Motion detection system and motion detection method

Abstract

To provide a motion detection system in which, when a user is in a reference state, a determination unit determines that preparation of a sensor is insufficient when a displayed avatar is deviated from the reference state.SOLUTION: A motion detection system includes a sensor attached to a user and configured to detect a motion of the user, a display unit configured to display an avatar moving in conjunction with an output of the sensor, and a determination unit configured to determine that preparation of the sensor is insufficient when the displayed avatar deviates from a reference state in a case where the user is in the reference state.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a motion detection system and a motion detection method. [Background technology]

[0002] Patent Document 1 describes an operating state monitoring system that can appropriately manage measurement results depending on the mounting direction of a sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-34450 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is no disclosure of determining that the sensor is not ready when the displayed avatar deviates from the reference state when starting sensing. Therefore, an object of the present disclosure is to provide a motion detection system in which, when a user is in the reference state, a determination unit determines that the sensor is not ready when the displayed avatar deviates from the reference state. [Means for solving the problem]

[0005] The motion detection system of the present disclosure comprises: a sensor attached to a user to detect a movement of the user; a display unit that displays an avatar that moves in conjunction with the output of the sensor; The motion detection system includes a determination unit that determines that the sensor is not properly prepared when the displayed avatar deviates from the reference state when the user is in a reference state.

[0006] The motion detection method of the present disclosure includes: a sensor attached to a user to detect a movement of the user; a display unit displays an avatar that moves in conjunction with the output of the sensor; In the movement detection method, when the user is in a reference state and the displayed avatar deviates from the reference state, a determination unit determines that the sensor is not properly prepared. [Effects of the Invention]

[0007] The present disclosure allows appropriate preparation for sensing. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic configuration diagram of a training support system according to a first embodiment. [Figure 2] FIG. 2 is a diagram for explaining an example of sensor attachment in the measuring instrument according to the first embodiment. [Figure 3] FIG. 3 is a diagram for explaining an initial reference direction according to the first embodiment. [Figure 4] 1 is a block diagram showing an example of the configuration of a training support system according to a first embodiment. [Figure 5] 5 is a flowchart illustrating an example of a processing procedure of the operational status monitoring device according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing an example of a display screen of a display unit according to the first embodiment before measurement starts. [Figure 7] FIG. 4 is a diagram showing an example of a display screen of the display unit at the end of measurement according to the first embodiment. [Figure 8] FIG. 10 is a diagram illustrating an example of a data structure of a calculation processing table according to the second embodiment. [Figure 9] 11 is a flowchart illustrating an example of a processing procedure of the operational status monitoring device according to the third embodiment. [Figure 10] FIG. 1 is a schematic configuration diagram of a computer according to an embodiment of the present invention. [Figure 11] 1 is a display example of an avatar according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The present invention will be described below through embodiments, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. Note that the same elements are assigned the same reference numerals in each drawing.

[0010] <Embodiment 1> First, a first embodiment of the present invention will be described with reference to FIGS. 1 to 7 and 11. FIG. FIG. 1 is a schematic diagram of a training support system 1 according to a first embodiment. The training support system 1 is a computer system that supports training by measuring the motor function of a subject P, such as a rehabilitation trainee or an elderly person, and analyzing, evaluating, and managing the measurement results. The subject P attaches sensors to parts of their body and performs a motor test. For example, the motor test is a motor function test that measures the motor function by measuring the movement state of a target part when the subject P performs a specified movement.

[0011] Hereinafter, the specified motion may be referred to as a motion to be monitored. The motion to be monitored is determined corresponding to a body part, and examples include shoulder flexion and extension, shoulder abduction and internal / external rotation, neck flexion and extension, neck rotation, elbow flexion and extension, hip joint internal / external rotation, forearm pronation and external rotation, and thoracic / lumbar lateral flexion. If the target part is either the left or right side, the motion to be monitored may be determined separately for the left and right sides. Furthermore, one or more parts may be associated with one motion to be monitored, and the same part may be associated with different motions to be monitored.

[0012] As shown in this diagram, the training support system 1 includes a measuring instrument 2 and a motion status monitoring system (hereinafter referred to as a motion status monitoring device) 3. The motion status monitoring system may also be called a motion detection system. The motion status monitoring device may also be called a motion detection device. Furthermore, the motion status monitoring method may also be called a motion detection method.

[0013] The measuring instrument 2 is a measuring device that measures the direction and amount of movement. In the first embodiment, the measuring instrument 2 has an acceleration sensor and an angular velocity sensor, and measures its own acceleration and angular velocity. Specifically, the measuring instrument 2 may include a triaxial acceleration sensor and a triaxial angular velocity sensor. In this case, the measuring instrument 2 measures the amount of movement in three axial directions of the X, Y, and Z axes and the angle of rotation around the three axes. Note that the number of measurement axes is not limited to three, and may be two or less. The measuring instrument 2 may also have a geomagnetic sensor that detects the geomagnetism and measures the direction in which it is facing.

