture can be detected with high accuracy.

Preferably, according to the present invention, the acceleration input to the detection unit is a sum of squares of accelerations in three axis directions including an X axis, a Y axis, and a Z axis orthogonal to each other.
According to the above configuration, the acceleration input to the detection unit is the sum of squares of the accelerations in the three axes including the X axis, the Y axis, and the Z axis that are orthogonal to each other. The walking posture can be detected more accurately than when only acceleration is used.

Preferably, in the present invention, the period calculation unit calculates the standing period from the landing time to the kicking time as the standing leg period and the free leg period from the lifting time to the landing time.
According to the above configuration, the walking posture can be detected with higher accuracy because the stance period is calculated from the time of landing to the time of kicking up and the free leg period is calculated from the time of landing to the time of landing.

  Preferably, the present invention includes a state determination unit that determines whether the user is in a walking state or a running state, and the detection unit includes a plurality of detection patterns at the time of the kick-up and landing. And the detection pattern is changed according to a determination result in the state determination unit.

  According to the above configuration, there are a plurality of detection patterns at the time of kicking up and landing, and it is determined whether the user is in a walking state or a running state by the state determination unit, and the kicking is performed according to the result The detection pattern at the time of landing and landing can be changed. For this reason, it is possible to determine whether the user is in a walking state or a running state, and to detect a walking state according to the state, and to detect a walking posture with higher accuracy.

  Preferably, the present invention includes an acceleration sensor that measures the acceleration.

  According to the above configuration, since the acceleration sensor for measuring acceleration is provided, no additional acceleration sensor is required. Further, since it consumes less power than a gyro sensor or the like, it is suitable for a wearable device or a portable device driven by an internal power source such as a storage battery.

  The walking state detection program according to the present invention is a walking state detection program for detecting a user's walking state based on acceleration, wherein the user's leg is kicked up and the user's leg is landing. A step of detecting a landing time and a step of calculating a standing period and a free leg period of the user based on the kicking time and the landing time detected by the detection unit; In the step of detecting an upward time, an initial upper chord peak at which the acceleration switches from an upward trend to a downward trend is detected, and the time point when the acceleration becomes the upper chord peak is defined as the time of kicking.

  According to the above configuration, in the step of detecting the time of kicking up, the first crest peak at which the acceleration switches from an upward trend to a downward trend is detected, and the time point when the acceleration becomes the peak is the time of kicking up. Can be detected well.

  The walking state detection program according to the present invention is a walking state detection program for detecting a user's walking state based on acceleration, wherein the user's leg is kicked up and the user's leg is landing. And a step of calculating a landing period or a free leg period of the user based on the kicking time and the landing time detected by the detection unit, and causing the computer to execute the landing process. In the time detecting step, an initial crest peak at which the acceleration is switched from an increasing tendency to a decreasing tendency is detected, and a time point when the acceleration becomes the upper chord peak is set as the landing time.

  According to the above configuration, in the step of detecting the landing time, the first crest peak at which the acceleration is switched from the upward trend to the downward trend is detected, and the time point when the acceleration is at the top is the landing time, so the walking posture is accurately detected. can do.

  According to the walking state detection device and the walking state detection program of the present invention, the walking posture can be accurately detected.

It is a general-view figure of the walking state detection apparatus which concerns on embodiment of this invention. It is a functional block diagram of the walking state detection apparatus which concerns on embodiment of this invention. It is a figure of the acceleration of the driving | running | working state input into the walking state detection apparatus which concerns on embodiment of this invention. It is a figure of the acceleration of the driving | running | working state input into the walking state detection apparatus which concerns on embodiment of this invention. It is a figure of the acceleration of the walking state input into the walking state detection apparatus which concerns on embodiment of this invention. It is a figure which shows the relationship between the acceleration of the walking state input into the walking state detection apparatus which concerns on embodiment of this invention, and operation | movement of a leg. It is a flowchart which shows operation | movement of the walking state detection apparatus which concerns on embodiment of this invention.

  The walking state detection device of the present invention is a wearable device that is used by being worn on a body such as a headphone type, a glasses type, a watch type, and a bracelet type. In the following description, embodiments of the present invention will be described using a headphone type wearable device as an example. Note that the walking state detection device of the present invention may be mounted on a portable device (mobile device) such as a pedometer, a mobile phone, or a smart phone.

