Processing device, processing system, processing method, and program

Abstract

To provide a processing device that can improve convenience.SOLUTION: A processing device determines the state of a person using a wheelchair, and comprises a determination unit for determining the state of the person using the wheelchair on the basis of a combination of at least two out of information of a pressure sensor, information of a gyroscope sensor, and information of a camera.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a processing device, a processing system, a processing method, and a program. [Background technology]

[0002] A wheelchair is one type of device that supports people with disabilities. Patent Document 1 discloses a related technology relating to a wheelchair that can reduce the burden of operating a support member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-159575 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in the technical field related to wheelchairs such as that of Patent Document 1, there is a demand for technology that can improve convenience.

[0005] One of the objectives of each aspect of the present disclosure is to provide a processing device, a processing system, a processing method, and a program that can solve the above-mentioned problems. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, the processing device is a processing device that determines the state of a person using a wheelchair, and is equipped with a determination unit that determines the state of the person using the wheelchair based on a combination of at least two or more of pressure sensor information, gyro sensor information, and camera information.

[0007] According to another aspect of the present disclosure, a processing system includes the above-described processing device and a wheelchair equipped with the processing device.

[0008] According to another aspect of the present disclosure, a processing method is a processing method executed by a processing device that determines the state of a person using a wheelchair, and includes determining the state of the person using the wheelchair based on a combination of at least two or more of pressure sensor information, gyro sensor information, and camera information.

[0009] According to another aspect of the present disclosure, the program causes a computer of a processing device that determines the state of a person using a wheelchair to determine the state of the person using the wheelchair based on a combination of at least two or more of pressure sensor information, gyro sensor information, and camera information. [Effects of the Invention]

[0010] According to each aspect of the present disclosure, convenience can be improved. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 illustrates an example of a configuration of a processing system according to some embodiments of the present disclosure. [Figure 2] FIG. 1 illustrates an example of a configuration of a processing device according to some embodiments of the present disclosure. [Figure 3] FIG. 1 is a diagram illustrating an example of a processing flow of a processing system according to some embodiments of the present disclosure. [Figure 4] FIG. 1 is a first image depicting a fall in accordance with some embodiments of the present disclosure. [Figure 5] FIG. 10 is a second image depicting a fall according to some embodiments of the present disclosure. [Figure 6] FIG. 1 is an image of a person's posture in accordance with some embodiments of the present disclosure. [Figure 7] FIG. 10 is a third image depicting a fall according to some embodiments of the present disclosure. [Figure 8] FIG. 1 illustrates an example of a configuration of a processing device according to some embodiments of the present disclosure. [Figure 9]FIG. 1 is a diagram illustrating an example of a processing flow of a processing device according to some embodiments of the present disclosure. [Figure 10] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, the embodiments will be described in detail with reference to the drawings. <Embodiment> A processing system 1 according to an embodiment of the present disclosure will be described with reference to the drawings. The processing system 1 is a system that determines the state of a person using a wheelchair 10 (described later) based on at least one or more (for example, a combination of two or more) of information from a pressure sensor 201 (described later), information from a gyro sensor 202 (described later), and information from a camera 203 (described later).

[0013] (Configuration of the processing system of the present disclosure) 1 is a diagram illustrating an example of the configuration of a processing system 1 according to some embodiments of the present disclosure. As shown in FIG. 1, the processing system 1 according to one embodiment of the present disclosure includes a wheelchair 10 and a processing device 20.

[0014] The wheelchair 10 is equipped with a processing device 20. Fig. 2 is a diagram showing an example of the configuration of the processing device 20 according to some embodiments of the present disclosure. As shown in Fig. 2, the processing device 20 includes a pressure sensor 201, a gyro sensor 202, a camera 203, and a processing unit 204.

[0015] The pressure sensor 201 is mounted on the seat of the wheelchair 10. The pressure sensor 201 detects the pressure on the seat.

[0016] The gyro sensor 202 is mounted and fixed to the wheelchair 10. The gyro sensor 202 measures changes in the angle of the wheelchair 10.

[0017] The camera 203 is mounted in a fixed state on the wheelchair 10 and faces in the forward direction of the wheelchair 10. The camera 203 is capable of capturing images of the surroundings in 360 degrees.

