Pose estimation system and pose estimation method

Abstract

The system continues to estimate the user's posture even after they have moved through the hierarchy. [Solution] The posture estimation device 4 includes a user-side atmospheric pressure value acquisition unit 10 that acquires the user-side atmospheric pressure value output by a wearable sensor 2 attached to the torso B of user P, a reference-side atmospheric pressure value acquisition unit 11 that acquires the reference-side atmospheric pressure value output by a reference-side atmospheric pressure sensor 3 installed in a medical institution M, and a posture estimation unit 12 that estimates the posture of user P based on the atmospheric pressure difference Δp between the user-side atmospheric pressure value and the reference-side atmospheric pressure value. When the posture estimation device 4 detects that user P has moved between floors within the medical institution M, it estimates that the initial posture of user P after moving between floors is the same as the final posture of user P before moving between floors.

Description

[Technical Field]

[0001] The present invention relates to a posture estimation system and a posture estimation method. [Background Art]

[0002] Patent Document 1 discloses a technique in which a user wears an atmospheric pressure sensor to estimate the posture of the user and detect that the user is ascending or descending stairs or the like. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2020-137801 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In Patent Document 1, it is not possible to estimate the posture of the user after the user has moved between floors.

[0005] An object of the present disclosure is to provide a technique for continuously estimating the posture of a user even after the user has moved between floors. [Means for Solving the Problem]

[0006] The system includes a user-side pressure value acquisition means for acquiring a user-side pressure value output by a user-side pressure detector attached to the user; a reference-side pressure value acquisition means for acquiring a reference-side pressure value output by a reference-side pressure detector installed in a multi-story building; and a posture estimation means for estimating the user's posture based on the pressure difference between the user-side pressure value and the reference-side pressure value. The posture estimation means, when it detects that the user has moved between floors within the multi-story building, estimates that the user's initial posture after moving between floors is the same as the user's final posture before moving between floors. With this configuration, the user's posture can continue to be estimated even after the user has moved between floors.

[0007] The posture estimation means may estimate the user's next posture after the hierarchical movement based on the user's initial posture after the hierarchical movement and the fluctuation in the pressure difference after the hierarchical movement. With the above configuration, the user's next posture after the hierarchical movement can be estimated.

[0008] If the posture estimation means cannot estimate the user's next posture after the hierarchical movement, it may correct the user's first posture after the hierarchical movement to a posture different from the user's last posture before the hierarchical movement. With the above configuration, the estimation of the user's first posture after the hierarchical movement can be corrected.

[0009] If the posture estimation means cannot estimate the user's next posture after the hierarchical movement, it may correct the user's initial posture after the hierarchical movement so that it is consistent with the fluctuations in the pressure difference after the hierarchical movement. With the above configuration, the estimation of the user's initial posture after the hierarchical movement can be corrected.

[0010] A posture estimation method is provided in which a computer acquires a user-side atmospheric pressure value output by a user-side atmospheric pressure detector attached to the user, acquires a reference-side atmospheric pressure value output by a reference-side atmospheric pressure detector installed in a multi-story building, and estimates the user's posture based on the atmospheric pressure difference between the user-side atmospheric pressure value and the reference-side atmospheric pressure value, wherein the estimation, when it is detected that the user has moved between floors within the multi-story building, estimates that the user's initial posture after moving between floors is the same as the user's final posture before moving between floors. With the above method, the user's posture can continue to be estimated even after the user has moved between floors. [Effects of the Invention]

[0011] According to this disclosure, it is possible to continue to estimate the user's posture even after they have moved through a hierarchy. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic diagram of the posture estimation system. [Figure 2] This is a graph showing the difference in atmospheric pressure. [Figure 3] This is a functional block diagram of the posture estimation device. [Figure 4] This is the control flow for the attitude estimation device. [Figure 5] This is the control flow for the attitude estimation device. [Figure 6] This is the control flow for the attitude estimation device. [Figure 7] This is the control flow for the attitude estimation device. [Modes for carrying out the invention]

