WO2024075708A1 - 情報処理装置及び情報処理方法 - Google Patents

情報処理装置及び情報処理方法 Download PDF

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Publication number
WO2024075708A1
WO2024075708A1 PCT/JP2023/035970 JP2023035970W WO2024075708A1 WO 2024075708 A1 WO2024075708 A1 WO 2024075708A1 JP 2023035970 W JP2023035970 W JP 2023035970W WO 2024075708 A1 WO2024075708 A1 WO 2024075708A1
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Prior art keywords
time
information processing
control unit
processing device
angular velocity
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PCT/JP2023/035970
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English (en)
French (fr)
Japanese (ja)
Inventor
有村 汐里 東海林
秀行 金原
崇 長友
マルティン クリンキグト
治 宝珠山
雅之 岸
エドワードアラタ ヤマモトムラカミ
尚樹 西田
巴哉 後藤
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Kyocera Corp
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Kyocera Corp
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Priority to JP2024555798A priority Critical patent/JPWO2024075708A1/ja
Priority to EP23874835.4A priority patent/EP4599763A1/en
Publication of WO2024075708A1 publication Critical patent/WO2024075708A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6828—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6829—Foot or ankle

Definitions

  • This disclosure relates to an information processing device and an information processing method.
  • An information processing apparatus comprises: an acquisition unit that acquires, from a three-axis inertial sensor, an original acceleration and an original angular velocity in a local coordinate system based on the attitude of the inertial sensor; and a control unit that determines the start of a step in walking of a person wearing the inertial sensor, using a first angle with respect to a vertical direction based on the original angular velocity and a composite value based on the original acceleration.
  • An information processing method comprises: Acquire raw angular velocity and raw acceleration in a sensor coordinate system from a three-axis inertial sensor; The start of a step in the walking of the person wearing the inertial sensor is detected using a first angle with respect to a vertical direction based on the original angular velocity and a composite value based on the original acceleration.
  • FIG. 1 is a conceptual external view illustrating a usage mode of an information processing system including an information processing device according to an embodiment.
  • FIG. 2 is a block diagram showing a schematic configuration of the information processing system shown in FIG. 1 .
  • 3 is a diagram for explaining a local coordinate system and a global coordinate system in the information processing system of FIG. 2 .
  • 13 is a partially enlarged view of a graph showing the relationship of a first angle and a composite value with respect to time change, for explaining a method of detecting a first time, a second time, and a third time.
  • FIG. 11 is a graph showing a relationship between a first angle and a composite value with respect to a time change, for explaining a first condition.
  • 11 is a graph showing a relationship between a composite value and a change over time, for explaining a second condition.
  • 3 is a flowchart for explaining a certification process executed by a control unit of the information processing apparatus in FIG. 2 .
  • 3 is a flowchart for explaining an exclusion process executed by a control unit of the information processing apparatus in FIG. 2 .
  • an information processing system 11 including an information processing device 10 is configured to include a sensor device 12 and the information processing device 10.
  • the sensor device 12 may be worn on the leg of the wearer, more specifically, on the ankle.
  • the sensor device 12 may detect angular velocities and accelerations in three axial directions as original angular velocities and original accelerations, respectively.
  • the sensor device 12 may transmit the detected original angular velocities and original accelerations to the information processing device 10 as information.
  • the information processing device 10 may analyze the movement of the wearer based on the acquired original angular velocities and original accelerations.
  • the sensor device 12 is, for example, an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the sensor device 12 may be attached near the wearer's ankle in any manner.
  • the sensor device 12 may be built into, for example, a shoe, a sock, an insole, an anklet, etc.
  • the sensor device 12 may be attachable to the ankle by a band, clip, etc.
  • the sensor device 12 may include a communication unit 13, a sensor unit 14, a memory unit 15, and a control unit 16.
  • the communication unit 13 may include at least one communication module capable of communicating with the information processing device 10 via a communication line that may be wired or wireless.
  • the communication module is a communication module that corresponds to the standard of the communication line.
  • the standard of the communication line is a short-range wireless communication standard that includes, for example, Bluetooth (registered trademark), infrared, NFC (Near Field Communication), etc.
  • the sensor unit 14 includes at least a three-axis inertial sensor.
  • the three-axis inertial sensor includes, for example, a three-axis acceleration sensor and a three-axis gyro sensor.
  • the three-axis inertial sensor detects the three-axis acceleration and three-axis angular velocity in the local coordinate system as the original acceleration and original angular velocity, respectively.