[0014] The measuring instrument 2 is communicatively connected to the operating status monitoring device 3. In the first embodiment, communication between the measuring instrument 2 and the operating status monitoring device 3 is short-range wireless communication such as Bluetooth (registered trademark), NFC (Near Field Communication), and ZigBee. However, the communication is not limited to this, and may be wireless communication via a network such as a wireless LAN (Local Area Network). Furthermore, the communication may be wired communication via a network including the Internet, a LAN, a WAN (Wide Area Network), or a combination of these.

[0015] The measuring instrument 2 has a sensor 200 and an attachment mechanism for the sensor 200. The sensor 200 is attached to an attachment position 20 of a target body part of the subject P via the attachment mechanism. In order to measure various monitoring target movements, each of the multiple sensors 200 is linked to a respective body part of the subject P and can be attached to the linked body part. In this figure, the attachable body parts are indicated by attachment positions 20-1, 2, ..., 11, and each is linked to a sensor 200-1, 2, ..., 11. For example, the attachment positions 20-1, 2, ..., 11 are called the right upper arm, right forearm, head, chest (trunk), lower back (pelvis), left upper arm, left forearm, right thigh, right lower leg, left thigh, and left lower leg, respectively. The attachment location 20 and the sensor 200 are linked by previously pairing the sensor 200 with the operating status monitoring device 3, and associating the identification information (ID) of the attachment location 20 with the ID of the sensor 200 on the application of the operating status monitoring device 3.

[0016] In the first embodiment, the attachment positions 20 used in the exercise test are selected from attachment positions 20-1 to 20-11 according to the motion to be monitored selected by the user. The user is a user of the motion status monitoring device 3, such as the subject P himself or the staff member conducting the exercise test. The subject P or the staff member then attaches the sensors 200 (20-1, 2, 6, 7 in this figure) associated with the selected attachment positions 20 (20-1, 2, 6, 7 in this figure) to the body of the subject P, and starts the exercise test.

[0017] Although it has been stated that multiple sensors 200 are prepared, each linked to a respective one of multiple mounting positions 20, the number of mounting positions 20 prepared may be one, and the number of sensors 200 prepared may also be one.

[0018] The sensor 200 starts measurement in response to the start of the exercise test and transmits sensing information to the motion status monitoring device 3. The sensing information may include acceleration information, angular velocity information, or quaternion information. The sensing information may also include components in each of these measurement axis directions (X, Y, and Z axes). Then, the sensor 200 stops measurement in response to the end of the exercise test.

[0019] The motion status monitoring device 3 is a computer device that monitors the motion status of a target body part of the subject P during an exercise test, and analyzes, evaluates, and manages information about the motion status. Specifically, the motion status monitoring device 3 may be a personal computer, a notebook computer, a mobile phone, a smartphone, a tablet terminal, or other communication terminal device capable of inputting and outputting data. The motion status monitoring device 3 may also be a server computer. In the first embodiment, the motion status monitoring device 3 will be described as a tablet terminal.

[0020] The motion status monitoring device 3 is used by the user during, before, and after the exercise test. The motion status monitoring device 3 accepts the user's selection of the motion to be monitored and notifies the user of the attachment position 20 corresponding to the target body part. The motion status monitoring device 3 then transmits a request to the sensor 200 to start or stop measurement in response to the start or end of the exercise test. In addition, in response to receiving sensing information from the sensor 200, the motion status monitoring device 3 outputs sensing-related information as the measurement result. Here, the sensing-related information indicates information related to the sensing information, and may include the sensing information itself or may be information obtained by performing various conversion processes on the sensing information. In addition, the information regarding the motion status described above is information based on this sensing-related information and may include the sensing-related information itself.

[0021] The operation status monitoring device 3 may be communicably connected to an external server (not shown) via a network. The external server may be a computer device or a cloud server on the Internet. In this case, the operation status monitoring device 3 may transmit sensing-related information or information related to the operation status of the subject P that it holds to the external server.

[0022] 2 and 3, the attachment of the sensor 200 to the measuring instrument 2 according to the first embodiment will be described. Fig. 2 is a diagram for explaining an example of the attachment of the sensor 200 to the measuring instrument 2 according to the first embodiment.

[0023] 2, measuring instrument 2 has sensor 200 and an attachment mechanism (attachment tool) consisting of attachment pad 201 and strip-shaped band 202. Sensor 200 is connected to band 202 attached to the target area via attachment pad 201. In this way, sensor 200 is attached to attachment position 20 of the target area. Note that the connection mechanism (connection tool) between sensor 200 and band 202 is not limited to attachment pad 201, and may be a fastener such as a hook or snap, or a hook-and-loop fastener.

[0024] Here, the mounting direction of the sensor 200 will be described. The mounting direction of the sensor 200 is the mounting direction of the sensor 200 relative to the reference direction D. In the first embodiment, the reference direction D is a direction in which the mounting direction does not change relatively even if the target part moves during the monitored movement. In other words, the reference direction D is a direction that changes in conjunction with the absolute direction of the sensor 200 during the monitored movement. Here, the "absolute direction" is a direction based on the direction of gravity or the horizontal direction, and is, for example, a direction in a coordinate system (X S ,Y S ,Z S ) X S The Y axis is the horizontal axis in the anterior-posterior direction relative to subject P. S The axis is the horizontal axis in the left-right direction with respect to subject P, and the Z S The axis is the vertical axis in the direction of gravity. In FIG. 2, reference direction D is defined as the axial direction of band 202 attached to the target area. The mounting direction indicates the relative orientation of sensor 200 with respect to reference direction D, which is the axial direction, and is determined based on the angle θ1 (referred to as the mounting angle) formed between reference direction D and measurement axis A of the sensor. Measurement axis A may be determined in advance and may be, for example, any of the X, Y, and Z axes of the sensor coordinate system. For example, as shown in FIG. 2, when mounting angle θ1 is 0°, sensor 200 is mounted so that measurement axis A is parallel to reference direction D, and when mounting angle θ1 is 90°, sensor 200 is mounted so that measurement axis A is perpendicular to reference direction D. Note that mounting angle θ1 is not limited to 0° and 90°.