[0013] The present invention will be described below through embodiments of the invention, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0014] In the following embodiments, the description will be divided into multiple sections or embodiments where necessary for convenience. Unless otherwise specified, these are not unrelated, and one may be a modification, application, detailed explanation, or supplementary explanation of part or all of the other. Furthermore, in the following embodiments, when referring to the number of elements (including number, numerical value, quantity, and range), unless otherwise specified or clearly limited to a specific number in principle, it is not limited to that specific number, and may be greater than or less than that number.

[0015] Furthermore, in the following embodiments, the components (including operation steps, etc.) are not necessarily essential unless specifically stated or considered to be fundamentally essential. Similarly, in the following embodiments, when referring to the shape or positional relationship of components, etc., it shall include those substantially similar to or resembling their shape, etc., unless specifically stated or considered to be fundamentally different. The same applies to the numbers, etc. (including number, numerical value, quantity, and range) mentioned above.

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to FIGS. 1 to 7. FIG. 1 shows a schematic diagram of a posture estimation system 1. As shown in FIG. 1, the posture estimation system 1 includes a wearable sensor 2 attached to a trunk B of a user P, a reference-side atmospheric pressure sensor 3 installed in a medical institution M, and a posture estimation device 4 (posture estimation system). The posture estimation device 4 estimates the posture of the user P based on the atmospheric pressure difference between a user-side atmospheric pressure value output from the wearable sensor 2 and a reference-side atmospheric pressure value output from the reference-side atmospheric pressure sensor 3. The wearable sensor 2 is a specific example of a user-side atmospheric pressure detector. The reference-side atmospheric pressure sensor 3 is a specific example of a reference-side atmospheric pressure detector. The medical institution M is a specific example of a multi-story building. A multi-story building is a building having a plurality of floors vertically. The multi-story building is not limited to the medical institution M, and may be, for example, an office building or a high-rise apartment building. The wearable sensor 2 and the reference-side atmospheric pressure sensor 3 are typically configured to be capable of two-way communication with the posture estimation device 4 via short-range wireless communication technologies such as Bluetooth (registered trademark), NFC (Near Field Communication), and Wi-Fi (Wireless Fidelity: registered trademark).

[0017] In the present embodiment, the medical institution M is a multi-story building having five floors from the 1st floor to the 5th floor. As one example, the posture estimation device 4 is installed on the 2nd floor. However, the present disclosure is not limited thereto, and the posture estimation device 4 may be installed on another floor, or may be installed on the roof of the medical institution M or outside the medical institution M.

[0018] In the present embodiment, a chair C1 and a chair C5 are respectively installed on the 1st floor and the 5th floor of the medical institution M. The reference-side atmospheric pressure sensor 3 is installed on the chair C1 near the floor F1 of the 1st floor of the medical institution M. However, the present disclosure is not limited thereto, and the reference-side atmospheric pressure sensor 3 may be directly installed on the floor F1 of the 1st floor of the medical institution M, may be installed on a wall of the 1st floor, or may be installed on furniture such as a bed or a shelf provided on the 1st floor. Further, instead of being installed on the 1st floor of the medical institution M, the reference-side atmospheric pressure sensor 3 may be installed on the 2nd floor, the 3rd floor, or another floor.

[0019] FIG. 1 shows, as an example, an operation in which a user P sitting on a chair C1 on the first floor stands up, goes up to the fifth floor by elevator E, and sits down on a chair C5 on the fifth floor. A user P sitting on the chair C1 on the first floor is indicated as user P1, a user P who has stood up from the chair C1 is indicated as user P2, and a user P moving between floors from the first floor to the fifth floor by elevator E is indicated as user P3. Similarly, a user P who has got off the elevator E is indicated as user P4, and a user P who has sat down on the chair C5 on the fifth floor is indicated as user P5. Users P1 to P5 are the same person.