[0018] The processing unit 204 determines whether or not a person is sitting in the wheelchair 10 based on the pressure detected by the pressure sensor 201. For example, if the pressure detected by the pressure sensor 201 is equal to or greater than a predetermined threshold, the processing unit 204 determines that a person is sitting in the wheelchair 10. Furthermore, if the pressure detected by the pressure sensor 201 is less than the predetermined threshold, the processing unit 204 determines that a person is not sitting in the wheelchair 10.

[0019] Furthermore, the processing unit 204 determines whether or not the wheelchair 10 has fallen over based on the change in angle (i.e., tilt) measured by the gyro sensor 202. For example, the processing unit 204 determines that the wheelchair 10 has fallen over if the change in angle measured by the gyro sensor 202 is equal to or greater than a predetermined threshold value in the horizontal direction. Furthermore, the processing unit 204 determines that the wheelchair 10 has not fallen over if the change in angle measured by the gyro sensor 202 is less than a predetermined threshold value in the horizontal direction.

[0020] Furthermore, the processing unit 204 determines the posture of the person based on the image of the person captured by the camera 203. For example, the processing unit 204 extracts features of the person from the image captured by the camera 203. Then, the processing unit 204 determines the posture based on the extracted features. Note that the processing unit 204 may use any technology as long as it can determine the posture of the person. Note that the processing unit 204 may assign priorities to people in order to reduce false detection of people captured by the camera 203. For example, the processing unit 204 may prioritize people who are closest to the wheelchair 10 in the front direction and at a short distance from the wheelchair 10 as people to be subject to fall judgment.

[0021] Then, the processing unit 204 determines whether the person has fallen or not based on at least one of the determination results of whether the person is sitting in the wheelchair 10, the determination result of whether the wheelchair 10 has fallen or not, and the determination result of the person's posture. That is, the processing unit 204 determines whether the person has fallen or not based on at least one of the pressure on the seat of the wheelchair 10 detected by the pressure sensor 201, the change in the angle of the wheelchair 10 detected by the gyro sensor 202, and the posture of the person based on the image captured by the camera 203.

[0022] The above-described processing performed by the processing system 1 according to the embodiment of the present disclosure is merely an example, and the processing system 1 is not limited to the above-described processing. For example, the processing system 1 may perform the processing described below.

[0023] (Processing performed by the processing system of the present disclosure) Fig. 3 is a diagram showing an example of a processing flow of the processing system 1 according to some embodiments of the present disclosure. Here, a description will be given of a fall determination process performed by the processing system 1 shown in Fig. 3. It is assumed that the pressure sensor 201 detects the pressure on the seat. It is also assumed that the gyro sensor 202 measures changes in the angle of the wheelchair 10. It is also assumed that the camera 203 captures images of the surroundings in 360 degrees.

[0024] The processing unit 204 determines whether or not a person is sitting in the wheelchair 10 based on the pressure detected by the pressure sensor 201 (step S1). For example, if the pressure detected by the pressure sensor 201 is equal to or greater than a predetermined threshold, the processing unit 204 determines that a person is sitting in the wheelchair 10. Furthermore, if the pressure detected by the pressure sensor 201 is less than the predetermined threshold, the processing unit 204 determines that a person is not sitting in the wheelchair 10.

[0025] When the processing unit 204 determines that the person is not sitting in the wheelchair 10 (NO in step S1), it determines that the person has not fallen. This is based on the idea that when it is determined that the person is not sitting in the wheelchair 10, the person was not sitting in the wheelchair 10 in the first place. Then, the processing unit 204 returns to the processing of step S1.

[0026] Furthermore, when the processing unit 204 determines that a person is sitting in the wheelchair 10 (YES in step S1), it determines whether the person has stood up (step S2). For example, when the pressure detected by the pressure sensor 201 is equal to or greater than a predetermined threshold, the processing unit 204 determines that the person has not stood up. When the pressure detected by the pressure sensor 201 is less than the predetermined threshold, the processing unit 204 determines that the person has stood up.

[0027] If the processing unit 204 determines that the person has not stood up (NO in step S2), it determines whether the wheelchair 10 has fallen over based on the change in the angle measured by the gyro sensor 202 (step S3).