[0025] Here, in the first embodiment, the reference direction D can be defined according to the target part. For example, when the band 202 is attached to the target part, there is a certain preferred attachment direction for each target part. For example, when the target part is the arm, from the viewpoint of ease of attachment and ease of movement, it is preferable that the band 202 be attached so that its reference direction D is approximately parallel to the axial direction of the arm (i.e., the extension direction of the arm). Conversely, it is difficult to attach the band 202 so that the reference direction D is approximately perpendicular to the axial direction of the arm. Therefore, the axial direction of the band 202 as the reference direction D can be defined in advance according to the target part.

[0026] 2, the sensor 200 is attached to the target area using the band 202, but the band 202 may be omitted. In this case, the sensor 200 may be attached to clothing or the skin via the attachment pad 201. In this case, the reference direction D is also a direction that is defined in advance depending on the target area, such as the axial direction of the target area. In the first embodiment, the attachment mechanism of the measuring instrument 2 includes a change mechanism that changes the attachment direction of the sensor 200. The change mechanism may be any mechanism that allows the attachment direction of the sensor 200 to be changed. For example, if the attachment pad 201 of the sensor 200 has a reusable adhesive surface, the attachment direction can be freely changed. Furthermore, when the sensor 200 is attached to the target site using a connector between a belt or clothing, the sensor 200 may be attached so that it is approximately aligned with the reference direction D, and then the attachment direction may be changed using a knob or the like that is linked to the connector. Furthermore, when the sensor 200 is attached using a connector that has a shape that can clamp the sensor 200 in multiple attachment directions, the sensor 200 may be attached in one attachment direction selected from the attachment directions.

[0027] In the first embodiment, the reference direction D can be specifically determined in advance in accordance with the target region at the initial stage, that is, in a stationary state. FIG. 3 is a diagram for explaining the initial reference direction D according to the first embodiment. As shown in this figure, the absolute direction of the initial reference direction D is determined for each region. In this figure, the absolute direction of the initial reference direction D is Z S The angle θ0 between the axis and the arm is expressed as follows. The angle θ0 may be determined based on the average human skeleton. In this example, the initial reference direction D of the upper arm is Z S The angle θ of the right upper arm may be set to 5°. The initial reference direction D of the forearm is set to Z S The angle θ of the right forearm may be set to 10°, for example, so that the angle θ of the right forearm is further outward relative to the axis. The angle θ of each part may be set for each subject P based on attribute information such as the age, sex, height, or weight of the subject P. Even if the initial reference direction D changes depending on the target part in this way, since the initial reference direction D is specifically set, it is possible to convert at least the initial attachment direction into an absolute direction that is a unique indicator for the subject P.

[0028] As described above, the sensor 200 according to the first embodiment is configured so that the mounting direction can be changed. Therefore, the user can freely set the mounting direction of the sensor 200, which improves convenience. Furthermore, depending on the sensor 200, setting it in a suitable direction can improve the accuracy of the measurement results.

[0029] Hereinafter, the mounting direction relative to the reference direction D will be simply referred to as the "mounting direction."

[0030] Fig. 4 is a block diagram showing an example of the configuration of the training assistance system 1 according to the first embodiment. As described above, the training assistance system 1 includes a measuring instrument 2 and an operation status monitoring device 3, and the measuring instrument 2 has a sensor 200. In this figure, the sensor 200 is one of the prepared sensors 200-1 to 200-11 that is associated with an attachment position 20 selected based on the operation to be monitored. The sensor 200 is assumed to have been paired with the operation status monitoring device 3 in advance and calibrated. The number of sensors 200 is not limited to one, and may be two or more.

[0031] The operation state monitor 3 includes an attachment direction detection unit 30, an acquisition unit 31, a control processing unit 32, a display unit 33, and a storage unit .

[0032] The mounting direction detection unit 30 detects the mounting direction of the sensor 200. For example, the mounting direction detection unit 30 may detect the mounting direction of the sensor 200 based on the output of the sensor 200 at the time of mounting. In this case, the mounting direction detection unit 30 detects the mounting direction of the sensor 200 based on the Z S Based on the axis information and the angle information of the sensor 200 from the rest state at the time of calibration to the time of installation, Z S The mounting angle relative to the axis is calculated. In this way, the mounting direction detection unit 30 can detect the mounting direction of the sensor 200.