(Embodiment)
FIG. 1 is a schematic diagram of a walking state detection device 1 according to the embodiment. As described above, the walking state detection device 1 is a headphone-type wearable device, and the walking state detection device 1 of the present embodiment is incorporated in the headphones. The user U uses the walking state detection device 1 shown in FIG. The walking state detection device 1 is mounted on the user U's head, and the user U's stance period (period in which the leg is landing on the ground) or swing leg period (period in which the leg is away from the ground). ) Is detected.

(Configuration of walking state detection device 1)
FIG. 2 is a functional configuration diagram realized by a memory element, a CPU, and the like included in the walking state detection device 1 according to the embodiment. The walking state detection device 1 includes a sum of squares calculation unit 101, a state determination unit 102, a detection unit 103, and a period calculation unit 104. The functions of the walking state detection device 1 according to the embodiment shown in FIG. 2 may be realized by hardware or by executing a walking state detection program by a processor such as a CPU (Central Processing Unit). Also good. The walking state detection program is an embodiment corresponding to the walking state detection program of the present invention.

  As illustrated in FIG. 2, the walking state detection device 1 according to the embodiment is connected to the acceleration sensor 2 wirelessly or by wire, and receives acceleration data from the acceleration sensor 2. Here, the acceleration sensor 2 measures acceleration data in a triaxial direction including the X axis, the Y axis, and the Z axis orthogonal to each other in real time, and sequentially outputs the measured data. In this embodiment, the X axis measures the lateral acceleration with respect to the user U, the Y axis measures the longitudinal acceleration with respect to the user U, and the Z axis measures the vertical acceleration with respect to the user U. It shall be measured. In addition, you may comprise this acceleration sensor 2 so that the walking state detection apparatus 1 which concerns on embodiment has.

  The sum-of-squares calculation unit 101 samples the analog voltage signals output from the acceleration sensor 2 for each of the X axis, the Y axis, and the Z axis at a predetermined period and converts them into digital data. Note that the sampling of the analog voltage signal is performed substantially simultaneously with respect to the X axis, the Y axis, and the Z time in order to prevent a malfunction due to a sampling timing shift.

The sum of squares calculation unit 101 calculates the sum of squares of squares w of the acceleration of each of the X axis, the Y axis, and the Z axis converted into digital data. Specifically, the sum of squares square root w is calculated using the following equation (1).
w = (x ² + y ² + z ² ) ^1/2 (1)
x: X-axis acceleration y: Y-axis acceleration z: Z-axis acceleration w: Square root sum square

  The sum-of-squares calculation unit 101 sequentially outputs the calculated sum of squares of the squares of the respective accelerations of the X axis, the Y axis, and the Z axis. In this embodiment, the root sum square is directly calculated from the sampled X-axis, Y-axis, and Z-axis accelerations. However, the moving average of the sampled X-axis, Y-axis, and Z-axis accelerations is calculated. The square sum of squares may be calculated from the value.

  The state determination unit 102 samples the value output from the square sum calculation unit 101 for a predetermined time, and detects a local maximum value (largest value) from the values sampled within the predetermined time. The predetermined time referred to in this embodiment is a time (for example, 1 sec) for walking or running in one walking cycle (two steps).

Next, the state determination unit 102 determines whether or not the detected maximum value exceeds a predetermined value A. When the detected maximum value exceeds the predetermined value A, the state determination unit 102 determines that the vehicle is traveling (traveling state). Moreover, the state determination part 102 determines that it is during a walk (walking state), when the detected maximum value is below the predetermined value A.
The predetermined values A and B are determined in advance based on the maximum values detected during walking and running.

  In the above description, the threshold value is determined by determining whether the maximum value detected by the state determination unit 102 exceeds the predetermined value A, but the minimum value is the predetermined value B (a value different from the predetermined value A). You may comprise so that a threshold may be determined by determining whether it exceeds. Further, the threshold value may be determined by determining whether the maximum value and the minimum value exceed predetermined values A and B, respectively.

  Based on the determination result in the state determination unit 102, the acceleration data from the sum of squares calculation unit 101, and the X-axis and Z-axis acceleration data input from the acceleration sensor 2, the detection unit 103 is in a running state and a walking state. Detects the kick-up point and landing point.

  FIG. 3 is a diagram of acceleration in the Z direction in the heel landing state input to the walking state detection device 1. FIG. 4 is a diagram of acceleration in the Z direction in the toe landing traveling state input to the walking state detection device 1. The vertical axis in FIGS. 3 and 4 represents the Z-axis acceleration (vertical acceleration raw value) input from the acceleration sensor 2. Moreover, the horizontal axis of FIG.3 and FIG.4 is time.