  • the local coordinate system is a coordinate system based on the mounting posture of the sensor device 12.
  • the local coordinate system is composed of, for example, an x-axis, a y-axis, and a z-axis.
  • the x-axis, the y-axis, and the z-axis are mutually orthogonal.
  • the x-axis is perpendicular to the direction in which the tibia extends and perpendicular to the rotation axis of the talocrural joint, and is generally parallel to the anterior-posterior direction of the tibia.
  • the y-axis is perpendicular to the direction in which the tibia extends and the x-axis, and is generally parallel to the lateral direction of the tibia.
  • the z-axis is perpendicular to the x-axis and y-axis and is generally the direction in which the tibia extends.
  • the memory unit 15 may include any one of a semiconductor memory, a magnetic memory, and an optical memory.
  • the semiconductor memory may be, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), etc.
  • the RAM may be, for example, a SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), etc.
  • the ROM may be, for example, an EEPROM (Electrically Erasable Programmable Read Only Memory), etc.
  • the memory unit 15 may function as a main memory device, an auxiliary memory device, or a cache memory.
  • the storage unit 15 may store data used in the operation of the sensor device 12 and data obtained by the operation of the sensor device 12.
  • the storage unit 15 stores, for example, system programs, application programs, embedded software, etc.
  • the control unit 16 may be configured to include at least one processor, at least one dedicated circuit, or a combination of these.
  • the processor may be a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process.
  • the dedicated circuit may be, for example, an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), etc.
  • the control unit 16 may execute processes related to the operation of the sensor device 12 while controlling each part of the sensor device 12.
  • the control unit 16 may, for example, receive a command to start detection from the information processing device 10 via the communication unit 13. When receiving the command, the control unit 16 may cause the sensor unit 14 to start detecting the original acceleration and original angular velocity. The control unit 16 may receive the original acceleration and original angular velocity from the sensor unit 14. The control unit 16 may recognize the vertical direction in the global coordinate system based on the original angular velocity that is received from the time the command is received until the initialization time has elapsed. Note that the wearer of the sensor device 12 may be required to maintain the initial posture, for example, an upright state, for the time the initialization time has elapsed after the command to start detection is sent.
  • the global coordinate system is a coordinate system based on the position in space in which the wearer wearing the sensor device 12 walks.
  • the global coordinate system is composed of, for example, an X-axis, a Y-axis, and a Z-axis.
  • the X-axis, Y-axis, and Z-axis are mutually perpendicular.
  • the X-axis is parallel to the front-to-back direction of the wearer.
  • the Y-axis is parallel to the left-to-right direction of the wearer.
  • the Z-axis is parallel to the vertical direction.
  • the coordinate axes of the global coordinate system in the normal posture of a wearer wearing the sensor device 12 in an ideal wearing posture may each be parallel to the coordinate axes of the local coordinate system.
  • the normal posture of the wearer is a posture in which the direction in which the feet extend while standing upright is maintained parallel to the front-to-back direction.
  • control unit 16 may control the communication unit 13 to transmit the acquired original acceleration and original angular velocity as a signal to the information processing device 10. Thereafter, the control unit 16 may acquire and transmit the original acceleration and original angular velocity at a predetermined time interval.
  • the time interval may be set based on the walking speed of a typical user, etc.
  • the information processing device 10 includes a communication unit (acquisition unit) 17 and a control unit 18.
  • the information processing device 10 may further include an input unit 19, an output unit 20, and a storage unit 21.
  • the communication unit 17 may include at least one communication module capable of communicating with the sensor device 12 via a communication line that may be wired or wireless.
  • the communication module is a communication module that corresponds to the standard of the communication line.
  • the standard of the communication line is, for example, a short-range wireless communication standard including Bluetooth (registered trademark), infrared, NFC, etc.
  • the communication unit 17 acquires the original acceleration and original angular velocity from the sensor device 12.
  • the input unit 19 may include at least one input interface that detects user input operations.
  • the input interface may be, for example, a physical key, a capacitive key, a pointing device, a touch screen that is integrated with the display of the output unit 20, a microphone, etc.
  • the output unit 20 may include at least one output interface that outputs information to notify the user.
  • the output interface is, for example, a display that outputs information as a video, a speaker that outputs information as an audio, etc.
  • the display is, for example, an LCD, an organic EL display, etc.
  • the storage unit 21 may include any one of semiconductor memory, magnetic memory, and optical memory.
