Monitoring system, monitoring method, and program

Abstract

To provide a monitoring system, a monitoring method, and a program which can contribute to the safety of an object to be monitored.SOLUTION: The monitoring system includes a sensor and a controller that outputs a predetermined warning signal for causing a warning unit to output a warning when, based on a motion of a subject acquired by the sensor, a distance by which a leg of the subject is pulled backward in a predetermined motion included in a standing-up motion of the subject exceeds 10 cm or when the subject bends his / her knees by less than 70 degrees in the leg-pulling motion or when an angle at which an upper body of the subject is inclined in the forward-tilting motion exceeds 40 degrees.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] For example, devices have been proposed for monitoring the behavior of monitored individuals, such as those requiring nursing care or long-term care, in settings such as nursing homes. For example, Patent Document 1 discloses a monitored individual monitoring system that detects predetermined behavior of the monitored individual based on images obtained by an imaging device. Patent Document 2 discloses a fall prevention system that prevents a monitored individual from falling while walking by attaching a detection device to the subject's feet. Patent Document 3 discloses a monitoring support device that determines the body position of a human body by detecting temperature distribution. Patent Document 4 discloses a medical system for monitoring geriatric mental patients at home or in a nursing home or care facility. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-91552 [Patent Document 2] Japanese Patent Application Publication No. 2017-221502 [Patent Document 3] Japanese Patent Application Laid-Open No. 2014-106636 [Patent Document 4] Japanese Patent Application Laid-Open No. 2003-91790 Summary of the Invention [Problem to be solved by the invention]

[0004] It would be beneficial if monitoring the monitored object could contribute to the safety of the monitored object.

[0005] An object of the present disclosure is to provide a monitoring system, a monitoring method, and a program that can ensure the safety of monitored objects. [Means for solving the problem]

[0006] A monitoring system according to an embodiment includes: A sensor, a controller that outputs a predetermined warning signal to a warning unit based on the subject's movements acquired by the sensor, when, in a predetermined movement included in the subject's standing-up movement, the distance the subject pulls back the leg exceeds 10 cm, when the subject bends the knee less than 70° when pulling back the leg, or when the subject tilts the upper body of the subject more than 40° when leaning forward; Equipped with.

[0007] A monitoring method according to one embodiment includes: The method includes a step of outputting a predetermined warning signal to a warning unit based on the subject's movements acquired by the sensor, in a predetermined movement included in the subject's standing-up movement, if the distance the subject pulls back the leg exceeds 10 cm, or if the subject bends the knee less than 70° when pulling back the leg, or if the angle at which the subject's upper body is tilted exceeds 40° when the subject takes a forward-leaning posture.

[0008] A program according to an embodiment includes: On the computer, Based on the movements of the subject acquired by the sensor, if the distance the subject pulls back their leg exceeds 10 cm during a predetermined movement included in the subject's standing up movement, or if the subject bends their knee to less than 70° during the movement of pulling back their leg, or if the angle at which the subject's upper body is tilted exceeds 40° during the movement of the subject leaning forward, a step of outputting a predetermined warning signal to cause the warning unit to output a warning is executed. [Effects of the Invention]

[0009] According to one embodiment, it is possible to provide a monitoring system, a monitoring method, and a program that can ensure the safety of a monitored object. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a functional block diagram illustrating a schematic configuration of a monitoring system according to an embodiment. [Figure 2] 10 is a flowchart illustrating an example of an operation of the monitoring system according to an embodiment. [Figure 3] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 4] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 5] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 6] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 7] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 8] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 9] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 10] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 11] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 12] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. [Figure 13] 10A and 10B are diagrams illustrating examples of feature points extracted in a monitoring system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] In the present disclosure, a "monitoring device" may refer to a device powered by electricity. A "monitoring system" may include a device powered by electricity. A "user" may refer to a person (typically a human) who uses a monitoring system and / or a monitoring device according to an embodiment. A user may include a person who monitors a monitored subject by using a monitoring system and / or a monitoring device according to an embodiment. A "monitored subject" may refer to a person (e.g., a human or an animal) who is the subject of monitoring by a monitoring system and / or a monitoring device according to an embodiment.

[0012] The monitoring system according to an embodiment may be used in specific facilities used by people engaged in social activities, such as companies, hospitals, nursing homes, schools, sports gyms, and care facilities. For example, in a company, it is extremely important to understand and / or manage the health status of employees. Similarly, it is extremely important to understand and / or manage the health status of patients and medical professionals in a hospital, and of residents and staff in a nursing home. The monitoring system according to an embodiment may be used in any facility where it is desirable to understand and / or manage the health status of a monitored subject, without being limited to the aforementioned facilities such as companies, hospitals, and nursing homes. Such facilities may also include non-commercial facilities, such as a user's home. The monitoring system according to an embodiment may also be used in, for example, moving vehicles such as trains, buses, and airplanes, as well as at train stations and boarding areas.

[0013] A monitoring system according to an embodiment may be used to monitor the behavior of a monitored subject, such as a person requiring nursing care or care, in a care facility, for example. The monitoring system according to an embodiment may monitor a standing-up motion of the monitored subject, such as a person requiring nursing care or care, for example. Here, the standing-up motion of the monitored subject may be, for example, a motion of the monitored subject standing up from a sitting or lying position.

[0014] In particular, the monitoring system according to one embodiment can issue a predetermined warning before a monitored person, such as a person requiring nursing care or care, attempts to stand up, for example, before completing the standing up motion. Therefore, the monitoring system according to one embodiment can enable staff at a care facility or the like to know that a monitored person, such as a person requiring nursing care or care, is about to stand up before completing the standing up motion.

[0015] The monitoring system according to one embodiment can also issue a predetermined warning before a monitored person, such as a person requiring nursing care or care, makes a dangerous standing-up motion, for example, before completing the dangerous standing-up motion. The monitoring system according to one embodiment can also issue a predetermined warning before a specific monitored person makes a standing-up motion, for example, before completing the standing-up motion.

[0016] A monitoring system according to an embodiment will be described in detail below with reference to the drawings.