  Here, the heel landing running is a running method (so-called heel strike running method) that makes a landing on the heel. The toe landing traveling is a traveling method (so-called forefoot traveling method) for landing on a toe.

  Hereinafter, with reference to FIG. 3 and FIG. 4, detection of the kick-up point and the landing point of the detection unit 103 in the traveling state will be described.

  In the running state, the detection unit 103 detects that the Z-axis acceleration (vertical acceleration raw value) input from the acceleration sensor 2 is equal to or greater than a predetermined value B (for example, 0), and the first lower chord peak that switches from a downward trend to an upward trend. (1st under peak: [1] in FIG. 3 and FIG. 4) is detected, and the point of time when the lower peak appears is the landing time (landing point). Note that it has been confirmed by actual measurements that, in the running state, the point of time when the lower chord peak is reached is the landing time.

  Further, in the running state, the detection unit 103 has an initial cosine peak in which the Z-axis acceleration (vertical acceleration) input from the acceleration sensor 2 is equal to or greater than a predetermined value C (for example, 0) and switches from an upward trend to a downward trend. (1st top peak: [2] in FIG. 3 and FIG. 4) is detected, and the point of time when the top chord peak is reached is the time of kicking. Note that it has been confirmed by actual measurement that in the running state, the point at which the peak of the upper chord becomes a kick-up time.

FIG. 5 is a diagram of acceleration in the walking state input to the walking state detection device in the walking state. The vertical axis in FIG. 5 indicates the square root sum data of accelerations of the X-axis, Y-axis, and Z-axis input from the square sum calculation unit 101 and the Z-axis acceleration (vertical acceleration raw value input from the acceleration sensor 2). ). The horizontal axis in FIG. 5 is time.
In FIG. 5, the solid line indicates data of the square sum of squares of accelerations of the X axis, the Y axis, and the Z axis, the alternate long and short dash line indicates 1 G, and the alternate long and two short dashes line indicates acceleration in the X direction.

  Hereinafter, with reference to FIG. 5, detection of the kick-up point and the landing point of the detection unit 103 in the walking state will be described. In the walking state, the detection unit 103 detects the first crest peak (1st top peak: [1] in FIG. 5) at which the acceleration (three-axis composite value) input from the sum of squares calculation unit 101 switches from an upward trend to a downward trend. The point at which the first peak is detected and the point is the landing point (landing point). Note that it has been confirmed by actual measurements that, in the walking state, the time when the acceleration (three-axis composite value) becomes the first crest peak at which the acceleration is switched from the upward trend to the downward trend is the landing time.

In the walking state, the detection unit 103 detects an upper string peak ([3] in FIG. 5) in which the X-axis acceleration (left-right acceleration) input from the acceleration sensor 2 switches from an upward trend to a downward trend. The point in time is the time of kicking up. Note that it has been confirmed by actual measurement that, in the walking state, the time point when the X-axis acceleration becomes the upper chord peak at which the acceleration is switched from the rising tendency to the falling tendency is the landing time.
Further, when the detection unit 103 cannot detect an upper-crest peak ([3] in FIG. 5) in which the X-axis acceleration (left-right acceleration) input from the acceleration sensor 2 switches from an upward trend to a downward trend, the square sum calculation unit 101 The time ([2] in FIG. 5) at which the acceleration (three-axis composite value) input from 1 becomes a downward trend and becomes 1 G (G is the gravitational acceleration) is detected, and it is set as the time of kicking. In addition, it has been confirmed by actual measurement that this time ([2] in FIG. 5) is the time of kicking.

  FIG. 6 is a diagram illustrating a relationship between the acceleration of the walking state input to the walking state detection device 1 and the motion of the leg. The vertical axis in FIG. 6 indicates the square sum of square data of the acceleration of each of the X axis, the Y axis, and the Z axis input from the square sum calculation unit 101, and the Z axis acceleration (vertical acceleration raw value input from the acceleration sensor 2). ). Moreover, the horizontal axis of FIG. 6 is time.

During running, the stance period and the free leg period of the left and right legs occur alternately, as shown in FIG.
During walking, the right and left leg standing periods and free leg periods do not occur alternately, and a shift occurs (there is a period in which both legs are on the ground). For this reason, as shown in FIG. 6, in this embodiment, the second cosine peak (2nd) in which the acceleration (three-axis composite value) input from the sum of squares calculation unit 101 switches from an upward trend to a downward trend during walking. Top peak: [1] in FIG. 6 is detected, and the point (landing point) at the time of landing of the second upper chord peak ([1] in FIG. 6) of the opposite leg (right leg in FIG. 6) ).