[0028] If the processing unit 204 determines that the wheelchair 10 has not fallen (NO in step S3), it determines that the person has not fallen. For example, if the change in the angle measured by the gyro sensor 202 is less than a predetermined threshold value with respect to the horizontal direction, the processing unit 204 determines that the wheelchair 10 has not fallen. Then, the processing unit 204 returns to the processing of step S1.

[0029] Furthermore, if the processing unit 204 determines that the wheelchair 10 has fallen over (YES in step S3), it determines that a person has fallen over while sitting in the wheelchair 10 (step S4). For example, if the change in angle measured by the gyro sensor 202 (while the person is sitting in the wheelchair 10) is equal to or greater than a predetermined threshold value with respect to the horizontal direction, the processing unit 204 determines that a person has fallen over while sitting in the wheelchair 10. Then, the processing unit 204 ends the processing.

[0030] Fig. 4 is a first image diagram of a fall according to some embodiments of the present disclosure. Fig. 4 shows an image in which the processing unit 204 determines, using the gyro sensor 202, that the wheelchair 10 has fallen over while a person is sitting in the wheelchair 10. Specifically, Fig. 4 shows a state in which, for example, the wheelchair 10 has fallen over while the person is still sitting in the wheelchair 10. This is a case in which the wheelchair 10 falls over while the person is still sitting in the wheelchair 10 with the seat belt fastened.

[0031] Furthermore, when the processing unit 204 determines that the person has stood up (YES in step S2), it determines whether or not the wheelchair 10 has fallen over based on the change in the angle measured by the gyro sensor 202 (step S5).

[0032] If the processing unit 204 determines that the wheelchair 10 has fallen over (YES in step S5), it determines that both the person and the wheelchair 10 have fallen over when the person has left the wheelchair 10 (step S6). For example, if the change in angle measured by the gyro sensor 202 (when the person is standing up) is equal to or greater than a predetermined threshold value with respect to the horizontal direction, the processing unit 204 determines that both the person and the wheelchair 10 have fallen over when the person has left the wheelchair 10. Then, the processing unit 204 ends the processing.

[0033] Fig. 5 is a second image diagram of a fall according to some embodiments of the present disclosure. Fig. 5 shows an image in which the processing unit 204 determines, using the gyro sensor 202, that the wheelchair 10 has fallen over while the person is standing up. Specifically, Fig. 5 shows a state in which, for example, the person has moved away from the wheelchair 10, and both the person and the wheelchair 10 have fallen over. This is a case in which the wheelchair 10 has fallen over and an impact strong enough to throw the person off the wheelchair 10 has occurred.

[0034] Furthermore, when the processing unit 204 determines that the wheelchair 10 has not fallen (NO in step S5), it determines whether the person has fallen by determining the person's posture based on the image of the person captured by the camera 203 (step S7). For example, when the processing unit 204 determines that the person's posture determined based on the image of the person captured by the camera 203 is not upright, it determines that the person has fallen. When the processing unit 204 determines that the person's posture determined based on the image of the person captured by the camera 203 is upright, it determines that the person has not fallen.

[0035] FIG. 6 is an image diagram of a person's posture according to some embodiments of the present disclosure. Part (a) of FIG. 6 illustrates an example of a case where the person's posture is upright. Part (b) of FIG. 6 illustrates an example of a case where the person's posture is not upright. For example, if the feature values ​​of the person indicate, within a predetermined margin of error, that the posture is the one shown in part (a) of FIG. 6, the processing unit 204 determines that the person's posture is upright. If the feature values ​​of the person cannot indicate, within a predetermined margin of error, that the posture is the one shown in part (a) of FIG. 6, the processing unit 204 determines that the person's posture is not upright. Note that the processing unit 204 may also determine that the person's posture is not upright if there is a part of the line from the person's heels to their neck that is tilted by more than a threshold, or if the person's face is at a height close to the floor and this state is maintained for a certain period of time.

[0036] If the processing unit 204 determines that the person has not fallen (NO in step S7), it determines that the person has not fallen. Then, the processing unit 204 returns to the processing of step S1.

[0037] Furthermore, if the processing unit 204 determines that the person has fallen (YES in step S7), it determines that the wheelchair 10 has not fallen, but that the person has fallen (step S8). Then, the processing unit 204 ends the process.