[0017] FIG. 1 is a diagram showing a schematic configuration of a monitoring system according to an embodiment. As shown in FIG. 1, the monitoring system 1 according to an embodiment may include a monitoring device 10 and an imaging unit 20. The monitoring device 10 and the imaging unit 20 may be connected by wire, wirelessly, or a combination of wire and wirelessly. The monitoring system 1 according to an embodiment may not include some of the functional units shown in FIG. 1, or may include functional units other than those shown in FIG. 1. For example, the monitoring system 1 according to an embodiment may not include at least one of the warning unit 17 and the communication unit 19.

[0018] The imaging unit 20 shown in FIG. 1 may be configured to include an image sensor that electronically captures images, such as a digital camera. The imaging unit 20 may be configured to include an imaging element that performs photoelectric conversion, such as a CCD (Charge Coupled Device Image Sensor) or a CMOS (Complementary Metal Oxide Semiconductor) sensor. The imaging unit 20 may capture an image of the monitored object T, for example, as shown in FIG. 1. Here, the monitored object T may be, for example, a human. The imaging unit 20 may convert the captured image into a signal and transmit it to the monitoring device 10. For example, the imaging unit 20 may transmit a signal based on the captured image to the extraction unit 11, the storage unit 13, and / or the controller 15 of the monitoring device 10. The imaging unit 20 is not limited to an imaging device such as a digital camera, and may be any device that captures an image of the monitored object T.

[0019] In one embodiment, the imaging unit 20 may capture, for example, still images of the monitored object T at predetermined time intervals (for example, every 0.5 seconds). Also, in one embodiment, the imaging unit 20 may capture, for example, continuous video of the monitored object T.

[0020] 1, a monitoring device 10 according to an embodiment may include an extraction unit 11, a storage unit 13, a controller 15, a warning unit 17, and a communication unit 19. The monitoring device 10 according to an embodiment may not include some of the functional units shown in FIG. 1, or may include functional units other than those shown in FIG. 1.

[0021] The extraction unit 11 may have a function of extracting predetermined feature points from an image captured by the imaging unit 20. For example, the extraction unit 11 may extract the movement of the feature points of the monitored target T from the image of the monitored target T captured by the imaging unit 20. Here, feature points will be described further below. In one embodiment, the extraction unit 11 may extract the movement of each part of the monitored target T, such as the head, trunk, limbs, and / or each joint, from the image of the monitored target T captured by the imaging unit 20. The extraction unit 11 may be configured as dedicated hardware, may be configured at least partially including software, or may be configured entirely by software. In this way, the extraction unit 11 may extract the movement of the feature points of the monitored target T from the image captured by the imaging unit 20.

[0022] The storage unit 13 may function as a memory that stores various types of information. The storage unit 13 may store, for example, programs executed by the controller 15 and results of processing executed by the controller 15. The storage unit 13 may also function as a work memory for the controller 15. The storage unit 13 may be configured, for example, by a semiconductor memory or the like, but is not limited to this and may be any storage device. For example, the storage unit 13 may be a storage medium such as a memory card inserted into the monitoring device 10 according to one embodiment. The storage unit 13 may also be an internal memory of a CPU used as the controller 15 (described later), or may be connected to the controller 15 as a separate unit.

[0023] In particular, in one embodiment, the storage unit 13 may store various algorithms and the like for the controller 15 to perform a determination process regarding the movement of the feature points when the monitored subject T stands up. The various algorithms for the controller 15 to perform a determination process will be described in further detail below.

[0024] The controller 15 controls and / or manages the entire monitoring device 10, including each functional unit constituting the monitoring device 10. The controller 15 may include at least one processor, such as a CPU (Central Processing Unit), to provide control and processing power for executing various functions. The controller 15 may be implemented as a single processor, several processors, or individual processors. The processor may be implemented as a single integrated circuit. An integrated circuit is also called an IC (Integrated Circuit). The processor may be implemented as multiple communicatively connected integrated circuits and discrete circuits. The processor may be implemented based on various other known technologies.

[0025] In one embodiment, the controller 15 may be configured as, for example, a CPU and a program executed by the CPU. The program executed by the controller 15 and the results of the processing executed by the controller 15 may be stored in, for example, the storage unit 13. The controller 15 may include a memory necessary for the operation of the controller 15, as appropriate. The operation of the controller 15 of the monitoring device 10 according to one embodiment will be described further below.

[0026] The warning unit 17 may issue a predetermined warning to alert a user of the monitoring system 1 or the monitoring device 10, based on a predetermined warning signal output from the controller 15. The warning unit 17 may be any functional unit that stimulates at least one of the user's hearing, vision, and touch, such as sound, voice, light, text, video, and vibration, as the predetermined warning. Specifically, the warning unit 17 may be at least one of an audio output unit such as a buzzer or speaker, a light-emitting unit such as an LED, a display unit such as an LCD, and a tactile sensation providing unit such as a vibrator. In this way, the warning unit 17 may issue a predetermined warning based on a predetermined warning signal output from the controller 15. In one embodiment, the warning unit 17 may issue the predetermined warning as information that stimulates at least one of the hearing, vision, and touch senses.

[0027] In one embodiment, the warning unit 17 may issue a warning that the monitored subject T is about to stand up, for example, before the monitored subject T actually stands up. Also, in one embodiment, the warning unit 17 may issue a warning that the monitored subject T is about to make a dangerous standing up motion, for example, before the monitored subject T actually stands up. Furthermore, in one embodiment, the warning unit 17 may issue a warning that a specific person is about to stand up. For example, in one embodiment, the warning unit 17 that outputs visual information may, when it detects that the monitored subject T is about to stand up, warn the user of this by emitting light or displaying a predetermined display. Also, in one embodiment, the warning unit 17 that outputs auditory information may, when it detects that the monitored subject T is about to stand up, warn the user of this by sounding a predetermined sound or voice. In this embodiment, the warning may be a combination of light emission or a predetermined display and a predetermined sound or voice.

[0028] 1 includes a built-in warning unit 17. However, in one embodiment of the monitoring system 1, the warning unit 17 may be provided external to the monitoring device 10. In this case, the warning unit 17 and the monitoring device 10 may be connected by wire, wirelessly, or a combination of wire and wirelessly.