  The period calculation unit 104 is based on the rise time and the landing time detected by the detection unit 103, and the user U's stance period (a period when the leg is landing on the ground) or a free leg period (the leg is separated from the ground). Period). Specifically, the period calculation unit 104 calculates the landing period from the landing time detected by the detection unit 103 to the kicking time as the stance period, and the period from the lifting time to the landing time as the free leg period.

(Operation of walking state detection device 1)
FIG. 7 is a flowchart for explaining the operation of the walking state detection device 1 according to the embodiment. Hereinafter, with reference to FIGS. 1-7, operation | movement of the walking state detection apparatus 1 which concerns on embodiment is demonstrated.

  First, the sum of squares calculation unit 101 samples analog voltage signals output from the acceleration sensor 2 for each of the X-axis, Y-axis, and Z-axis at a predetermined cycle and converts them into digital data, which is then converted into digital data. The square sum square root w of the acceleration of each of the X axis, Y axis and Z axis is calculated (S101).

  Next, the state determination unit 102 samples the value output from the sum of squares calculation unit 101 for a predetermined time, detects a local maximum value (the largest value) from the value sampled within the predetermined time, and compares it with the threshold A. Then, it is determined whether the vehicle is in a running state or a walking state (S102).

  When the state determination unit 102 determines that the user is in a walking state (Yes in S102), the detection unit 103 switches the acceleration (three-axis composite value) input from the sum of squares calculation unit 101 from an upward tendency to a downward tendency. The first upper chord peak is detected (S103), and the point of time when the upper chord peak is reached is set as a landing point (landing point).

  Next, as described with reference to FIG. 6, the detection unit 103 detects the second cosine peak at which the acceleration (three-axis composite value) input from the square sum calculation unit 101 switches from an upward trend to a downward trend (S104). ) The point of time when the second top chord peak is reached is the landing point (landing point) of the opposite leg. In other words, if the left leg landing point is detected in S103, the right leg landing point is detected in S104.

  Next, the detection unit 103 detects an upper chord peak at which the X-axis acceleration (left / right acceleration) input from the acceleration sensor 2 switches from an upward trend to a downward trend (S105). To do. In addition, the detection unit 103 receives an input from the sum-of-squares calculation unit 101 when the X-axis acceleration (left-right acceleration) input from the acceleration sensor 2 cannot detect an upper string peak in which the X-axis acceleration switches from an upward trend to a downward trend (No in S105). Is detected when the acceleration (three-axis composite value) tends to decrease and becomes 1G (G is gravitational acceleration).

  If the time point at which the acceleration (three-axis composite value) input from the multiplying sum calculation unit 101 tends to decrease and becomes 1 G (G is gravitational acceleration) is not detected (No in S106), the operation returns to the start operation ( Re-search).

  When the state determination unit 102 determines that the vehicle is not in a walking state, that is, a running state (No in S102), the detection unit 103 determines that the Z-axis acceleration (vertical acceleration) input from the acceleration sensor 2 is a predetermined value B. The first crest peak (1st top peak) that is equal to (for example, 0) or more and switches from an upward trend to a downward trend is detected (S107), and the time point when the peak is the upper chord peak is defined as the time of kicking.

  Next, the detection unit 103 detects that the Z-axis acceleration (vertical acceleration raw value) input from the acceleration sensor 2 is equal to or greater than a predetermined value C (for example, 0), and the first lower chord peak that switches from a downward trend to an upward trend ( 1st under peak) is detected (S108), and the point of time when the lower peak appears is the landing time (landing point).

  Next, the period calculation unit 104 determines whether the user U is standing up (a period in which the leg is landing on the ground) or a free leg period (in which the leg is on the ground) based on the time of kicking up and landing detected by the detection unit 103. (Time period away from) is calculated (S109). Specifically, the period calculation unit 104 calculates the landing period from the landing time detected by the detection unit 103 to the kicking time as the stance period, and the period from the lifting time to the landing time as the free leg period.

  As described above, the walking state detection device 1 according to the present embodiment includes the state determination unit 102 that determines whether the user U is in the walking state or the running state, and the user's leg is kicked up. And a detection unit 103 that detects when the user's leg lands, and a period calculation unit 104 that calculates the user's stance period or free leg period based on the kicking and landing times detected by the detection unit. And have.