[0038] Fig. 7 is a third image diagram of a fall according to some embodiments of the present disclosure. Fig. 7 shows an image in which a person is standing and the processing unit 204 determines the posture of the person based on an image of the person captured by the camera 203. Specifically, Fig. 7 shows a state in which, for example, the wheelchair 10 has not fallen over, but the person has fallen over. This is a case in which the wheelchair 10 does not receive any impact, but the person falls over due to, for example, losing their footing.

[0039] (advantage) The processing system 1 according to an embodiment of the present disclosure has been described above. The processing device 20 of the processing system 1 is a processing device that determines the state of a person using a wheelchair 10. In the processing device 20, the processing unit 204 (an example of a determination unit) determines the state of a person using the wheelchair 10 based on at least one or more (for example, a combination of two or more) of information from the pressure sensor 201, information from the gyro sensor 202, and information from the camera 203.

[0040] The processing device 20 can determine the state of the person using the wheelchair 10. In other words, the processing device 20 can improve convenience.

[0041] In another embodiment of the present disclosure, the camera 203 may be mounted in a fixed state on a plurality of wheelchairs 10. The camera 203 may be mounted in any orientation. The processing unit 204 may perform processing using images captured by a plurality of cameras 203, instead of an image captured by a single camera 203 according to an embodiment of the present disclosure.

[0042] 8 is a diagram illustrating an example of the configuration of the processing device 20 according to some embodiments of the present disclosure. The processing device 20 is a processing device that determines the state of a person using a wheelchair. As shown in FIG. 8, the processing device 20 includes a determination unit 301.

[0043] The determination unit 301 determines the state of the person using the wheelchair based on a combination of at least two of information from the pressure sensor, information from the gyro sensor, and information from the camera. The determination unit 301 can be realized, for example, by using the functions of the processing unit 204 illustrated in FIG.

[0044] Next, a process performed by the processing device 20 according to some embodiments of the present disclosure will be described. Fig. 9 is a diagram showing an example of a processing flow of the processing device 20 according to some embodiments of the present disclosure. Here, the process of the processing device 20 will be described with reference to Fig. 9.

[0045] In a processing device 20 that determines the state of a person using a wheelchair, a determination unit 301 determines the state of the person using the wheelchair based on a combination of at least two or more of pressure sensor information, gyro sensor information, and camera information (step S101).

[0046] The processing device 20 according to some embodiments of the present disclosure has been described above. The processing device 20 can improve convenience.

[0047] The order of the processes in each embodiment of the present disclosure may be changed as long as the processes are performed appropriately.

[0048] Each embodiment of the present disclosure has been described, but the processing system 1, wheelchair 10, processing device 20, and other control devices may have a computer system built therein. The above-mentioned processing steps are stored in the form of a program on a computer-readable recording medium, and the computer reads and executes this program to perform the above processing. Specific examples of computers are shown below.

[0049] 10 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in FIG. 10, the computer 5 includes a CPU (Central Processing Unit) 6, a main memory 7, a storage 8, and an interface 9.

[0050] For example, the above-described processing system 1, wheelchair 10, processing device 20, and other control devices are each implemented in a computer 5. The operations of each of the above-described processing units are stored in the form of a program in storage 8. CPU 6 reads the program from storage 8, loads it into main memory 7, and executes the above-described processing in accordance with the program. Furthermore, CPU 6 allocates storage areas in main memory 7 corresponding to each of the above-described storage units in accordance with the program.

[0051] Examples of storage 8 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. In addition, when this program is distributed to computer 5 via a communication line, computer 5 that receives the program may load the program into main memory 7 and execute the above-mentioned processing. In at least one embodiment, storage 8 is a non-transitory tangible storage medium.

[0052] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already recorded in the computer system, a so-called differential file (differential program).

[0053] Although several embodiments of the present disclosure have been described, these embodiments are merely examples and do not limit the scope of the disclosure. Various additions, omissions, substitutions, and modifications may be made to these embodiments without departing from the spirit of the disclosure.

[0054] Note that part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0055] (Appendix 1) A processing device for determining the state of a person using a wheelchair, a determination unit that determines the state of the person using the wheelchair based on a combination of at least two of information from the pressure sensor, information from the gyro sensor, and information from the camera; A processing device comprising:

[0056] (Appendix 2) The information of the pressure sensor is Information indicating the pressure of the wheelchair seat detected by the pressure sensor. 10. The processing device of claim 1.