[0020] FIG. 2 shows the atmospheric pressure difference Δp between a user-side atmospheric pressure value and a reference-side atmospheric pressure value when the user P moves as shown in FIG. 1. In FIG. 2, the horizontal axis represents time, and the vertical axis represents the atmospheric pressure difference Δp. In the present embodiment, as an example, the atmospheric pressure difference Δp is obtained by subtracting the user-side atmospheric pressure value from the reference-side atmospheric pressure value. As shown in FIG. 1, since the reference-side atmospheric pressure sensor 3 is installed near the floor F1 on the first floor, when the user P stands up from a seated state on the chair C1, the atmospheric pressure difference Δp increases. Further, when the user P assumes a recumbent posture on the floor F1, the atmospheric pressure difference Δp becomes substantially zero. As described above, when the posture of the user P changes, the atmospheric pressure difference Δp fluctuates, so the posture of the user P can be estimated based on the atmospheric pressure difference Δp. Hereinafter, the relationship between a change in the posture of the user P and a fluctuation in the atmospheric pressure difference Δp will be specifically described with reference to FIG. 2.

[0021] In FIG. 2, from time t0 to time t1, the user P is in a seated posture sitting on the chair C1 on the first floor. At this time, the atmospheric pressure difference Δp is an atmospheric pressure difference Δp1. The posture estimation device 4 estimates that the posture of the user P from time t0 to time t1 is a seated posture, on the ground that the atmospheric pressure difference Δp1 is larger than a recumbent-seated threshold value Th1 and smaller than a seated-standing threshold value Th2.

[0022] Between time t1 and time t2, user P stands up from chair C1 on the first floor, and between time t2 and time t3, user P is in a standing position on the first floor. At this time, the pressure difference Δp becomes pressure difference Δp2. The posture estimation device 4 estimates that user P's posture between time t2 and time t3 is standing because the pressure difference Δp2 is greater than the sitting-to-standing threshold Th2.

[0023] By the way, the above posture estimation assumes that user P does not move between floors. That is, if user P moves between floors, the pressure difference Δp changes significantly from pressure difference Δp2 to pressure difference Δp3, as shown from time t3 to time t4 in Figure 2, so there is a problem in that it becomes impossible to estimate user P's posture after moving between floors. This is because, regardless of what posture user P takes after moving between floors, the pressure difference Δp will be greater than the sitting-standing threshold Th2, so user P's posture will always be estimated as standing.

[0024] Therefore, in this embodiment, when the posture estimation device 4 detects that user P has moved between floors within the medical institution M, it estimates that user P's initial posture after moving between floors is the same as user P's final posture before moving between floors. Then, the posture estimation device 4 continues to estimate user P's posture based on user P's initial posture after moving between floors and the change in the pressure difference Δp after moving between floors.

[0025] The posture estimation device 4 detects the user P's hierarchical movement within the medical facility M when the fluctuation range ΔΔp23 of the pressure difference Δp exceeds a predetermined value, as seen from time t3 to time t4. The posture estimation device 4 then estimates that if user P's final posture before hierarchical movement at time t3 was standing, then user P's initial posture after hierarchical movement at time t4 will also be standing. This is because it can be assumed that user P's posture when getting on and off elevator E is the same.

[0026] Then, the posture estimation device 4 estimates the next posture of user P after moving to the next floor, based on the magnitude of the change in pressure difference Δp between time t5 and time t6, ΔΔp34, if the initial posture of user P after moving to the next floor is standing, and the pressure difference Δp changes from pressure difference Δp3 to pressure difference Δp4 between time t5 and time t6.