  • the semiconductor memory is, for example, a RAM, a ROM, etc.
  • the RAM is, for example, an SRAM, a DRAM, etc.
  • the ROM is, for example, an EEPROM, etc.
  • the storage unit 21 may function as a main storage device, an auxiliary storage device, or a cache memory.
  • the storage unit 21 may store data used in the operation of the information processing device 10, and data obtained by the operation of the information processing device 10.
  • the storage unit 21 stores, for example, system programs, application programs, embedded software, etc.
  • the control unit 18 may be configured to include at least one processor, at least one dedicated circuit, or a combination of these.
  • the processor may be a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process.
  • the dedicated circuit may be, for example, an FPGA, an ASIC, etc.
  • the control unit 18 may execute processes related to the operation of the information processing device 10 while controlling each part of the information processing device 10.
  • the control unit 18 determines the start time of one step (start of one step) in the walking of the person wearing the sensor device 12 using the first angle and the composite value based on the original angular velocity and original acceleration, respectively, acquired by the communication unit 17. Furthermore, the start time determined by the control unit 18 may be the start time of one step in normal walking. The detection of the start time performed by the control unit 18 is described in detail below.
  • the first angle may be the angle of the z-axis of the sensor device 12 relative to the vertical direction.
  • the first angle may be the angle of the direction in which the tibia extends relative to the vertical direction in the global coordinate system.
  • the resultant value is the magnitude of the original acceleration, in other words, the magnitude of the resultant vector of the original acceleration components of the three axes.
  • the start time of a step in walking is the time (point in time) when the foot that has been moved forward lands on the ground, etc.
  • normal walking is a continuous walking state, in other words, movement movements excluding states in which both feet leave the ground, such as running, jumping, skipping, etc., and movements excluding non-steady walking such as going up and down stairs.
  • the control unit 18 may convert the acquired original acceleration and original angular velocity into acceleration and angular velocity in the global coordinate system based on the attitude change with respect to the initial attitude.
  • the control unit 18 may, for example, calculate a rotation matrix that converts the local coordinate system into the global coordinate system from the difference between the original acceleration and original angular velocity at the time of measurement and when in the initial attitude with respect to the initial attitude.
  • the control unit 18 may use the rotation matrix to convert the original acceleration and original angular velocity into acceleration and angular velocity in the global coordinate system.
  • the control unit 18 may calculate the orientation of the sensor device 12 in the local coordinate system by integrating the acquired raw angular velocity.
  • the orientation in the local coordinate system may be represented by a rotation angle around the three axes of the local coordinate system.
  • the orientation in the local coordinate system may include the angle of the z-axis relative to the vertical direction.
  • the control unit 18 may calculate the orientation of the location of the wearer wearing the sensor device 12 in the global coordinate system by integrating the converted angular velocity.
  • the orientation in the global coordinate system may be represented by a rotation angle around the three axes of the global coordinate system.
  • the orientation in the global coordinate system may include the angle of the direction in which the tibia extends relative to the vertical direction.
  • the control unit 18 may calculate the first angle.
  • the control unit 18 may calculate the composite value by calculating the geometric mean of the original acceleration components of the three axes. Alternatively, the control unit 18 may calculate the composite value by calculating the geometric mean of the converted acceleration components of the three axes.
  • the control unit 18 may detect a first time (first point in time) t1 at which the first angle al, which changes over time, reaches a maximum.
  • the control unit 18 may detect a second time (second point in time) t2 at which the composite value sv reaches a maximum within a first time range tr1 from the first time t1.
  • the first time range tr1 is an estimated time from when the foot is swung forward until the foot lands, and is, for example, a range of 0 seconds to 100 meters.
  • the control unit 18 may detect a third time (third point in time) t3 at which the composite value sv reaches a minimum, going back from the second time t2 to the first time t1.
  • the control unit 18 may recognize the third time t3 as the start time of a step in walking.
  • control unit 18 may exclude the detected third time t3 from the recognition of the start time of a step in normal walking.
  • the first condition is that, as shown in FIG. 5, the third time t3 is detected based on the first time t1 corresponding to the maximum value at which the change to the maximum value immediately following the minimum value of the first angle al is less than the angle threshold.
  • the angle threshold is, for example, 50°.
  • the control unit 18 may exclude the third time t3 that satisfies the first condition from the start time of a step in normal walking.
  • the second condition is that the time interval between successive third times t3 is outside the second time range tr2, as shown in FIG. 6.