[0057] (Appendix 3) The information of the gyro sensor is Information indicating a change in the angle of the wheelchair detected by the gyro sensor. 10. The processing device of claim 1 or 2.

[0058] (Appendix 4) The camera information is information indicating the posture of the person based on the image captured by the camera; 4. The processing device according to claim 1,

[0059] (Appendix 5) The condition of the person using the wheelchair is as follows: The wheelchair user is in a fallen or non-falling state, 5. The processing device according to any one of claims 1 to 4.

[0060] (Appendix 6) The determination unit It is determined based on the information from the pressure sensor that the person using the wheelchair is sitting in the wheelchair, and when it is determined based on the information from the gyro sensor that the wheelchair has fallen over while the person using the wheelchair is sitting in the wheelchair, it is determined that the person using the wheelchair has fallen over while sitting in the wheelchair. 6. The processing device according to any one of claims 1 to 5.

[0061] (Appendix 7) The determination unit It is determined based on the information from the pressure sensor that the person using the wheelchair is sitting in the wheelchair, and when it is determined based on the information from the gyro sensor that the wheelchair has fallen over while the person using the wheelchair is standing up, it is determined that both the person using the wheelchair and the wheelchair have fallen over while the person using the wheelchair has left the wheelchair. 7. The processing device according to any one of claims 1 to 6.

[0062] (Appendix 8) The determination unit Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair; when the person using the wheelchair is standing, it is determined that the wheelchair has not fallen over based on the information from the gyro sensor; and when it is determined that the person using the wheelchair has transferred based on the information from the camera, it is determined that the wheelchair has not fallen over but that the person using the wheelchair has fallen over. 8. The processing device of any one of claims 1 to 7.

[0063] (Appendix 9) A processing device according to any one of Supplementary Note 1 to Supplementary Note 8; a wheelchair equipped with the processing device; A processing system comprising:

[0064] (Appendix 10) A processing method executed by a processing device that determines the state of a person using a wheelchair, comprising: determining the state of the person using the wheelchair based on a combination of at least two of information from a pressure sensor, information from a gyro sensor, and information from a camera; A processing method comprising:

[0065] (Appendix 11) The information of the pressure sensor is Information indicating the pressure of the wheelchair seat detected by the pressure sensor. The processing method described in Appendix 10.

[0066] (Appendix 12) The information of the gyro sensor is Information indicating a change in the angle of the wheelchair detected by the gyro sensor. 12. The processing method according to claim 10 or 11.

[0067] (Appendix 13) The camera information is information indicating the posture of the person based on the image captured by the camera; 13. The processing method according to any one of claims 10 to 12.

[0068] (Appendix 14) The condition of the person using the wheelchair is as follows: The wheelchair user is in a fallen or non-falling state, 14. The processing method according to any one of claims 10 to 13.

[0069] (Appendix 15) determining, based on information from the pressure sensor, that a person using the wheelchair is sitting in the wheelchair; and, when it is determined, based on information from the gyro sensor, that the wheelchair has fallen over while the person using the wheelchair is sitting in the wheelchair, determining that the person using the wheelchair has fallen over while sitting in the wheelchair; 15. The processing method according to any one of claims 10 to 14, including:

[0070] (Appendix 16) determining, based on information from the pressure sensor, that the person using the wheelchair is sitting in the wheelchair; and, when it is determined that the wheelchair has fallen over based on information from the gyro sensor in a state in which the person using the wheelchair has stood up, determining, in a state in which the person using the wheelchair has left the wheelchair, that both the person using the wheelchair and the wheelchair have fallen over; 16. The method of any one of claims 10 to 15.

[0071] (Appendix 17) determining, based on information from the pressure sensor, that the person using the wheelchair is sitting in the wheelchair; determining, based on information from the gyro sensor, that the wheelchair has not fallen over when the person using the wheelchair is standing up; and determining, based on information from the camera, that the person using the wheelchair has transferred, determining that the wheelchair has not fallen over but that the person using the wheelchair has fallen over; 17. The method of any one of claims 10 to 16,

[0072] (Appendix 18) The processing device computer that determines the state of a wheelchair user determining the state of the person using the wheelchair based on a combination of at least two of information from a pressure sensor, information from a gyro sensor, and information from a camera; A program that executes the following.

[0073] (Appendix 19) The information of the pressure sensor is Information indicating the pressure of the wheelchair seat detected by the pressure sensor. 18. The program described in Appendix 18.