  The detection unit 103 of the walking state detection device 1 has a plurality of detection patterns (detections) at the time of kicking up and landing, and the state of the user U determined by the state determination unit 102, that is, the user U The detection pattern (detection method) at the time of kicking up and landing is changed based on whether the vehicle is walking or running. For this reason, it is possible to accurately detect the time of kicking up and the time of landing based on the characteristics of the walking state and the running state.

  In addition, when the detection unit 103 of the walking state detection device 1 determines that the vehicle is in the running state, the detection unit 103 detects the first crest peak where the acceleration of the Z-axis switches from an upward trend to a downward trend, and kicks the time point when the peak becomes the upper chord peak. It is time to go up. Since it is confirmed by actual measurement that the time point is at the time of kicking up, the walking posture can be detected with high accuracy.

  When the detection unit 103 of the walking state detection device 1 determines that the vehicle is in the running state, the detection unit 103 detects the first lower chord peak at which the Z-axis acceleration switches from a downward trend to an upward trend, and lands at the time when the lower chord peak is reached. Therefore, the walking posture can be detected with high accuracy.

  In addition, when the detection unit 103 of the walking state detection device 1 determines that the walking state is in progress, the first crest peak at which the acceleration of the three-axis composite value of the X axis, the Y axis, and the Z axis switches from an increasing tendency to a decreasing tendency. Is detected and the time when the peak of the upper string is reached is the landing time. Since it is desired to confirm by the actual measurement that the time is the landing time, the walking posture can be accurately detected.

  In addition, when the detection unit 103 of the walking state detection device 1 determines that the walking state is the walking state, the acceleration of the three-axis composite value of the X axis, the Y axis, and the Z axis tends to decrease and 1G (G is gravitational acceleration). Since the time point becomes the time of kicking up, the walking posture can be detected with high accuracy.

  In addition, the acceleration input to the detection unit 103 of the walking state detection device 1 is a sum of squares of accelerations in three axes composed of the X axis, the Y axis, and the Z axis that are orthogonal to each other, and thus is uniaxial or biaxial. Compared to the case where only the acceleration of is used, the walking posture can be detected with higher accuracy.

  In addition, the period calculation unit 104 of the walking state detection device 1 calculates the stance period from landing to kicking up as the stance period, and the free leg period from kicking to landing to detect the walking posture with higher accuracy. Can do.

  Moreover, when the walking state detection apparatus 1 has an acceleration sensor that measures acceleration, an additional acceleration sensor is not required. Further, since it consumes less power than a gyro sensor or the like, it is suitable for a wearable device or a portable device driven by an internal power source such as a storage battery.

  In addition, the walking state detection program according to the embodiment can realize the walking state detection device 1 as described above, and can obtain the same effect as the walking state detection device 1 described above.

(Other embodiments)
In addition, this invention is not limited to embodiment mentioned above. That is, those skilled in the art may make various modifications, combinations, subcombinations, and alternatives regarding the components of the above-described embodiments within the technical scope of the present invention or an equivalent scope thereof.

DESCRIPTION OF SYMBOLS 1 Walking state detection apparatus 2 Acceleration sensor 101 Sum-of-squares calculation part 102 State determination part 103 Detection part 104 Period calculation part

Claims (6)