[0027] Next, the functional block diagram of the attitude estimation device 4 described above will be explained with reference to Figure 3. Figure 3 shows the functional block diagram of the attitude estimation device 4. As shown in Figure 3, the attitude estimation device 4 includes a processor 4a, memory 4b, communication interface 4c, input interface 4d, and LCD 4e (Liquid Crystal Display). The processor 4a has access to memory 4b. The processor 4a communicates with the wearable sensor 2 and the reference barometric pressure sensor 3 via the communication interface 4c. The processor 4a reads and executes the program stored in memory 4b. In this way, the processor 4a makes the hardware such as the processor 4a, memory 4b, and communication interface 4c function as the user-side barometric pressure value acquisition unit 10, the reference-side barometric pressure value acquisition unit 11, the attitude estimation unit 12, and the judgment result output unit 13. The attitude estimation device 4 may consist of a single device or may be realized by distributed processing using multiple devices.

[0028] The user-side atmospheric pressure value acquisition unit 10 acquires the user-side atmospheric pressure value from the wearable sensor 2. The user-side atmospheric pressure value acquisition unit 10 is a specific example of a means for acquiring the user-side atmospheric pressure value.

[0029] The reference-side pressure value acquisition unit 11 acquires the reference-side pressure value from the reference-side pressure sensor 3. The reference-side pressure value acquisition unit 11 is one specific example of a reference-side pressure value acquisition means.

[0030] The posture estimation unit 12 estimates the user P's posture based on the pressure difference Δp between the user's pressure value and the reference pressure value. The posture estimation unit 12 is one specific example of a posture estimation means.

[0031] The judgment result output unit 13 stores the estimation result of the attitude estimation unit 12 in the memory 4b or outputs it to the LCD 4e.

[0032] Next, the operation flow of the attitude estimation device 4 will be explained with reference to Figure 4. Figure 4 shows the operation flow of the attitude estimation device 4.

[0033] First, the user-side pressure value acquisition unit 10 acquires the user-side pressure value from the wearable sensor 2 (S100). Next, the reference-side pressure value acquisition unit 11 acquires the reference-side pressure value from the reference-side pressure sensor 3 (S110). Next, the posture estimation unit 12 calculates the pressure difference Δp between the user-side pressure value and the reference-side pressure value (S120). Next, the posture estimation unit 12 determines whether user P has moved to a different level based on the fluctuation range ΔΔp of the pressure difference Δp (S130). If the posture estimation unit 12 does not detect hierarchical movement of user P (S130: NO), it estimates user P's posture based on the pressure difference Δp (S140). Then, the determination result output unit 13 stores the estimation result of the posture estimation unit 12 in the memory 4b or outputs it to the LCD 4e (S150), and returns the process to step S100.

[0034] On the other hand, if the posture estimation unit 12 detects that user P has moved to a different level (S130: YES), it estimates the initial posture of user P after the level change (S160). Specifically, as described above, the posture estimation unit 12 estimates that the initial posture of user P after the level change is the same as the final posture of user P after the level change. Then, the posture estimation unit 12 proceeds to step S150.

[0035] Next, with reference to Figures 5 to 7, the operation flow of the attitude estimation device 4 after hierarchical movement will be explained in more detail.

[0036] As described above, the posture estimation unit 12 estimates the next posture of user P after moving between floors based on the initial posture of user P after moving between floors and the change in the pressure difference Δp after moving between floors. The posture estimation unit 12 continues to estimate the posture of user P after moving between floors based on the initial posture of user P after moving between floors and the change in the pressure difference Δp after moving between floors. However, the above estimation relies on the tendency for user P's posture when getting on and off the elevator E to be the same when getting on and off the elevator E. If user P's posture when getting on and off the elevator E is different when getting on and off the elevator E, it may not be possible to estimate the next posture of user P after moving between floors. For example, if user P's last posture before moving between floors was standing, and the pressure difference Δp increases due to moving between floors, and the pressure difference Δp increases further after moving between floors, user P's posture will no longer fall within the options of standing, sitting, or lying down. Therefore, if the posture estimation unit 12 cannot estimate the next posture of user P after the hierarchical movement, it corrects the first posture of user P after the hierarchical movement to a posture different from the last posture of user P before the hierarchical movement. More specifically, if the posture estimation unit 12 cannot estimate the next posture of user P after the hierarchical movement, it corrects the first posture of user P after the hierarchical movement so that it is consistent with the fluctuation of the pressure difference Δp after the hierarchical movement. Below, with reference to Figures 5 to 7, specific examples of correction by the posture estimation unit 12 will be explained, divided into cases according to the first posture of user P after the hierarchical movement. Note that in Figures 5 to 7, "first" is written as "first".