  • the second time range tr2 is a time range assumed as a walking cycle during normal walking, and is, for example, 0.5 ms ⁇ second time range tr2 ⁇ 2.0 sec.
  • a walking cycle is the period from when one foot lands on the ground to when it is swung forward and lands again. If the second condition is met, the control unit 18 may exclude the third time t3 from the start time of one step in normal walking.
  • the control unit 18 may extract a remaining plurality of third times t3 from a plurality of third times t3 detected over time, excluding the start time due to at least one of the first and second conditions. Furthermore, the control unit 18 may extract another third time t3 by further excluding two third times t3 detected from the first to second among the remaining plurality of third times t3. Furthermore, the control unit 18 may calculate the time interval between consecutive third times t3 among the other third times t3. Furthermore, the control unit 18 may calculate the average value of the plurality of time intervals. Furthermore, the control unit 18 determines whether each time interval falls outside a third time range centered on the average value. The third time range may be determined based on the statistical value of the time interval used to calculate the average value.
  • the third time range is, for example, a range of standard deviation ⁇ centered on the average value ⁇ .
  • the third condition is that the time interval falls outside the third time range.
  • the control unit 18 may exclude the third time t3, at which the time interval is calculated when the third condition is satisfied, from the start time of a step in normal walking.
  • the control unit 18 may calculate features based on the angular velocity and acceleration of the attachment point in the global coordinate system between the start times of one step and the next step during normal walking, based on the recognized start time, and analyze the walking state of the wearer based on the features.
  • the control unit 18 may output the analysis results to the output unit 20.
  • the certification process starts each time the original acceleration and original angular velocity are acquired from the sensor device 12.
  • step S100 the control unit 18 converts the original acceleration and original angular velocity in the local coordinate system into the acceleration and angular velocity in the global coordinate system. After the conversion, the process proceeds to step S101.
  • step S101 the control unit 18 calculates the first angle al and the composite value sv using the acceleration and angular velocity converted in step S100.
  • the control unit 18 also stores the calculated first angle al and composite value sv in the memory unit 21 in association with the time. After the calculation, the process proceeds to step S102.
  • step S102 the control unit 18 determines whether or not there is a new maximum value in the first angle al that has been calculated at each time.
  • a new maximum value is a maximum value of the first angle al that has not been used to detect the third time t3. If there is no new maximum value, the recognition process ends. If there is a new maximum value, the process proceeds to step S103.
  • step S103 the control unit 18 detects, as the first time t1, the time associated with the first angle al that is the new maximum value confirmed to exist in step S102. After detection, the process proceeds to step S104.
  • step S104 the control unit 18 determines whether or not the first time range tr1 has elapsed since the first time t1 detected in step S103. If so, the certification process ends. If not, the process proceeds to step S105.
  • step S105 the control unit 18 determines whether or not there is a new maximum value in the composite value sv calculated at each time.
  • a new maximum value is a maximum value of the composite value sv that has not been used to detect the third time t3. If there is no new maximum value, the recognition process ends. If there is a new maximum value, the process proceeds to step S106.
  • step S106 the control unit 18 detects, as the second time t2, the time associated with the composite value sv that is the new maximum value whose existence was confirmed in step S105. After detection, the process proceeds to step S107.
  • step S107 the control unit 18 detects a third time t3 based on the second time t2 detected in step S106 and the composite value sv calculated at each time. After detection, the process proceeds to step S108.
  • step S108 the control unit 18 determines whether the third time t3 detected in step S107 satisfies at least one of the first condition and the second condition. If it does, the process proceeds to step S109. If neither condition is satisfied, the process proceeds to step S110.
  • step S109 the control unit 18 excludes the third time t3 detected in step S107 from the start time. After the exclusion, the certification process ends.
  • step S110 the control unit 18 recognizes the third time t3 detected in step S107 as the start time.
  • the control unit 18 also stores the third time t3 recognized as the start time in the memory unit 21. After the recognition, the recognition process ends.
  • the exclusion process executed by the control unit 18 of the information processing device 10 in this embodiment will be described with reference to the flowchart in FIG. 8.
  • the exclusion process may be started after the certification process is completed, or may be started independently of the certification process, for example, periodically.
  • step S200 the control unit 18 reads out all of the third times t3 that have been stored in the memory unit 21. After reading out, the process proceeds to step S201.
  • step S201 the control unit 18 excludes the second to last third times t3 from the third times t3 read out in step S200. After the exclusion, the process proceeds to step S202.