[0033] For example, the mounting direction detection unit 30 may have a mounting direction detection sensor and a mounting direction detection mechanism separately disposed near each sensor 200. The mounting direction detection mechanism is configured so that a current flows according to the angle between the measurement axis A of the sensor 200 and the reference direction D, and the mounting direction detection sensor detects the current. The mounting direction is then detected according to the magnitude of the detected current. Note that if a band 202 is used to mount the sensor 200, the mounting direction detection sensor and the mounting direction detection mechanism may be disposed on the band 202. Alternatively, the mounting direction detection sensor and the mounting direction detection mechanism may be included in the measuring instrument 2, and the mounting direction detection unit 30 may obtain information about the mounting direction based on the output from the mounting direction detection sensor.

[0034] Furthermore, for example, the mounting direction detection unit 30 may detect the mounting direction of the sensor 200 based on a captured image of the mounted sensor 200. For example, the mounting direction detection unit 30 may have an mounting direction detection camera disposed in front of, behind, or above the subject P. The mounting direction detection unit 30 may then detect the mounting direction of the sensor 200 by capturing an image of the sensor 200 and performing image processing such as pattern matching on the captured image. Note that the mounting direction detection camera may be included in the measuring instrument 2, and the mounting direction detection unit 30 may acquire an image from the mounting direction detection camera and acquire information about the mounting direction based on the image.

[0035] Furthermore, if the mounting direction of the sensor 200 can be adjusted using a knob or the like linked to the connector, the mounting direction detection unit 30 may detect the mounting direction based on the amount of movement of the knob. In the first embodiment, the mounting direction detection unit 30 detects the mounting direction of the sensor 200 in the initial state, that is, in the stationary state immediately before measurement. The mounting direction detection unit 30 then supplies information on the detected mounting direction to the control processing unit 32.

[0036] The acquisition unit 31 acquires sensing information of the sensor 200. In the first embodiment, the acquisition unit 31 receives and acquires the sensing information from the sensor 200. However, the acquisition unit 31 is not limited to this, and may acquire the sensing information indirectly from an external computer (not shown) that stores the sensing information. The acquisition unit 31 supplies the acquired sensing information to the control processing unit 32.

[0037] The control processing unit 32 controls the sensor 200 and each component of the operational state monitoring device 3. The control processing unit 32 also executes tagging processing to associate the attachment direction of the sensor 200 with sensing-related information for that attachment direction. The control processing unit 32 then outputs the sensing-related information after the tagging processing, which is associated with the attachment direction of the sensor 200, via the output unit. The control processing unit 32 may also store the sensing-related information after the tagging processing in the storage unit 34.

[0038] The display unit 33 is an example of an output unit, and is a display that displays sensing-related information supplied from the control processing unit 32. The display unit 33 displays an avatar based on a sensor attached to the user. The avatar is a character or 3D model that represents the user in a virtual space. The avatar performs the same movements as the user, and the user's movements can be confirmed from various angles by replaying or displaying in slow motion. In the first embodiment, the display unit 33 may be a touch panel configured together with an input unit (not shown). Note that the output unit may include, instead of or in addition to the display unit 33, an audio output unit that outputs sensing-related information by audio, a data output unit that outputs sensing-related information in a predetermined data format, or a transmission unit that transmits sensing-related information to an external server or the like.

[0039] The control processing unit 32 includes a determination unit that determines that the sensor is not ready when the displayed avatar deviates from the reference state when the user is in a reference state. FIG. 11 shows an example of an avatar display immediately after attaching the sensor 200 to the user. As shown in FIG. 11, the displayed avatar deviates from the reference state when the user is in a relaxed standing position and the avatar raises its right leg high. If the relative positional relationship of each body part of the displayed avatar, which moves in conjunction with the output of the sensor attached to the user, deviates from the reference state, for example, the limbs are twisted relative to the torso, the control processing unit 32 determines that the sensor is not ready. The sensor is not ready when the sensor is not ready, indicating that the sensor is not worn in the correct position or that recalibration is required. Therefore, a deviation from the reference state occurs when the sensor is misaligned by 180 degrees, for example. If the determination unit determines that the sensor is not ready, the control processing unit 32 notifies the user by voice, text display on the display unit, highlighting on the display unit, or the like.

[0040] The storage unit 34 is a storage medium that stores information necessary for various processes of the operating state monitoring device 3. The storage unit 34 may store the sensing-related information after tagging, but this is not essential when the output unit includes a transmission unit.

[0041] Next, an operational status monitoring method according to the first embodiment will be described using Fig. 5 with reference to Figs. 6 and 7 as appropriate. Fig. 5 is a flowchart showing an example of a processing procedure of the operational status monitoring device 3 according to the first embodiment. Fig. 6 is a diagram showing an example of a display screen of the display unit 33 according to the first embodiment before measurement starts. Fig. 7 is a diagram showing an example of a display screen of the display unit 33 according to the first embodiment when measurement ends.

[0042] 5 starts when a monitoring target action is selected by a user, an attachment position 20 is determined based on the monitoring target action, and the sensor 200 is attached to the attachment position 20 corresponding to the monitoring target action. In the following example, the control processing unit 32 treats the sensing information as sensing-related information.