[0037] (Assuming user P's first posture after hierarchical transition is standing) Figure 5 shows the operation flow of the posture estimation device 4 when the first posture of user P after moving between floors is standing. As shown in Figure 5, when the pressure difference Δp decreases after moving between floors, the posture estimation unit 12 estimates that the second posture of user P after moving between floors is sitting, since the first posture of user P after moving between floors is standing and the change in the pressure difference Δp after moving between floors has decreased (S200). Subsequently, when the pressure difference Δp decreases further, the posture estimation unit 12 estimates that the third posture of user P after moving between floors is lying down, since the second posture of user P after moving between floors is sitting and the change in the pressure difference Δp after moving between floors has decreased (S210).

[0038] In contrast, if the pressure difference Δp increases after the floor change, the posture estimation unit 12 cannot estimate the second posture of user P after the floor change. This is because, if user P's first posture is standing, the pressure difference Δp cannot increase except by user P ascending using the elevator E. In other words, an increase in the pressure difference Δp after the floor change suggests that user P's first posture after the floor change was not standing. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be different from user P's last posture before the floor change (S300). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be sitting and estimates user P's second posture after the floor change to be standing. This ensures consistency between user P's first and second postures after the floor change and the fluctuation of the pressure difference Δp after the floor change.

[0039] If the pressure difference Δp increases further after step S300, the posture estimation unit 12 cannot estimate the third posture of user P after the floor change. This is because, if user P's second posture is standing, the pressure difference Δp cannot increase except by user P ascending using elevator E. In other words, an increase in the pressure difference Δp after the floor change suggests that user P's second posture after the floor change was not standing. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be consistent with the change in pressure difference Δp after the floor change (S310). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be lying down, corrects user P's second posture after the floor change to be sitting, and estimates user P's third posture after the floor change to be standing. This ensures that the first, second, and third attitudes of user P after the hierarchical transition are consistent with the change in pressure difference Δp after the hierarchical transition.

[0040] (Assuming user P's initial posture after navigating the hierarchy is seated) Figure 6 shows the operation flow of the posture estimation device 4 when the first posture of user P after moving between floors is a seated position. As shown in Figure 6, when the pressure difference Δp decreases after moving between floors, the posture estimation unit 12 estimates that the second posture of user P after moving between floors is a supine position, since the first posture of user P after moving between floors is a seated position and the change in the pressure difference Δp after moving between floors has decreased (S400).

[0041] If the pressure difference Δp decreases further afterward, the posture estimation unit 12 cannot estimate the third posture of user P after the floor change. This is because, if user P's second posture is lying down, the pressure difference Δp cannot decrease except by user P descending using the elevator E. In other words, the further decrease in the pressure difference Δp after the floor change suggests that user P's first posture after the floor change was not sitting. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be different from user P's last posture before the floor change (S410). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be standing, corrects user P's second posture after the floor change to be sitting, and estimates user P's third posture after the floor change to be lying down. This ensures that the first, second, and third attitudes of user P after the hierarchical transition are consistent with the change in pressure difference Δp after the hierarchical transition.

[0042] As shown in Figure 6, if the pressure difference Δp increases after moving between floors, the posture estimation unit 12 estimates that the first posture of user P after moving between floors is sitting, and that the change in the pressure difference Δp after moving between floors is increasing, therefore the second posture of user P after moving between floors is standing (S500).