[0029] The communication unit 19 has an interface function for wired or wireless communication. In one embodiment, the communication method performed by the communication unit 19 may be a wireless communication standard. For example, the wireless communication standard includes cellular phone communication standards such as 2G, 3G, 4G, and 5G. For example, the cellular phone communication standard includes Long Term Evolution (LTE), Wideband Code Division Multiple Access (W-CDMA), CDMA2000, Personal Digital Cellular (PDC), Global System for Mobile communications (GSM), and Personal Handy-phone System (PHS). For example, the wireless communication standard includes Worldwide Interoperability for Microwave Access (WiMAX), IEEE802.11, WiFi, Bluetooth, Infrared Data Association (IrDA), and Near Field Communication (NFC). The communication unit 19 can support one or more of the above communication standards. The communication unit 19 may include, for example, an antenna for transmitting and receiving radio waves and an appropriate RF unit. Furthermore, the communication unit 19 may be configured as an interface such as a connector for wired connection to the outside. The communication unit 19 can be configured using known technology for wireless communication, and therefore a more detailed description of the hardware will be omitted.

[0030] The various types of information received by the communication unit 19 may be supplied to, for example, the storage unit 13 and / or the controller 15. The various types of information received by the communication unit 19 may be stored in, for example, a memory built into the storage unit 13 and / or the controller 15. Furthermore, the communication unit 19 may transmit, to the outside, for example, the processing results by the controller 15, the extraction results by the extraction unit 11, and / or the information stored in the storage unit 13.

[0031] At least some of the functional units constituting the monitoring device 10 according to one embodiment as shown in FIG. 1 may be configured by specific means in which software and hardware resources work together.

[0032] Next, the operation of the monitoring system 1 according to one embodiment will be described.

[0033] FIG. 2 is a flowchart showing an example of the operation of the monitoring system 1 according to an embodiment. The operation shown in FIG. 2 may be initiated when monitoring the standing-up movement of a monitored subject T, for example, in a hospital or a care facility. For example, in a care facility or hospital, there may be elderly or injured people who have weak legs and are at high risk of falling if they try to stand up on their own. Furthermore, for example, patients with dementia may be at risk of wandering or going missing if they stand up on their own. By monitoring such a monitored subject T using the monitoring system 1, staff at a care facility or hospital, for example, can recognize that the monitored subject T is trying to stand up on their own before the monitored subject T actually stands up.

[0034] When the operation shown in FIG. 2 starts, in the monitoring system 1 according to one embodiment, the imaging unit 20 captures an image of the monitored target T (step S1). In step S1, the imaging unit 20 may capture an image of the monitored target T. In step S1, the imaging unit 20 may start capturing an image of the monitored target T at this point, or may continue capturing an image of the monitored target T that has already started. In addition, in step S1, the imaging unit 20 may capture an image of the monitored target T as a still image at predetermined intervals (e.g., every 0.5 seconds). In addition, in step S1, the imaging unit 20 may capture an image of the monitored target T as a continuous video. The image of the monitored target T captured by the imaging unit 20 in step S1 is supplied to the extraction unit 11 of the monitoring device 10. In addition, the imaging unit 20 may capture an image of the monitored target T as a combination of a still image at predetermined intervals (e.g., every 0.5 seconds) and a continuous video. In this embodiment, the amount of image data may be reduced by switching from a video capture mode to a still image mode. In this embodiment, when the monitored object T is less active, for example, at night, the volume of image data may be reduced by switching from video imaging mode to still image mode.

[0035] When the monitored object T is imaged in step S1, the extraction unit 11 of the monitoring device 10 extracts the movement of the characteristic points of the monitored object T from the image captured by the imaging unit 20 (step S2).

[0036] 3 and subsequent figures are diagrams that schematically show examples of feature points of the monitored target T extracted by the extraction unit 11 based on the image of the monitored target T captured by the imaging unit 20. Fig. 3 schematically shows examples of feature points extracted from an image of the monitored target T sitting in a chair C1 captured from the left side.

[0037] In one embodiment, the feature points of the monitored object T extracted by the extraction unit 11 may be the following feature points, as shown in FIG. 3 and subsequent figures, for example. The characteristic point P1 may be the head of the monitored object T, for example. The characteristic point P2 may be the connection between the head and neck of the monitored object T, for example. The characteristic point P3 may be the connection between the neck and trunk of the monitored object T, for example. The characteristic point P4 may be the connection between the trunk and legs of the monitored object T, for example. The characteristic point P5 may be the shoulder of the monitored object T, for example. The characteristic point P6 may be the elbow of the monitored object T, for example. The characteristic point P7 may be, for example, the hand of the monitored object T. The characteristic point P8 may be, for example, the knee of the monitored object T. The characteristic point P9 may be, for example, the foot of the monitored object T.

[0038] 2, in step S2, the extraction unit 11 may extract feature points using existing techniques such as image recognition, etc. Also, in step S2, the extraction unit 11 may extract feature points using techniques based on, for example, AI.

[0039] In step S2, the extraction unit 11 may extract the movement of the feature points from a plurality of consecutive still images of the monitored object T captured by the imaging unit 20. Also, in step S2, the extraction unit 11 may extract the movement of the feature points from a moving image of the monitored object T captured by the imaging unit 20.

[0040] After the movements of the feature points are extracted in step S2, the controller 15 of the monitoring device 10 determines whether the movements of the extracted feature points satisfy predetermined conditions (steps S3 and S4). When making this determination, the controller 15 may read out an algorithm for performing a determination process on the movements of the feature points. In steps S3 and S4, the controller 15 may read out the algorithm from the storage unit 13. Furthermore, if the necessary algorithm is not stored in the storage unit 13, the controller 15 may acquire the necessary algorithm, for example, from an external server. In this case, the controller 15 may receive the necessary algorithm via the communication unit 19. The algorithm received in this manner may be stored, for example, in the storage unit 13 or an internal memory of the controller 15. The algorithm used by the controller 15 to perform the determination process will be further described below.

[0041] As described above, the monitoring device 10 according to one embodiment may determine that the monitored subject T will stand up before the monitored subject T actually stands up, based on the movement of the feature points of the monitored subject T. In this embodiment, "before the monitored subject T stands up" may be, for example, before the monitored subject T completes the standing up movement. Therefore, in the monitoring device 10 according to one embodiment, the controller 15 may monitor the movement of the feature points extracted from the captured image of the monitored subject T. Specifically, the controller 15 may monitor the positions of each of the multiple feature points extracted from the image of the monitored subject T at a predetermined timing. Furthermore, the controller 15 may monitor the timing at which each of the multiple feature points extracted from the image of the monitored subject T arrives at a predetermined position.