[0074] (Appendix 20) The information of the gyro sensor is Information indicating a change in the angle of the wheelchair detected by the gyro sensor. 19. The program of claim 18 or 19.

[0075] (Appendix 21) The camera information is information indicating the posture of the person based on the image captured by the camera; 21. The program according to any one of claims 18 to 20.

[0076] (Appendix 22) The condition of the person using the wheelchair is as follows: The wheelchair user is in a fallen or non-falling state, 22. The program according to any one of claims 18 to 21.

[0077] (Appendix 23) determining, based on information from the pressure sensor, that a person using the wheelchair is sitting in the wheelchair; and, when it is determined, based on information from the gyro sensor, that the wheelchair has fallen over while the person using the wheelchair is sitting in the wheelchair, determining that the person using the wheelchair has fallen over while sitting in the wheelchair; 23. The program according to any one of appendices 18 to 22,

[0078] (Appendix 24) determining, based on information from the pressure sensor, that the person using the wheelchair is sitting in the wheelchair; and, when it is determined that the wheelchair has fallen over based on information from the gyro sensor in a state in which the person using the wheelchair has stood up, determining, in a state in which the person using the wheelchair has left the wheelchair, that both the person using the wheelchair and the wheelchair have fallen over; 24. The program according to claim 18, wherein the program executes the above.

[0079] (Appendix 25) determining, based on information from the pressure sensor, that the person using the wheelchair is sitting in the wheelchair; determining, based on information from the gyro sensor, that the wheelchair has not fallen over when the person using the wheelchair is standing up; and determining, based on information from the camera, that the person using the wheelchair has transferred, determining that the wheelchair has not fallen over but that the person using the wheelchair has fallen over; 25. The program according to any one of appendices 18 to 24, [Explanation of symbols]

[0080] 1. Processing System 5. Computer 6 CPU 7. Main memory 8. Storage 9. Interface 10. Wheelchair 20 Processing equipment 201 Pressure sensor 202···Gyro sensor 203···Camera 204 Processing section 301...Judgment section

Claims

1. A processing device for determining the state of a person using a wheelchair, a determination unit that determines the state of the person using the wheelchair based on a combination of at least two or more of information from a pressure sensor, information from a gyro sensor, and information from a camera; A processing device comprising:

2. The information of the pressure sensor is Information indicating the pressure of the wheelchair seat detected by the pressure sensor. The processing device of claim 1 .

3. The information of the gyro sensor is Information indicating a change in the angle of the wheelchair detected by the gyro sensor. The processing device of claim 1 .

4. The camera information is information indicating the posture of the person based on the image captured by the camera; The processing device of claim 1 .

5. The determination unit It is determined based on the information from the pressure sensor that the person using the wheelchair is sitting in the wheelchair, and when it is determined based on the information from the gyro sensor that the wheelchair has fallen over while the person using the wheelchair is sitting in the wheelchair, it is determined that the person using the wheelchair has fallen over while sitting in the wheelchair. The processing device of claim 1 .

6. The determination unit It is determined based on the information from the pressure sensor that the person using the wheelchair is sitting in the wheelchair, and when it is determined based on the information from the gyro sensor that the wheelchair has fallen over while the person using the wheelchair is standing up, it is determined that both the person using the wheelchair and the wheelchair have fallen over while the person using the wheelchair has left the wheelchair. The processing device of claim 1 .

7. The determination unit Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair; when the person using the wheelchair is standing, it is determined that the wheelchair has not fallen over based on the information from the gyro sensor; and when it is determined that the person using the wheelchair has transferred based on the information from the camera, it is determined that the wheelchair has not fallen over but that the person using the wheelchair has fallen over. The processing device of claim 1 .

8. The processing device according to any one of claims 1 to 7; a wheelchair equipped with the processing device; A processing system comprising:

9. A processing method executed by a processing device that determines the state of a person using a wheelchair, comprising: determining the state of the person using the wheelchair based on a combination of at least two of information from a pressure sensor, information from a gyro sensor, and information from a camera; A processing method comprising:

10. The processing device computer that determines the state of a wheelchair user determining the state of the person using the wheelchair based on a combination of at least two of information from a pressure sensor, information from a gyro sensor, and information from a camera; A program that executes the following.

Images