[0043] If the pressure difference Δp increases further afterward, the posture estimation unit 12 cannot estimate the third posture of user P after the floor change. This is because, if user P's second posture is standing, the pressure difference Δp cannot increase except by user P ascending using the elevator E. In other words, the further increase in the pressure difference Δp after the floor change suggests that user P's first posture after the floor change was not sitting. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be different from user P's last posture before the floor change (S510). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be lying down, corrects user P's second posture after the floor change to be sitting, and estimates user P's third posture after the floor change to be standing. This ensures that the first, second, and third attitudes of user P after the hierarchical transition are consistent with the change in pressure difference Δp after the hierarchical transition.

[0044] (If user P's initial posture after hierarchical transition is supine) Figure 7 shows the operation flow of the posture estimation device 4 when the first posture of user P after moving between floors is supine. As shown in Figure 7, if the pressure difference Δp increases after moving between floors, the posture estimation unit 12 estimates that the second posture of user P after moving between floors is sitting, since the first posture of user P after moving between floors is supine and the change in pressure difference Δp after moving between floors is increasing (S600). Subsequently, if the pressure difference Δp increases further, the posture estimation unit 12 estimates that the third posture of user P after moving between floors is standing, since the second posture of user P after moving between floors is sitting and the change in pressure difference Δp after moving between floors is increasing (S610).

[0045] In contrast, if the pressure difference Δp decreases after the floor change, the posture estimation unit 12 cannot estimate the second posture of user P after the floor change. This is because, if user P's first posture is lying down, the pressure difference Δp cannot decrease except by user P descending using the elevator E. In other words, a decrease in the pressure difference Δp after the floor change suggests that user P's first posture after the floor change was not lying down. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be different from user P's last posture before the floor change (S700). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be sitting and estimates user P's second posture after the floor change to be lying down. This ensures consistency between user P's first and second postures after the floor change and the fluctuation of the pressure difference Δp after the floor change.

[0046] If the pressure difference Δp decreases further after step S700, the posture estimation unit 12 cannot estimate the third posture of user P after the floor change. This is because, if user P's second posture is lying down, the pressure difference Δp cannot decrease except by user P descending using the elevator E. In other words, a decrease in the pressure difference Δp after the floor change suggests that user P's second posture after the floor change was not lying down. Therefore, the posture estimation unit 12 considers the estimation of user P's first posture after the floor change to be incorrect and corrects user P's first posture after the floor change to be consistent with the change in pressure difference Δp after the floor change (S710). As an example, the posture estimation unit 12 corrects user P's first posture after the floor change to be standing, corrects user P's second posture after the floor change to be sitting, and estimates user P's third posture after the floor change to be lying down. This ensures that the first, second, and third attitudes of user P after the hierarchical transition are consistent with the change in pressure difference Δp after the hierarchical transition.

[0047] The embodiments of this disclosure have been described above. The above embodiments have the following features.

[0048] The posture estimation device 4 (posture estimation system) includes a user-side pressure value acquisition unit 10 (user-side pressure value acquisition means) that acquires the user-side pressure value output by a wearable sensor 2 (user-side pressure detector) attached to user P, a reference-side pressure value acquisition unit 11 (reference-side pressure value acquisition means) that acquires the reference-side pressure value output by a reference-side pressure sensor 3 (reference-side pressure detector) installed in a medical institution M (multi-story building), and a posture estimation unit 12 (posture estimation means) that estimates the posture of user P based on the pressure difference Δp between the user-side pressure value and the reference-side pressure value. When the posture estimation unit 12 detects that user P has moved between floors within the medical institution M, it estimates that user P's initial posture after moving between floors is the same as user P's final posture before moving between floors. With the above configuration, even after user P has moved between floors, the posture of user P can continue to be estimated.

[0049] Furthermore, the posture estimation unit 12 estimates the next posture of user P after the hierarchical movement based on the user P's initial posture after the hierarchical movement and the change in the pressure difference Δp after the hierarchical movement. With the above configuration, the next posture of user P after the hierarchical movement can be estimated.