[0042] In one embodiment, an algorithm may be used that performs a predetermined determination process by comparing the movement of feature points extracted from an image of the monitored subject T. Here, in one embodiment, an algorithm based on the results of pre-sampling the movement of feature points when the monitored subject T stands up may be used. For example, the algorithm may be data based on the movement of feature points extracted from actual standing up movements performed by the monitored subject T in the past. In particular, the algorithm may be data based on the movement of feature points extracted from successful examples of actual standing up movements performed by the monitored subject T in the past. Such an algorithm may be data based on the movement of feature points when the monitored subject T stands up multiple times. By comparing such an algorithm with the movement of feature points extracted by the extraction unit 11, the controller 15 can determine whether the monitored subject T will stand up.

[0043] As described below, the standing-up movement performed by the monitored subject T includes at least one or more partial movements in a series of movements from a sitting state to the completion of the standing-up movement. Therefore, if it can be determined that at least a part of at least one or more partial movements included in the series of movements from a sitting state to standing up has been performed, it can be estimated that the monitored subject T is standing up or is about to stand up. Such estimation can be made before the monitored subject T completes the standing-up movement. Therefore, according to one embodiment, the monitoring device 10 can detect that the monitored subject T is about to stand up before the monitored subject T completes the standing-up movement and issue a predetermined warning. In other words, the monitoring device 10 can issue a predetermined warning before the monitored subject T stands up by a determination process using an algorithm.

[0044] Furthermore, for example, the above-described algorithm is not limited to data based on the movement of characteristic points extracted from examples of successful standing-up movements actually performed by the monitored subject T. That is, the algorithm may be data based on the movement of characteristic points extracted from examples of failed standing-up movements actually performed by the monitored subject T. For example, the algorithm may be data based on the movement of characteristic points extracted from movements of the monitored subject T when the monitored subject T attempts to stand up but fails (e.g., falls) or is on the verge of failing. Using such an algorithm, the monitoring device 10 may not issue a predetermined warning when the probability that the monitored subject T's standing-up movement will be successful (i.e., will not fail) is equal to or greater than a predetermined value. On the other hand, using such an algorithm, the monitoring device 10 may issue a predetermined warning when the probability that the monitored subject T's standing-up movement will not be successful (i.e., will fail) is equal to or greater than a predetermined value.

[0045] Furthermore, the above-mentioned algorithm may be data based on the movement of characteristic points when a specific person (e.g., monitored subject T1) stands up as the monitored subject T. Using such an algorithm, the monitoring device 10 can issue a predetermined warning before a specific person such as monitored subject T1 stands up.

[0046] Furthermore, for example, the above-described algorithm is not limited to data based on the movements of feature points extracted from examples of successful standing-up movements actually performed by a specific person such as the monitored subject T1. That is, the algorithm may be data based on the movements of feature points extracted from examples of failed standing-up movements actually performed by a specific person such as the monitored subject T1. Using such an algorithm, the monitoring device 10 may not issue a predetermined warning when the probability that a specific person such as the monitored subject T1 will succeed (i.e., will not fail) in standing up is greater than or equal to a predetermined value. On the other hand, using such an algorithm, the monitoring device 10 may issue a predetermined warning when the probability that a specific person such as the monitored subject T1 will not succeed (i.e., will fail) in standing up is greater than or equal to a predetermined value.

[0047] As the operation of step S3 (and step S4), the controller 15 may determine whether the monitored subject T is standing up depending on whether a predetermined condition is satisfied in the movement of the characteristic point of the monitored subject T. Here, the case where the predetermined condition is satisfied may be, for example, a case where a predetermined movement is performed at a predetermined timing. For example, in steps S3 and S4, the controller 15 may determine that some predetermined movements are completed at a predetermined timing.

[0048] For example, the controller 15 may determine whether or not at least one of a predetermined first action, a predetermined second action, and a predetermined third action has started (step S3). The predetermined first action, the predetermined second action, and the predetermined third action will be described further below. If it is determined in step S3 that none of the first action to the third action has started, the controller 15 may end the action shown in Fig. 2. The number of actions to be started by the controller 15 is not limited to three, and may be any number equal to or greater than one.

[0049] On the other hand, if it is determined in step S3 that any one of the first to third actions has started, the controller 15 may determine whether the combined actions of the specified first action, the specified second action, and the specified third action have been completed within one second (step S4).

[0050] If it is determined in step S4 that the combined operations of the first predetermined operation, the second predetermined operation, and the third predetermined operation are completed within one second, the controller 15 ends the operations shown in Fig. 2. After ending the operations shown in Fig. 2, the controller 15 may restart the operations shown in Fig. 2 continuously or at predetermined time intervals. Alternatively, the controller 15 may restart the operations shown in Fig. 2 at arbitrary time intervals, such as irregular time intervals.

[0051] On the other hand, if it is determined in step S4 that the combined actions of the predetermined first action, the predetermined second action, and the predetermined third action have not been completed within one second, the controller 15 may output a predetermined warning signal (step S5). In step S5, the controller 15 may output the predetermined warning signal to the warning unit 17. Based on the predetermined warning signal output from the controller 15 in step S5, the warning unit 17 may issue a predetermined warning to the user.

[0052] In this way, the controller 15 may output a predetermined warning signal when a predetermined condition is satisfied in the movement of the characteristic point of the monitored object T extracted by the extraction unit 11. In one embodiment, the predetermined condition may be that at least one of the first action, the second action, and the third action has not been completed when one second has elapsed since the start of at least one of the first action, the second action, and the third action.

[0053] In one embodiment, the predetermined condition may be that none of the first to third actions have been completed one second after the start of at least one of the first, second, and third actions. Furthermore, in one embodiment, the predetermined condition may be that an action consisting of the first, second, and third actions has not been completed one second after the start of the first action.

[0054] 2, the controller 15 determines whether the monitored object T starts to stand up. This allows the monitoring device 10 to issue a predetermined warning before the monitored object T starts to stand up, for example, before the monitored object T completes the standing up motion.