  • step S202 the control unit 18 extracts the remaining third times t3 after the exclusion in step S202. Furthermore, the control unit 18 calculates the time interval between successive third times t3 among the extracted third times t3. After the calculation, the process proceeds to step S203.
  • step S203 the control unit 18 calculates a third time range based on the time interval calculated in step S202. After the calculation, the process proceeds to step S204.
  • step S204 the control unit 18 identifies, among the time intervals calculated in step S202, time intervals that fall outside the third time range calculated in step S203. After identification, the process proceeds to step S205.
  • step S205 the control unit 18 excludes the third time t3 that caused the calculation of the time interval identified in step S204 as being outside the third time range.
  • the control unit 18 also cancels the recognition of the excluded third time t3 as the start time. After the cancellation, the exclusion process ends.
  • the information processing device 10 of this embodiment uses the first angle al based on the original angular velocity and the composite value sv based on the original acceleration to determine the start of a step in walking by the person wearing the inertial sensor.
  • the information processing device 10 obtains the original angular velocity and original acceleration from the portable sensor device 12, so it can detect the start time of a step in walking without limiting the location.
  • the information processing device 10 can improve the detection accuracy of the start time of a step. Therefore, the information processing device 10 can improve the detection accuracy of movements during walking without limiting the location.
  • the information processing device 10 detects a second time t2 at which the composite value sv becomes maximum within the first time range tr1 from the first time t1 at which the first angle al becomes maximum, and recognizes a third time t3 at which the composite value sv becomes minimum, going back from the second time t2 to the first time t1, as the start of a step.
  • the moment when the foot swings forward and lands on the ground immediately after the first angle al becomes maximum is the start of a step. Therefore, the inventor of the present application has estimated that the foot has not landed on the ground at the time when the first angle al becomes maximum. Furthermore, the inventor of the present application has also estimated that the acceleration of the ankle gradually increases from the time of landing and reaches a peak.
  • the information processing device 10 In response to such estimation, the information processing device 10 having the above-mentioned configuration detects the time immediately before landing at which the first angle al becomes maximum, and estimates the time at which the acceleration becomes minimum immediately before the acceleration becomes maximum from that time, so that the detection accuracy of the start time of a step can be improved.
  • the information processing device 10 excludes from the start of a step the third time t3 based on the first time t1 at which the change to the maximum value immediately following the minimum value of the first angle al is less than the angle threshold.
  • the foot movement during that time is generally a movement different from normal walking, such as jumping, skipping, starting to walk, decelerating, a U-turn, and climbing up and down stairs. Therefore, the information processing device 10 having the above-mentioned configuration excludes the third time t3 detected in response to a motion state different from normal walking, and can detect the start time of a step in normal walking.
  • the information processing device 10 excludes the third time t3 from the start of a step.
  • the walking cycle in normal walking in other words, the successive third times t3, is 1.29 seconds, and a time interval that is extremely different from the walking cycle is an interval when a movement different from normal walking is being performed.
  • the walking cycle is generally shorter than normal walking.
  • the walking cycle is generally longer than normal walking. Therefore, the information processing device 10 having the above configuration excludes the third time t3 detected corresponding to a movement state different from normal walking, and can detect the start time of a step in normal walking.
  • the information processing device 10 also extracts the remaining third times t3 that are excluded from the start of one step from among the multiple third times t3, extracts other third times t3 by further excluding the two third times t3 detected from the first to second from the remaining third times t3, calculates the average value of the time intervals between consecutive third times t3 from among the other third times t3, and further excludes from the start of one step the third times t3 that cause the calculation of the time interval that falls outside a third time range centered on the average value.
  • the information processing device 10 excludes third times t3 that are abnormal values from a state estimated to be stable normal walking, thereby improving the accuracy of the start time of one step in normal walking.
  • the information processing device 10 converts the original acceleration and original angular velocity into acceleration and angular velocity in a global coordinate system that includes the vertical direction as one of its coordinate axes, based on the change in posture relative to the initial posture.
  • An ideal wearing posture is assumed for the sensor device 12, but it is common for the actual wearing posture to deviate from the ideal wearing posture.
  • the information processing device 10 having the above-described configuration can reduce the decrease in detection accuracy of the start time even when the actual wearing posture deviates from the ideal wearing posture, because the first angle al approaches the angle of the extension direction of the wearer's tibia relative to the vertical direction.