A walking state detection device that detects a user's walking state based on acceleration,
The sum of a value obtained by squaring a lateral acceleration with respect to the user, a value obtained by squaring a longitudinal acceleration with respect to the user, and a value obtained by squaring a vertical acceleration with respect to the user. A sum-of-squares calculator that calculates a sum of squares that is a square root;
A detection unit for detecting when the user's leg is kicked up and when the user's leg is landing;
A period calculation unit that calculates a standing period or a free leg period of the user based on the time of the kicking up and the time of landing detected by the detection unit;
The detector is
Detecting an upper chord peak at which the acceleration in the left-right direction switches from an upward trend to a downward trend, and a point in time when the upper chord peak is reached during the kicking of one leg of the user,
Detecting a lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend, and the time when the lower chord peak is reached when the other leg of the user is raised,
Detecting the first crest peak when the square root sum of squares switches from an upward trend to a downward trend, the time when the first crest peak is the landing time of the one leg,
Detecting the second upper chord peak at which the square root sum of squares switches from an upward trend to a downward trend, and the time when the second upper chord peak is reached when the other leg is landing;
Walking state detection device. A walking state detection device that detects a user's walking state based on acceleration,
The sum of a value obtained by squaring a lateral acceleration with respect to the user, a value obtained by squaring a longitudinal acceleration with respect to the user, and a value obtained by squaring a vertical acceleration with respect to the user. A sum-of-squares calculator that calculates a sum of squares that is a square root;
A detection unit for detecting when the user's leg is kicked up and when the user's leg is landing;
A period calculation unit that calculates a standing period or a free leg period of the user based on the time of the kicking up and the time of landing detected by the detection unit ;
A state determination unit that determines whether the user is in a walking state or a traveling state;
The detector is
When the state determination unit determines that the user is in a running state,
Detecting the first crest peak when the acceleration in the vertical direction switches from an upward tendency to a downward tendency, and the time when the upper crest peak is reached as the kicking time,
Detecting the first lower chord peak when the vertical acceleration switches from a downward trend to an upward trend, and the time when the lower chord peak is the landing time,
When the state determination unit determines that the user is in a walking state,
Detecting an upper chord peak at which the acceleration in the left-right direction switches from an upward trend to a downward trend, and a point in time when the upper chord peak is reached during the kicking of one leg of the user,
Detecting a lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend, and the time when the lower chord peak is reached when the other leg of the user is raised,
Detecting the first crest peak when the square root sum of squares switches from an upward trend to a downward trend, the time when the first crest peak is the landing time of the one leg,
Detecting the second upper chord peak at which the square root sum of squares switches from an upward trend to a downward trend, and the time when the second upper chord peak is reached when the other leg is landing;
Walking state detection device. The period calculation unit, from the time of the landing of one of the leg until the Keage calculated as the stance phase, is calculated up to the time of the landing as the swing phase from the time of the Keage of one of said legs
The walking state detection device according to claim 1 or 2 . An acceleration sensor for measuring the acceleration;
The walking state detection device according to any one of claims 1 to 3 . A walking state detection program for detecting a user's walking state based on acceleration,
The sum of a value obtained by squaring a lateral acceleration with respect to the user, a value obtained by squaring a longitudinal acceleration with respect to the user, and a value obtained by squaring a vertical acceleration with respect to the user. A sum-of-squares calculating step of calculating a sum of squares that is a square root;
A detection step of detecting when the user's leg is kicked up and when the user's leg is landing;
Based on the time of the kicking up and the time of landing detected in the detecting step, the computer is caused to execute a period calculating step for calculating the stance period or the free leg period of the user,
In the detection step,
Detecting an upper chord peak at which the acceleration in the left-right direction switches from an upward trend to a downward trend, and a point in time when the upper chord peak is reached during the kicking of one leg of the user,
Detecting a lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend, and the time when the lower chord peak is reached when the other leg of the user is raised,
Detecting the first crest peak when the square root sum of squares switches from an upward trend to a downward trend, the time when the first crest peak is the landing time of the one leg,
Detecting the second upper chord peak at which the square root sum of squares switches from an upward trend to a downward trend, and the time when the second upper chord peak is reached when the other leg is landing;
A walking state detection program. A walking state detection program for detecting a user's walking state based on acceleration,
The sum of a value obtained by squaring a lateral acceleration with respect to the user, a value obtained by squaring a longitudinal acceleration with respect to the user, and a value obtained by squaring a vertical acceleration with respect to the user. A sum-of-squares calculating step of calculating a sum of squares that is a square root;
A detection step of detecting when the user's leg is kicked up and when the user's leg is landing;
A period calculating step for calculating a standing period or a free leg period of the user based on the kicking and landing times detected in the detecting step;
A state determination step for determining whether the user is in a walking state or in a running state ,
In the detection step,
When it is determined in the state determination step that the user is in a running state,
Detecting the first crest peak when the acceleration in the vertical direction switches from an upward tendency to a downward tendency, and the time when the upper crest peak is reached as the kicking time,
Detecting the first lower chord peak when the vertical acceleration switches from a downward trend to an upward trend, and the time when the lower chord peak is the landing time,
When it is determined in the state determination step that the user is in a walking state,
Detecting an upper chord peak at which the acceleration in the left-right direction switches from an upward trend to a downward trend, and a point in time when the upper chord peak is reached during the kicking of one leg of the user,
Detecting a lower chord peak at which the acceleration in the left-right direction switches from a downward trend to an upward trend, and the time when the lower chord peak is reached when the other leg of the user is raised,
Detecting the first crest peak when the square root sum of squares switches from an upward trend to a downward trend, the time when the first crest peak is the landing time of the one leg,
Detecting the second upper chord peak at which the square root sum of squares switches from an upward trend to a downward trend, and the time when the second upper chord peak is reached when the other leg is landing;
A walking state detection program.

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