[0055] In response to this, as described above, the controller 15 may determine whether the monitored subject T will make an initial movement of a stand-up movement that is relatively likely to succeed (i.e., safe) or a stand-up movement that is relatively likely to fail (i.e., dangerous). In this case, the algorithm used in the determination process performed by the controller 15 may be based on the movements of feature points extracted from successful examples of stand-up movements actually performed by a specific person such as the monitored subject T1. In addition, in this case, the algorithm may be based on the movements of feature points extracted from unsuccessful examples of stand-up movements actually performed by a specific person such as the monitored subject T1.

[0056] The following further describes the algorithm used in the determination process performed by the controller 15. Here, the algorithm for performing the determination process on the movement of the feature points of the monitored object T extracted by the extraction unit 11 will be described based on some of the findings obtained from demonstration experiments.

[0057] (When standing up from a chair without armrests) 3 to 6 are diagrams illustrating an example of extracting feature points of the motion of monitored subject T standing up from a chair without armrests. FIGS. 3 to 6 show the movement of feature points when monitored subject T, sitting in chair C1 without armrests, gradually stands up. FIGS. 3 to 6 schematically show examples of feature points extracted from an image of monitored subject T captured from the left side. Here, chair C1 may be a chair without armrests or armrests, as shown in FIGS. 3 to 6.

[0058] 3 to 6, a series of actions in which the monitored target T stands up from a state in which the monitored target T is sitting in a chair C1 includes several partial actions. For example, as described above, FIG. 3 schematically shows an example of feature points extracted from an image of the monitored target T sitting in a chair C1 captured from the left side.

[0059] A partial movement included in an example of a standing-up movement performed by the monitored object T from the state shown in FIG. 3 to the state shown in FIG. 4 may be, for example, the following movement. (1) Movement of pulling back the foot (movement of feature point P9 (distance d1 and angle a1 shown in Figure 4)) In this way, the movement of the monitored subject T pulling his / her leg backward may be the first movement described above. (2) Movement to assume a forward leaning posture (movement of feature points P1, P2, or P3 (angle a2 shown in Figure 4)) In this way, the movement of the monitored object T leaning forward may be regarded as the second movement described above. (3) Movement of extending the hand forward (movement of feature points P7 and / or P6 (distance d2 shown in Figure 4)) In this way, the action of the monitored subject T putting his / her hand forward may be the third action described above. 3 to 6, at least one of the first to third actions may be an action that is started when the monitored object T is sitting, for example, in a chair. In this embodiment, the first, second, and third actions are not limited to being performed in this order, and the order of the first, second, and third actions may be any order. In this embodiment, any one of the first, second, and third actions may be the first action of these three actions.

[0060] Here, in a normal (safe) standing-up motion of the monitored subject T, the distance d1 in (1) tends to be approximately 10 cm and the angle a1 tends to be approximately 70°. On the other hand, in a dangerous standing-up motion of the monitored subject T, the distance d1 in (1) tends to be approximately 20 cm and the angle a1 tends to be approximately 50°. Therefore, the first motion may be a motion in which the monitored subject T moves his / her feet on the floor to a length of 10 cm or 20 cm behind the monitored subject T. The first motion may also be a motion in which the monitored subject T bends his / her knees to an angle of 70° or 50°. Hereinafter, a normal (safe) standing-up motion may be, for example, a motion in which the probability of the standing-up motion being successful (i.e., not failing) is greater than or equal to a predetermined value. A dangerous standing-up motion may be a motion in which the probability of the standing-up motion not being successful (i.e., not failing) is greater than or equal to a predetermined value, such as falling.

[0061] Furthermore, in a normal standing-up motion of the monitored subject T, the angle a2 in (2) above tends to be approximately 40°. On the other hand, in a dangerous standing-up motion of the monitored subject T, the angle a2 in (2) above tends to be approximately 70°. Therefore, the second motion may be a motion in which the monitored subject T assumes a posture in which at least a part of the upper body leans forward until it is at an angle of 40° or 70° from the direction perpendicular to the floor surface.

[0062] Furthermore, the distance d2 in (3) above tends to be approximately 10 cm in both normal and dangerous standing-up movements of the monitored subject T. Therefore, the third movement may be a movement in which the monitored subject T moves his / her hand forward by a distance of 10 cm.

[0063] Next, partial movements included in an example of a standing-up movement performed by the monitored subject T from the state shown in Fig. 4 through the state shown in Fig. 5 to the state shown in Fig. 6 may be, for example, the following movements. Figs. 4 and 5 schematically show examples of feature points extracted from an image of the monitored subject T in the middle of an example of a standing-up movement. Fig. 6 also schematically shows examples of feature points extracted from an image of the monitored subject T after completing an example of a standing-up movement. (4) Lifting the buttocks (movement of feature point P4 (distance d3 shown in Figure 5)) (5) Knee extension (movement of feature points P4 and / or P9 (angle a3 shown in Figure 5)) (6) Head lifting (movement of feature point P1 (distance d4 shown in Figure 5)) (7) Arm stretching (movement of feature point P7 (angle a4 in Figure 5)) (8) Movement to straighten the back (movement of feature point P1, P2, or P3 (angle a5 shown in Figure 5))

[0064] Here, in a normal standing-up motion of the monitored subject T, the angle a3 in (5) above tends to change from approximately 70° to approximately 180°. On the other hand, in a dangerous standing-up motion of the monitored subject T, the angle a3 in (5) above tends to change from approximately 50° to approximately 150°.

[0065] Furthermore, in a normal standing-up motion of the monitored subject T, the distance d4 in (6) above tends to change from the position P1 shown in Fig. 5 to the position P1 shown in Fig. 6. On the other hand, in a dangerous standing-up motion of the monitored subject T, the distance d4 in (6) above tends to change from the position P1 shown in Fig. 5 to a position less than approximately 20 cm from the position P1 shown in Fig. 5 to the position P1 shown in Fig. 6.

[0066] Furthermore, in the normal standing-up motion of the monitored subject T, the angle a4 in (7) above tends to change from approximately 90° to approximately 170°. On the other hand, in the dangerous standing-up motion of the monitored subject T, the angle a4 in (5) above tends to change from approximately 90° to approximately 160°.

[0067] Furthermore, in the normal standing-up motion of the monitored subject T, the angle a5 in (8) above tends to be approximately 0°. On the other hand, in the dangerous standing-up motion of the monitored subject T, the angle a5 in (8) above tends to be approximately 20°.