[0043] First, the attachment direction detection unit 30 of the motion state monitoring device 3 detects the attachment direction of the sensor 200 in response to the fact that the subject P and the sensor 2 are in a stationary state (step S11). After performing calibration, the sensor 200 determines whether the avatar displayed in the stationary state deviates from the reference state (step S11-1). If the avatar deviates from the reference state (YES in step S11-1), the control processing unit 30 notifies the user of improper sensor preparation by voice, text display on the display unit, or highlighting on the display unit (step S11-2). When notified, the user can reattach the sensor 200. Alternatively, the user may recalibrate the sensor 200. Next, the control processing unit 32 initializes the output value of the sensor 200 (step S12). Specifically, the control processing unit 32 corrects the output value of the sensor 200 in the stationary state immediately before measurement to 0. Even when calibration is performed, the sensor 200 cannot reduce output errors such as drift errors to zero, and the errors increase as time passes. Therefore, this step makes it possible to minimize the output error from the start to the end of measurement. However, if the output error is minor, this step may be omitted. Then, the control processing unit 32 determines whether or not to start measurement by the sensor 200 (step S13). If the control processing unit 32 determines to start measurement by the sensor 200 (Yes in step S13), the process proceeds to step S14; if not (No in step S13), the control processing unit 32 repeats the process shown in step S13.

[0044] 6 shows a display image 300(1) before the start of measurement, which is displayed on the display unit 33. The display image 300(1) includes a plurality of display areas 302-306. Display area 302 displays icon images representing multiple mounting positions 20 that are candidates for mounting sensor 200. The icon images may be the user's avatar. In display area 302, mounting positions 20 (positions indicated by "1," "2," "6," and "7" in this figure) corresponding to the selected measurement operation may be highlighted. This allows the user to easily visually identify the mounting positions 20, thereby enabling the exercise test to be carried out smoothly.

[0045] Here, when the user clicks on an icon image representing the mounting position 20 in the display area 302, an image (not shown) is displayed indicating the mounting direction of the sensor 200 associated with that mounting position 20. Therefore, the user can easily understand the mounting direction of each sensor 200 via this image.

[0046] The display area 304 two-dimensionally displays the rotation angles of the sensors 200-1, 2, ..., 11 associated with the respective attachment positions 20-1, 2, ..., 11. The rotation angles displayed here change dynamically in accordance with the movement of the sensors 200 linked to the movements of the subject P. Therefore, before starting measurement, the user can identify, via the display area 304, any sensors 200 that are turned off or not operating normally. Alternatively, the mounting direction of each sensor 200-1, 2, ..., 11 associated with each mounting position 20-1, 2, ..., 11 may be visually displayed in the display area 304. Therefore, the user can intuitively grasp the mounting direction of each sensor 200 via the display area 304.

[0047] When multiple sensors 200 are used in an exercise test, the display area 305 displays an input operation button for simultaneously calibrating the multiple sensors 200. This allows the user to easily request calibration for each of the multiple sensors 200 via the display area 305.

[0048] Display area 306 displays an input operation button for starting the exercise test, i.e., for starting measurement by sensor 200. This allows the user to easily request, via display area 306, that measurement by sensor 200 be started.

[0049] 5, the control processing unit 32 acquires sensing information from the sensor 200 via the acquisition unit 31. The control processing unit 32 uses the sensing information as sensing-related information and associates the sensing-related information with the attachment direction of the sensor 200 by tagging the sensing-related information with information on the attachment direction of the sensor 200 (step S15). The control processing unit 32 supplies the tagged sensing-related information to the display unit 33 to display it (step S16). The control processing unit 32 then determines whether or not to end measurement by the sensor 200 (step S17). If the measurement is to be ended (Yes in step S17), the control processing unit 32 ends the process. If not (No in step S17), the control processing unit 32 returns the process to step S14.

[0050] In the above example, the operational state monitoring device 3 waits for the processing of step S12 and then determines in step S13 whether or not to start measurement by the sensor 200. However, instead of this, the operational state monitoring device 3 may execute the processing of step S12 in response to determining to start measurement by the sensor 200 after the processing of step S11 (Yes in step S13). In this case, the control processing unit 32 may proceed with the processing to step S14 after executing the processing of step S12 or in parallel with the execution of said processing. Furthermore, if the operational state monitoring device 3 does not want to start measurement by the sensor 200 (No in step S13), it may repeat the processing shown in step S13.

[0051] In the above example, the operational status monitoring device 3 uses sensing information as the sensing-related information. However, instead of or in addition to this, sensing information that has undergone various conversion processes may be used. This conversion process may include conversion of quaternion information into rotation angles around the X, Y, and Z axes. SThe rotation angle around the axis indicates the roll angle, and the Y S The rotation angle around the axis indicates the pitch angle, and Z S The rotation angle around the axis indicates a yaw angle. The control processing unit 32 uses the quaternion information to calculate the rotation angles around the X, Y, and Z axes of the sensor coordinate system and convert them into yaw angles, roll angles, and pitch angles. This conversion process may include graph normalization, standardization, or synthesis. In this case, instead of or in addition to step S15, the control processing unit 32 may add information about the mounting direction of the sensor 200 as a tag to the sensing information after the conversion process, and associate the mounting direction with the sensing information after the conversion process.