  • a sensor device including a three-axis inertial sensor was attached to the subject's ankle. Using the raw acceleration and raw angular velocity output from the sensor device while walking in the actual measurement area, the third time was detected based on the coordinate transformation described in the above embodiment, the detection of the first time, and the detection of the second time.
  • the first time range tr1 was set to 100 ms.
  • the third time and time interval were calculated based on the start time detected by the floor reaction force sensor when walking in the actual measurement area, and the original acceleration and original angular velocity output by the sensor device. Walking in the actual measurement area was performed 21 times, and the average value ⁇ and standard deviation ⁇ of the time intervals calculated for each were ⁇ , which was -23.8 ⁇ 22.4 ms. Since it took 20 to 30 ms for the impact from the heel landing to reach the sensor device attached to the ankle, it can be seen that the difference between the third time detected by the above method and the actual time of landing was small.
  • the angle threshold in the first condition was set to 50°.
  • the second time range in the second condition was set to 0.5 ms or more and 2.0 sec or less.
  • the third time range in the third condition was set to ⁇ . In the walking when a U-turn is made, the third time is excluded. Therefore, it can be seen that at least the abnormal walking of a U-turn is excluded from the recognition of the start time.
  • an information processing device includes: an acquisition unit that acquires, from a three-axis inertial sensor, an original acceleration and an original angular velocity in a local coordinate system based on the attitude of the inertial sensor; and a control unit that determines the start of a step in walking of a person wearing the inertial sensor, using a first angle with respect to a vertical direction based on the original angular velocity and a composite value based on the original acceleration.
  • the control unit detects a second time point at which the composite value becomes a maximum within a first time range from a first time point at which the first angle becomes a maximum, and recognizes a third time point at which the composite value becomes a minimum, going back from the second time point to the first time point, as the start of the step.
  • the control unit excludes, from the start of the step, the third time point based on the first time point at which a change in the first angle from a minimum value to a maximum value immediately thereafter is less than an angle threshold value.
  • control unit excludes the third time points from the start of the step.
  • the control unit extracts remaining third time points from the multiple third time points excluded from the start, extracts other third time points by further excluding two third time points detected from the first to second from the remaining third time points, calculates an average value of the time intervals between successive third time points among the other third time points, and further excludes from the start of the step the third time points that cause the time interval to be calculated to fall outside a third time range centered on the average value.
  • the control unit converts the original acceleration and the original angular velocity into an acceleration and an angular velocity in a global coordinate system that includes a vertical direction as one of its coordinate axes, based on a change in attitude with respect to an initial attitude.
  • the acquisition unit acquires, via wireless communication, a raw angular velocity and a raw acceleration from the three-axis inertial sensor provided in a leg-mounted sensor device.
  • an information processing method includes: Acquire raw angular velocity and raw acceleration in a sensor coordinate system from a three-axis inertial sensor; A first angle with respect to a vertical direction based on the raw angular velocity and a composite value based on the raw acceleration are used to identify the start of a step in the walking of the wearer of the inertial sensor.
  • the embodiment of the present disclosure can also be implemented as a method or program for implementing the device, or as a storage medium on which a program is recorded (for example, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a hard disk, or a memory card, etc.).
  • a storage medium on which a program is recorded for example, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a hard disk, or a memory card, etc.
  • the implementation form of the program is not limited to application programs such as object code compiled by a compiler or program code executed by an interpreter, but may be in the form of a program module incorporated into an operating system.
  • the program may or may not be configured so that all processing is performed only by the CPU on the control board.
  • the program may be configured so that part or all of it is executed by another processing unit implemented on an expansion board or expansion unit added to the board as necessary.
  • the information processing device 10 may be separate from the sensor device 12 but may be incorporated into the sensor device 12.
  • embodiments of the present disclosure are not limited to the specific configurations of any of the embodiments described above.
  • the embodiments of the present disclosure may extend to any novel feature or combination of features described herein, or any novel method or process step or combination of features described herein.
  • references such as “first” and “second” are identifiers for distinguishing the configuration.
  • Configurations distinguished by descriptions such as “first” and “second” in this disclosure can exchange numbers in the configuration.
  • a first information processing device can exchange identifiers “first” and “second” with a second information processing device. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the exchange of identifiers.
  • Identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a code. Descriptions of identifiers such as “first” and “second” in this disclosure alone should not be used to interpret the order of the configuration or to justify the existence of an identifier with a smaller number.

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JP2020201183A (ja) 2019-06-12 2020-12-17 株式会社ソニー・インタラクティブエンタテインメント カメラ位置調整方法

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