[0068] So far, we have explained the movement of the characteristic points during the standing up motion of the monitored subject T. Below, we will further explain the timing of the movement of the characteristic points during the standing up motion of the monitored subject T.

[0069] As a result of the demonstration experiment, in the normal standing-up motion of the monitored subject T, the above actions (1) to (3) tend to be performed within approximately 0.6 seconds. Also, in the normal standing-up motion of the monitored subject T, the above actions (4) to (8) tend to be performed within approximately 1.2 seconds. In other words, the normal standing-up motion of the monitored subject T tends to be performed within approximately 2 seconds as a whole.

[0070] On the other hand, in the dangerous standing-up movement of the monitored subject T, the above actions (1) to (3) tend to occur within a period of approximately 3 seconds. Also, in the dangerous standing-up movement of the monitored subject T, the above actions (4) to (8) tend to occur within a period of approximately 3 seconds. In other words, the dangerous standing-up movement of the monitored subject T tends to occur overall within a period of approximately 6 seconds. In other words, the dangerous standing-up movement of the monitored subject T tends not to occur overall within a period of approximately 2 seconds, as is the case with the normal standing-up movement of the monitored subject T.

[0071] From the above, for example, if the monitored subject T has not completed the standing-up motion within 3 seconds after starting the standing-up motion, the controller 15 of the monitoring device 10 may output a warning signal indicating that the standing-up motion is dangerous. In this way, the monitoring device 10 can issue a warning to the user that the monitored subject T is performing a dangerous standing-up motion before the monitored subject T completes the dangerous standing-up motion.

[0072] Furthermore, the above actions (1) to (8) are included in a series of standing-up actions performed by the monitored subject T. Therefore, for example, it can be assumed that once the above actions (1) to (3) are performed, the above actions (4) to (8) will be performed subsequently. Therefore, for example, the controller 15 may output a warning signal indicating that the monitored subject T is performing a dangerous standing-up action when it takes three seconds or more for the monitored subject T to perform the above actions (1) to (3). In this way, the monitoring device 10 can issue a warning to the user that the monitored subject T is performing a dangerous standing-up action a predetermined time (e.g., three seconds) before the monitored subject T completes the dangerous standing-up action. In this way, the controller 15 may output a predetermined warning signal a predetermined time before the monitored subject T completes the standing-up action.

[0073] Furthermore, in this embodiment, when the monitored subject T does not complete the above steps (1) to (3) within one second after starting the standing-up motion, the controller 15 may output a warning signal indicating that the monitored subject T is standing up. Furthermore, when the monitored subject T completes the above steps (1) to (3) within one second after starting the standing-up motion, the controller 15 may not output a warning signal indicating that the monitored subject T is standing up. In this manner, the monitoring device 10 can issue a warning to the user that the monitored subject T is performing a dangerous standing-up motion a predetermined time (e.g., one second) before the monitored subject T completes the dangerous standing-up motion. In this case, in this embodiment, whether or not to issue a warning is determined based on whether or not it took one second to complete the above steps (1) to (3). Therefore, a warning is not issued for someone who is capable of standing up normally, but a warning is issued for someone who is performing a dangerous standing-up motion. Therefore, in this embodiment, the reliability and usefulness of the warning can be improved. Furthermore, in this embodiment, the elapsed time for determining whether or not to output a predetermined warning signal is not limited to one second as described above. That is, if the motion time of a normal standing-up motion is T1 and the motion time of a dangerous standing-up motion is T2, the elapsed time Tth for determining whether to output a predetermined warning signal may be set to T2 ≥ Tth ≥ T1. When the elapsed time Tth is set to T1, this embodiment can quickly output a warning. When the elapsed time Tth is set to T2, this embodiment can reduce the probability of misidentifying a normal standing-up motion as a dangerous standing-up motion. When the elapsed time Tth is set to T2 > Tth > T1, this embodiment can achieve a good balance between the promptness of warning output and the reduction of false recognition. Furthermore, in this embodiment, the motion time T1 of a normal standing-up motion is set to 0.6 seconds and the motion time T2 of a dangerous standing-up motion is set to 3 seconds. However, this embodiment may set other values ​​for T1 and T2 as appropriate based on the age, physique, health condition, physical or mental disability status of the monitored subject T, the time of day, the situation (e.g., after exercise), and the like.

[0074] The above-described operations may be performed during the normal standing-up movement of the monitored subject T. For example, during the normal standing-up movement of the monitored subject T, it can be assumed that the above operations (1) to (3) are performed within 0.6 seconds, and then the above operations (4) to (8) are performed within 1.2 seconds.

[0075] Therefore, the controller 15 may output a warning signal indicating that the monitored subject T is standing up when the monitored subject T completes the above steps (1) to (3) within one second after starting to stand up. In this way, the monitoring device 10 can issue a warning to the user that the monitored subject T is starting to stand up a predetermined time (for example, about one second) before the monitored subject T completes normal standing up. In this way, the controller 15 may output a predetermined warning signal a predetermined time before the monitored subject T starts to stand up.

[0076] Therefore, in one embodiment, the controller 15 may output a predetermined warning signal if at least one of the first, second, and third operations has not been completed one second after the start of at least one of the first, second, and third operations. Also, in one embodiment, the controller 15 may output a predetermined warning signal if none of the first, second, and third operations has been completed one second after the start of at least one of the first, second, and third operations. Also, in one embodiment, the controller 15 may output a predetermined warning signal if an operation consisting of the first, second, and third operations has not been completed one second after the start of the first operation. That is, in this embodiment, the controller 15 outputs a predetermined warning signal if at least one of the first, second, and third movements has not been completed within one second of the start of at least one of the first, second, and third movements. Therefore, a warning is issued when the monitored target T is attempting to stand up, which may be a dangerous standing-up movement, but a warning is not issued when the monitored target T is attempting to stand up, which may be a normal standing-up movement that is not dangerous. Therefore, a standing-up warning can be issued appropriately. Here, in this embodiment, the elapsed time for determining whether to output a predetermined warning signal is not limited to one second, as described above. That is, if the motion time of a normal standing-up movement is T1 and the motion time of a dangerous standing-up movement is T2, the elapsed time Tth for determining whether to output a predetermined warning signal may be T2 ≧ Tth ≧ T1. When the elapsed time Tth is T1, this embodiment can output a warning quickly. When the elapsed time Tth is T2, this embodiment can reduce the probability of misidentifying a normal standing-up movement as a dangerous standing-up movement. When the elapsed time Tth is set to T2>Tth>T1, this embodiment can set the promptness of the warning output and the reduction of erroneous recognition in a well-balanced manner.In addition, in this embodiment, the example is given in which the operation time T1 of a normal standing-up action is 0.6 seconds and the operation time T2 of a dangerous standing-up action is 3 seconds, but in this embodiment, instead of these values, other values ​​may be set as appropriate for T1 and T2 based on the age, physique, health condition, physical and mental disability state of the monitored subject T, time of day, and the situation, for example, after exercise.