[0052] 7 shows a display image 300(2) at the end of measurement displayed on the display unit 33. The display image 300(2) includes a plurality of display areas 302 to 312. The display areas 302 and 304 of the display image 300(2) are similar to the display areas 302 and 304 of the display image 300(1) shown in FIG.

[0053] The mounting direction of each used sensor 200 may be displayed near an icon image representing the mounting position 20 in the display area 302, or may be displayed in response to the user clicking on the icon image. This allows the user to intuitively understand the mounting direction of the used sensor 200.

[0054] Display area 308 displays an input operation button for ending the exercise test, i.e., for stopping measurement by sensor 200. This allows the user to easily request, via display area 308, that measurement by sensor 200 be stopped.

[0055] The display area 310 displays sensing-related information for each of the sensors 200 used. In this figure, X based on the outputs of some of the sensors 200-1 and 200-6 among the sensors 200-1, 2, 6, and 7 used is displayed. S ,Y S and Z SThe rotation angle around the axis is displayed in chronological order. Therefore, display area 310, together with display area 304, displays and outputs sensing-related information associated with the mounting direction of sensor 200 used, allowing the user to associate the mounting conditions with the measurement results. This allows the user to distinguish, analyze, evaluate, or use the measurement results for each mounting condition.

[0056] The display area 312 displays the motion status index of the target body part for each monitored motion that has been performed. The motion status index is an index that indicates the motion status of the target body part when the monitored motion is performed. The control processing unit 32 calculates the motion status index of the target body part based on the sensing-related information of the sensor 200. For example, if the monitored motion is "bending and stretching the right elbow," the sensing-related information of the sensors 200-1 and 2 at the attachment positions 20-1 and 2 is used. In this case, the control processing unit 32 may calculate the motion status index based on the difference between the sensing-related information of the sensors 200-1 and 2. Specifically, the control processing unit 32 calculates a three-dimensional rotation angle as the motion status index based on the difference between the quaternion information of the sensors 200-1 and 2. In this case, the rotation angles are calculated in the order of Z axis → Y axis → X axis, and the X axis is used. S ,Y S and Z S The rotation angle is converted into a rotation angle around the axis. The order in which the rotation angles are calculated may be determined in advance depending on the monitored action. In this figure, the display area 312 displays the time-series action status indicators for some of the monitored actions that have been performed.

[0057] As described above, according to the first embodiment, the operational status monitoring device 3 outputs the measurement results in association with the mounting direction of the sensor 200. Therefore, the operational status monitoring device 3 can appropriately manage the measurement results according to the mounting direction of the sensor 200, improving convenience. In addition, the operating status monitoring device 3 automatically detects the initial installation direction of the sensor 200, making it possible to suitably set the installation direction at the time of installation according to the preferences of the subject P or staff, making it easy to correlate with the measurement results.

[0058] <Embodiment 2> Next, a second embodiment of the present invention will be described. The second embodiment is characterized in that calculation processing is performed on the measurement results according to the installation direction. The training support system 1 according to the second embodiment has the same configuration and functions as the training support system 1 according to the first embodiment, and therefore a description thereof will be omitted.

[0059] The control processing unit 32 of the motion status monitoring device 3 of the training support system 1 performs arithmetic processing on the sensing information or sensing-related information according to the attachment direction. For example, when the sensing-related information changes depending on the attachment direction even when the target body part is moved in the same way during the same monitored motion, the arithmetic processing here may be arithmetic processing that cancels out or suppresses the influence of the attachment direction. In particular, the control processing unit 32 uses quaternion information to calculate the rotation angles around the X-axis, Y-axis, and Z-axis, and S Axis, Y S axis and Z S When converting to a rotation angle around an axis, four-dimensional vector data must be converted to three-dimensional data. In this calculation process, the order in which the rotation angles around each axis are calculated can cause the resulting rotation angles to differ, making it impossible to accurately compare the results. To mitigate this effect, it is preferable to determine the order in which the rotation angles are calculated in advance. Here, the preferred order in which the rotation angles are calculated depends on the mounting direction of the sensor 200, so it is effective to determine the calculation order according to the mounting direction of the sensor 200.

[0060] Therefore, in the second embodiment, the control processing unit 32 executes the arithmetic processing using the arithmetic processing table 320 that defines the arithmetic processing mode according to the mounting direction. Then, the control processing unit 32 causes the output unit to output the arithmetic processing result in association with the initial mounting direction of the sensor 200.

[0061] FIG. 8 is a diagram showing an example of the data structure of the arithmetic processing table 320 according to the second embodiment. As shown in this figure, the arithmetic processing table 320 is a table that associates the mounting angle θ1 with the calculation order of the rotation angle. For example, when the mounting angle θ1 is 0°, the arithmetic processing table 320 specifies that the rotation angle around each axis is calculated in the order of the X axis, Z axis, and Y axis. Furthermore, when the mounting angle θ1 is 90°, the arithmetic processing table 320 specifies that the rotation angle around each axis is calculated in the order of the Y axis, Z axis, and X axis. By referring to the arithmetic processing table 320, the control processing unit 32 can easily perform a preferred arithmetic processing according to the mounting direction.