[0050] Furthermore, if the posture estimation unit 12 cannot estimate the next posture of user P after the hierarchical movement, it corrects the initial posture of user P after the hierarchical movement to a posture different from the final posture of user P before the hierarchical movement. In other words, the posture estimation unit 12 corrects the initial posture of user P after the hierarchical movement so that it is consistent with the fluctuation of the pressure difference Δp after the hierarchical movement. With the above configuration, the estimation of the initial posture of user P after the hierarchical movement can be corrected.

[0051] The present invention has been described above, but it is not limited thereto. Various modifications to the structure and details of the present invention can be made that are understandable to those skilled in the art within the scope of the invention.

[0052] In the above embodiment, the wearable sensor 2 is attached to the torso B of user P. The posture estimation device 4 estimates user P's posture based on the pressure difference Δp between the user-side pressure value output by the wearable sensor 2 and the reference-side pressure value output by the reference-side pressure sensor 3. Here, the attachment position of the wearable sensor 2 is not limited to the torso B. The wearable sensor 2 may be attached to any part of user P, provided that the pressure difference Δp changes in accordance with changes in user P's posture. For example, the attachment position of the wearable sensor 2 may be the user P's head, shoulder, or thigh.

[0053] In the above example, the program can be stored and supplied to the computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives) and magneto-optical storage media (e.g., magneto-optical disks). Examples of non-transitory computer-readable medium further include CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM; examples of non-transitory computer-readable medium further include PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)). Alternatively, the program may be supplied to the computer by various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can supply programs to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels. [Explanation of Symbols]

[0054] 1. Pose Estimation System 2 Wearable Sensors 3. Reference side pressure sensor 4 Posture estimation device 10. User-side pressure value acquisition unit 11. Reference side pressure value acquisition unit 12 Posture estimation section 13. Output section for judgment results P User B. Core M Medical Institution Δp pressure difference

Claims

1. A means for acquiring user-side atmospheric pressure values ​​that acquires user-side atmospheric pressure values ​​output by a user-side atmospheric pressure detector attached to the user, A means for acquiring a reference side pressure value that acquires a reference side pressure value output by a reference side pressure detector installed in a multi-story building, A posture estimation means for estimating the user's posture based on the pressure difference between the user's pressure value and the reference pressure value, Includes, When the posture estimation means detects that the user has moved between floors within the multi-story building, it estimates that the user's initial posture after moving between floors is the same as the user's final posture before moving between floors. Pose estimation system.

2. A posture estimation system according to claim 1, The posture estimation means is The user's initial posture after the aforementioned hierarchical movement, The fluctuation in the pressure difference after the aforementioned floor transition, Based on, To estimate the user's next posture after the aforementioned hierarchical movement, Pose estimation system.

3. A posture estimation system according to claim 2, The posture estimation means is If the next posture of the user after the aforementioned hierarchical movement cannot be estimated, The initial posture of the user after the hierarchy transition is corrected to be different from the user's final posture before the hierarchy transition. Pose estimation system.

4. A posture estimation system according to claim 2, The posture estimation means is If the next posture of the user after the aforementioned hierarchical movement cannot be estimated, The initial posture of the user after the hierarchical transition is corrected so that it is consistent with the fluctuations in the pressure difference after the hierarchical transition. Pose estimation system.

5. Computers This involves acquiring the user-side atmospheric pressure value output by a user-side pressure detector attached to the user, To acquire the reference pressure value output by a reference pressure detector installed in a multi-story building, Based on the pressure difference between the user's pressure value and the reference pressure value, the user's posture is estimated. Includes, The above estimation means that, if it is detected that the user has moved between floors within the multi-story building, it is estimated that the user's initial posture after moving between floors is the same as the user's final posture before moving between floors. Pose estimation method.

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