[0077] In either case, the monitoring device 10 may issue a warning to the user that the monitored subject T has started to stand up before the monitored subject T has completed the standing up action. In this manner, the controller 15 may output a predetermined warning signal before the monitored subject T has completed the standing up action.

[0078] According to the monitoring system 1 of one embodiment, when the monitored subject T is about to stand up, for example, in a dangerous manner, a warning can be issued to the user before the dangerous standing-up action is made. Therefore, the monitoring system 1 of one embodiment can contribute to the safety of the monitored subject.

[0079] (When standing up from a chair with armrests) 7 to 9 are diagrams illustrating an example of extracting feature points of the motion of monitored subject T standing up from a chair with armrests. FIGS. 7 to 9 show the movement of feature points when monitored subject T, who is sitting in chair C2 with armrests, stands up. FIGS. 7 to 9 schematically show examples of feature points extracted from an image of monitored subject T captured from the left side. Here, chair C2 may be a chair with a structure equipped with armrests or armrests, as shown in FIGS. 7 to 9. Below, differences from the above-mentioned "case of standing up from a chair without armrests" will be mainly explained.

[0080] Similar to FIG. 3, FIG. 7 schematically shows an example of feature points extracted from an image of the monitored target T sitting in a chair C2 captured from the left side.

[0081] As described above, partial movements included in an example of a normal standing-up movement performed by the monitored object T from the state shown in FIG. 7 to the state shown in FIG. 8 may be, for example, the following movements. (1) Pulling the leg back (movement of feature point P9) This operation may be the first operation described above. (2) Movement to take a forward leaning posture (movement of feature points P1, P2, or P3) This operation may be the second operation described above. (3) Movement of extending the hand forward (movement of feature points P7 and / or P6 (distance d5 shown in FIG. 8)) This operation may be the third operation described above.

[0082] Here, in a normal standing-up motion of the monitored object T, the distance d5 in (3) above tends to be about 10 cm, similar to the case shown in FIG.

[0083] On the other hand, in the dangerous standing-up movement of the monitored subject T, the above-mentioned "(3) action of putting one's hand forward" tends to be replaced by "(3') action of pulling one's arm backward (movement of feature points P7 and P6)" as shown in FIG. 9. As shown in FIG. 9, the "(3') action of pulling one's arm backward" may include movement of feature point P7 (distance d6 shown in FIG. 9) and movement of feature point P6 (distance d7 shown in FIG. 9). Here, in the dangerous standing-up movement of the monitored subject T, the above-mentioned distance d6 tends to be approximately 10 cm, and the distance d7 tends to be approximately 10 cm.

[0084] That is, when extracting the movement of the characteristic points of the monitored subject T, if the characteristic points are as shown in Figure 8 when the monitored subject T has completed the above actions (1) to (3), it will tend to be a normal standing-up movement of the monitored subject T. On the other hand, when extracting the movement of the characteristic points of the monitored subject T, if the characteristic points are as shown in Figure 9 when the monitored subject T has completed the above actions (1) to (3), it will tend to be a dangerous standing-up movement of the monitored subject T.

[0085] (When standing up from a chair that was previously used with a desk) 10 and 11 are diagrams illustrating an example of extracting feature points of the motion of monitored subject T standing up from a chair used with a desk. FIGS. 10 and 11 show the movement of feature points when monitored subject T stands up while sitting on chair C1 used with desk D1. FIGS. 10 and 11 schematically show an example of feature points extracted from an image of monitored subject T captured from the left side. Here, chair C1 may be a chair without armrests, similar to those shown in FIGS. 3 to 6. Below, differences from the above description will be mainly explained.

[0086] Similar to FIG. 4, FIG. 10 schematically shows an example of feature points extracted from an image captured from the left side of a monitored subject T who is about to stand up from a seated position in a chair C1.

[0087] As described above, partial movements included in an example of a normal standing-up movement performed by the monitored subject T up to the state shown in FIG. 4 may be, for example, the following movements. (1) Pulling the leg back (movement of feature point P9) This operation may be the first operation described above. (2) Movement to take a forward leaning posture (movement of feature points P1, P2, or P3) This operation may be the second operation described above. (3) Movement of the hand forward (movement of feature points P7 and / or P6) This operation may be the third operation described above.

[0088] In contrast, among the partial actions included in an example of a normal standing-up action performed by the monitored subject T up to the state shown in FIG. 10, the above-mentioned (1) and (2) may be considered to be included in the same way as the state shown in FIG. 4. Meanwhile, the above-mentioned "(3) Action of putting one's hand forward" tends to be replaced by "(3") Action of pushing the desk with one's hand and / or action of pulling a chair (movement of feature points P7 and P6)" in the state shown in FIG. 10. "(3") Action of pushing the desk with one's hand and / or action of pulling a chair" may include movement of feature point P7 and / or feature point P6 (angle a6 shown in FIG. 11), as shown in FIG. 11. The angle a6 in the above-mentioned (3") action tends to change from approximately 70° to approximately 170° in both the normal standing-up action and the dangerous standing-up action of the monitored subject T.

[0089] As described above, the movement of the extracted feature points may differ depending on the type of chair and / or the presence or absence of a desk when the monitored subject T stands up. Therefore, by using an algorithm based on the feature points extracted in each situation, the monitoring system 1 can issue a predetermined warning before the monitored subject T stands up depending on each situation.

[0090] Furthermore, when the monitored subject T stands up, the movements of the extracted feature points may differ depending on the type of chair and / or the presence or absence of a desk, but there may also be movements of feature points that are extracted in common. Therefore, by using an algorithm based on feature points that are extracted in common in each of the different situations, the monitoring system 1 can issue a predetermined warning before the monitored subject T stands up, regardless of each of the different situations.