[0062] The calculation processing table 320 determines the order in which the rotation angles are calculated depending on the mounting direction of the sensor 200. Alternatively, the calculation order of the rotation angles may be determined depending on the mounting direction and the target part or the monitored action. The calculation processing table 320 may also include calculation parameters used in the calculation processing instead of or in addition to the calculation order of the rotation angles. In this case, the calculation parameters may be constants determined according to the mounting angle θ1, or may include predetermined functions with the mounting direction θ1 as a variable.

[0063] As described above, according to the second embodiment, the control processing unit 32 can easily compare and use a plurality of measurement results regardless of the mounting direction of the sensor 200. Note that the second embodiment also provides the same effects as the first embodiment.

[0064] <Embodiment 3> Next, a third embodiment of the present invention will be described with reference to FIG. 9. The third embodiment is characterized in that the attachment direction of the sensor 200 is detected not only initially but also during the operation of the monitored object. The operational state monitoring device 3 according to the third embodiment has the same configuration as the operational state monitoring device 3 according to the first or second embodiment, and therefore a description thereof will be omitted. However, in the operational state monitoring device 3 according to the third embodiment, the attachment direction detection unit 30 detects the attachment direction of the sensor 200 during measurement in addition to the initial state. Then, in the operational state monitoring device 3 according to the third embodiment, in response to detecting an event in which the attachment direction changes during measurement of the sensor 200, the control processing unit 32 outputs post-event sensing-related information in association with the attachment direction after the event.

[0065] Fig. 9 is a flowchart showing an example of the processing procedure of the operational status monitoring device 3 according to the third embodiment. The steps shown in this figure include steps S20 to S21 in addition to the steps shown in Fig. 5. Note that steps similar to those shown in Fig. 5 are given the same reference numerals and their explanations will be omitted. Steps S11-1 and S11-2 are not shown, but may be included in Fig. 9.

[0066] In response to the display unit 33 displaying the sensing-related information in step S16, the attachment direction detection unit 30 determines whether an attachment direction change event has been detected (step S20). For example, an attachment direction change event is detected when the subject P intentionally changes the attachment direction while performing the monitored activity, or when the attachment direction of the sensor 200 unintentionally changes while performing the monitored activity. Specifically, the attachment direction detection unit 30 may determine that an attachment direction change event has been detected when the difference between the attachment direction before and after the event, i.e., the difference in the attachment angle θ1, is equal to or greater than a predetermined threshold. The attachment direction detection method may be the same as that used to detect the initial attachment direction. Alternatively, the attachment direction detection unit 30 may detect an attachment direction change event from a change in the sensing-related information over time. For example, the attachment direction detection unit 30 may determine that an attachment direction change event has been detected when a discontinuous change equal to or greater than a predetermined threshold is detected in the time-series information of the sensing-related information. Whether or not a change is discontinuous may be determined based on whether the difference between the sensing-related information before and after the event is greater than a predicted value by a predetermined threshold or more. If the attachment direction detection unit 30 determines that an attachment direction change event has been detected (Yes in step S20), the process proceeds to step S21; otherwise (No in step S20), the process proceeds to step S17.

[0067] In step S21, the control processing unit 32 updates the attachment direction of the sensor 200 associated with the sensing-related information to the attachment direction after the change event. Then, the control processing unit 32 advances the process to step S17.

[0068] As described above, according to the third embodiment, the operation status monitoring device 3 detects a change in the attachment direction of the sensor 200 during measurement, and outputs the changed attachment direction in association with the sensing-related information. Therefore, even if the attachment direction changes intentionally or unintentionally during the monitored operation, the operation status monitoring device 3 can manage the subsequent measurement results in association with the changed attachment direction. Note that the third embodiment also achieves the same effects as the first or second embodiment.

[0069] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention. For example, other embodiments are as follows.

[0070] <Another embodiment 1> In the first embodiment, the control processing unit 32 of the operational state monitoring device 3 outputs the sensing-related information in association with the mounting direction of the sensor 200 relative to the reference direction D. However, the control processing unit 32 may convert the relative mounting direction detected by the user into an absolute direction, and output the sensing-related information in association with the absolute direction instead of or in addition to the mounting direction.

[0071] For example, the control processing unit 32 may adjust the initial mounting direction θ1 of the detected sensor 200 to the initial reference directions D and Z shown in FIG. S By adding the angle θ0 between the axes, the initial measurement axes A and Z S The initial mounting angle θ1' between the sensor 200 and the axis can be calculated. The control processing unit 32 then outputs the initial mounting angle θ1' in association with the sensing-related information as information indicating the initial absolute orientation of the sensor 200. The absolute orientation of the sensor 200 during measurement can be calculated based on the initial absolute orientation of the sensor 200, the rotation angle of the sensor 200, which is the measurement result of the sensor 200, and the amount of change in the mounting angle during measurement. This allows the user to analyze the measurement results taking into account more detailed measurement conditions, improving the accuracy of the analysis.

[0072] <Another embodiment 2> In the second embodiment, the control processing unit 32 of the operational status monitoring device 3 performs arithmetic processing on the sensing information or sensing-related information according to the mounting direction. However, instead of or in addition to this, the control processing unit 32 may perform arithmetic processing on the sensing information or sensing-related information according to the absolute direction of the sensor 200 described above. In this case, the arithmetic processing table 320 may associate the mounting angle θ1' described in the second embodiment with calculation parameters for the arithmetic processing determined according to the mounting angle θ1'. This makes it easy for the control processing unit 32 to compare and use measurement results regardless of the orientation of the sensor 200.