[0091] (When a monitored subject with hemiplegia stands up) 12 and 13 are diagrams illustrating an example of extracting feature points from the movement of a monitored subject T with hemiplegia standing up from a chair. FIGS. 12 and 13 show the movement of feature points when a monitored subject T sitting on a chair C1 stands up. FIGS. 12 and 13 schematically illustrate an example of feature points extracted from an image of the monitored subject T captured from the front. Here, chair C1 may be a chair without armrests, similar to those shown in FIGS. 3 to 6. The following mainly focuses on differences from the above description. FIGS. 12 and 13 show a monitored subject T with left-side paralysis. FIG. 13 shows an example of paralysis on the side where the monitored subject T's shoulder is lowered. For example, hemiplegia is a symptom of hemiplegia, a sequela of a stroke. Hemiplegia can occur in cases where both the upper and lower halves of the left body are paralyzed, or in cases where only the upper half of the left body is paralyzed. The monitored subject T in Figure 13, who has hemiplegia, can be considered a case of paralysis of the upper left half of the body. Since the paralyzed left half of the body cannot exert any strength, the upper left half of the body tends to sag downward. Also, in this case, the feet are in contact with the ground, so the lower left half of the body does not sag downward. Therefore, in this case, the posture is the same as if the lower left half of the body were not paralyzed.

[0092] Fig. 12, similar to Fig. 3, schematically shows an example of feature points extracted from an image of monitored target T sitting in chair C1. Fig. 3 schematically shows an example of feature points extracted from an image of monitored target T sitting in chair C1 taken from the left side. In contrast, Fig. 12 schematically shows an example of feature points extracted from an image of monitored target T sitting in chair C1 taken from the front.

[0093] As described above, partial movements included in an example of a normal standing-up movement performed by the monitored subject T up to the state shown in FIG. 4 may be, for example, the following movements. (1) Pulling the leg back (movement of feature point P9) This operation may be the first operation described above. (2) Movement to take a forward leaning posture (movement of feature points P1, P2, or P3) This operation may be the second operation described above. (3) Movement of the hand forward (movement of feature points P7 and / or P6) This operation may be the third operation described above.

[0094] Here, as shown in FIG. 13, among partial movements included in an example of a standing-up movement performed by a monitored subject T with hemiplegia, the above-mentioned "(2) movement of taking a forward posture" tends to be replaced by a movement different from the state shown in FIG. 4. Therefore, in this case, the above-mentioned "(2) movement of taking a forward posture" may be replaced by "(2') movement of taking a forward posture" including a left-right asymmetric movement. In this case, in the "(2') movement of taking a forward posture," the movement of the above-mentioned feature points P1, P2, or P3 may be the same as in the "(2) movement of taking a forward posture" described in FIG. 4. On the other hand, the "(2') movement of taking a forward posture" may include, for example, movement of feature points P5L and / or P5R (angle a7 shown in FIG. 13) as a left-right asymmetric movement.

[0095] As described above, when monitored subject T stands up, the movements of the extracted feature points may differ depending on the physical characteristics and / or disabilities of monitored subject T. Therefore, by using an algorithm based on the feature points extracted from each monitored subject T, monitoring system 1 can issue a predetermined warning before each monitored subject T stands up.

[0096] Furthermore, when the monitored subject T stands up, the movements of the extracted feature points may differ depending on the physical characteristics and / or disabilities of the monitored subject T, but there may also be movements of feature points that are extracted in common. Therefore, by using an algorithm based on feature points that are extracted in common for each of the different monitored subjects T, the monitoring system 1 can issue a predetermined warning before the monitored subject T stands up, without depending on each of the different monitored subjects T.

[0097] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art would easily be able to make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of the present disclosure. For example, functions included in each component or step can be rearranged so as not to cause logical inconsistencies, and multiple components or steps can be combined or divided into one. Although the embodiments of the present disclosure have been described mainly in terms of an apparatus, the embodiments of the present disclosure can also be realized as a method including steps executed by each component of the apparatus. The embodiments of the present disclosure can also be realized as a method, a program executed by a processor included in the apparatus, or a storage medium on which a program is recorded. It should be understood that these are also encompassed within the scope of the present disclosure.

[0098] The above-described embodiment is not limited to implementation as the monitoring system 1. For example, the above-described embodiment may be implemented as a monitoring device 10 included in the monitoring system 1. The above-described embodiment may also be implemented as a monitoring method using equipment such as the monitoring device 10. Furthermore, the above-described embodiment may also be implemented as a program executed by equipment such as the monitoring device 10 or an information processing device (e.g., a computer). [Explanation of symbols]

[0099] 1. Surveillance System 10 Monitoring equipment 11 Extraction part 13 Storage section 15 Controller 17 Warning part 19 Communications Department 20 Imaging unit

Claims

1. A sensor, a controller that outputs a predetermined warning signal to a warning unit based on the target's movements acquired by the sensor, when, in a predetermined movement included in the target's standing-up movement, the distance the target pulls back its leg exceeds 10 cm, when the target bends its knee to less than 70° when pulling back its leg, or when the angle at which the target's upper body is tilted exceeds 40° when the target takes a forward-leaning posture; A monitoring system comprising:

2. The monitoring system according to claim 1 , wherein the sensor is an imaging unit that captures an image of the target.

3. A monitoring method comprising a step of outputting a predetermined warning signal to a warning unit to output a warning based on the subject's movements acquired by a sensor, when, in a predetermined movement included in the subject's standing-up movement, the distance the subject pulls back the leg exceeds 10 cm, or when the subject bends the knee less than 70° when pulling back the leg, or when the angle at which the subject's upper body is tilted exceeds 40° when the subject takes a forward-leaning posture.

4. On the computer, A program that executes a step of outputting a predetermined warning signal to a warning unit to output a warning, based on the movement of a subject acquired by a sensor, when, in a predetermined movement included in the standing-up movement of the subject, the distance the subject pulls back the leg exceeds 10 cm, or when the subject bends the knee less than 70° when pulling back the leg, or when the angle at which the subject's upper body is tilted exceeds 40° when the subject takes a forward leaning posture.

Images