[0073] In the above embodiment, the present invention has been described as being configured as hardware, but the present invention is not limited to this. The present invention can also be realized by having a processor execute a computer program, for example, an operating status monitoring program, to perform each process related to the operating status monitoring method.

[0074] In the above-described embodiment, the computer is configured as a computer system including a personal computer, a word processor, etc. However, the computer is not limited to this, and can also be configured as a LAN server, a computer (personal computer) communication host, a computer system connected to the Internet, etc. It is also possible to distribute functions to each device on the network and configure a computer as a whole network.

[0075] 10 is a schematic configuration diagram of a computer 1900 according to the above-described embodiment. The computer 1900 includes a processor 1010, a ROM 1020, a RAM 1030, an input device 1050, a display device 1100, a storage device 1200, a communication control device 1400, and an input / output I / F 1500, which are connected via a bus line such as a data bus.

[0076] The processor 1010 performs various controls and calculations in accordance with programs stored in various storage units such as the ROM 1020 and the storage device 1200. The processor 1010 may be a central processing unit (CPU), a graphics processing unit (GPU), a field-programmable gate array (FPGA), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or the like. The ROM 1020 is a read-only memory that stores in advance various programs and data for the processor 1010 to perform various controls and calculations.

[0077] The RAM 1030 is a random access memory used as a working memory by the processor 1010. In this RAM 1030, various areas can be reserved for performing the various processes according to the above-described embodiments.

[0078] The input device 1050 is an input device such as a keyboard, a mouse, or a touch panel that accepts input from a user.

[0079] The display device 1100 is a display that displays various screens under the control of the processor 1010. The display device 1100 may be a liquid crystal panel, an organic electroluminescence (EL) panel, an inorganic EL panel, or the like. The display device 1100 may be a touch panel that also serves as the input device 1050.

[0080] The storage device 1200 is a storage medium having a data storage unit 1210 and a program storage unit 1220. The program storage unit 1220 stores programs for implementing the various processes in the above-described embodiments. The data storage unit 1210 stores various data of the various databases according to the above-described embodiments. The storage medium of the storage device 1200 may be a non-transitory computer-readable medium. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, DVDs (Digital Versatile Discs), BDs (Blu-ray (registered trademark) Discs), and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The storage medium used in the storage device 1200 may also be various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply various programs to a computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path.

[0081] When the computer 1900 executes various processes, it loads the corresponding programs from the storage device 1200 into the RAM 1030 and executes them. However, the computer 1900 can also load the programs directly from an external storage medium into the RAM 1030 and execute them. Depending on the computer, various programs may be stored in the ROM 1020 in advance and executed by the processor 1010. Furthermore, the computer 1900 may download various programs and data from other storage media via the communication control device 1400 and execute them.

[0082] The communication control device 1400 is a control device for connecting the computer 1900 to other external computers via a network, and enables these external computers to access the computer 1900.

[0083] The input / output I / F1500 is an interface for connecting various input / output devices via parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0084] The order of execution of each process in the apparatus and method shown in the claims, specification, and drawings is not specifically stated as "before," "prior to," etc., and can be implemented in any order as long as the output of a previous process is not used in a subsequent process. Even if the operational flow in the claims, specification, and drawings is described using "first," "next," etc. for convenience, this does not mean that it is essential to implement the process in this order. [Explanation of symbols]

[0085] 1 Training support system 2. Measuring Instruments 3 Operational status monitoring device (operational status monitoring system) 20 Mounting position 30 Mounting direction detection unit 31 Acquisition Department 32 Control processing section 33 Display section 34 Storage section 200 sensors 201 Mounting Pad 202 bands 300 display images 302,304,305,306,308,310,312 Display area 320 Calculation Processing Table 1010 processor 1020 ROM 1030 RAM 1050 Input Device 1100 Display device 1200 storage device 1210 Data storage unit 1220 Program Storage Unit 1400 Communication Control Device 1500 Input / Output Interface 1900 Computer P subjects

Claims

1. a sensor attached to a user to detect a movement of the user; a display unit that displays an avatar that moves in conjunction with the output of the sensor; A motion detection system comprising: a determination unit that determines that the sensor is not properly prepared when the displayed avatar deviates from the reference state when the user is in a reference state.

2. The motion detection system according to claim 1 , wherein the determination unit makes the determination after calibrating the sensor.

3. The motion detection system of claim 1 , wherein the defect is that the sensor is misaligned or requires recalibration.

4. The motion detection system according to claim 1 , wherein when the determination unit determines that the sensor is not properly prepared, the determination unit notifies the user by voice, by displaying text on the display unit, or by highlighting the text on the display unit.

5. a sensor attached to a user to detect a movement of the user; a display unit displays an avatar that moves in conjunction with the output of the sensor; A motion detection method, wherein when the user is in a reference state and the displayed avatar deviates from the reference state, a determination unit determines that the sensor is not properly prepared.

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