Walking information generation device, walking information generation method, and program

Abstract

To provide a walking formation generation device, etc. capable of generating walking information on a walking movement route per walking cycle of each of the two feet.SOLUTION: A walking information generation device includes: an acquisition unit for acquiring walking data including time-series data on a foot position of an object person; a detection unit for detecting a starting point and an ending point of a walking cycle from the time-series data on the foot position included in the walking data; a calculation unit for calculating a first movement amount component on the starting point and a second movement amount component on the ending point; a walking information generation unit for generating walking information on the walking movement route of the object person using the calculated first movement amount component and second movement amount component; and an output unit for outputting the generated walking information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a walking information generation device that generates information related to walking and the like.

Background Art

[0002] With the increasing interest in healthcare, attention has been focused on services that provide information on features included in walking patterns. The features included in a walking pattern are also called walking postures. If the behavior during walking can be verified, management of a healthy walking posture can be achieved. In addition, information on the behavior during walking can be applied to assist medical diagnosis. For example, if the movement path (also called the walking movement path) for each walking cycle, which is the standard for walking, can be estimated, information necessary for diagnostic assistance can be selected according to the change in behavior during walking.

[0003] Patent Document 1 discloses a walking exercise device used for verifying walking exercise. The device of Patent Document 1 includes a lower limb exercise device, a pressure sensor, a storage unit, a comparison calculation unit, and a display unit. The pressure sensor is provided in the lower limb exercise device capable of walking in a bipedal standing posture. The pressure sensor measures the stepping force of both feet. The comparison calculation unit performs a center-of-gravity calculation during walking from the difference in the stepping force of both feet based on the measurement data stored in the storage unit. The display unit displays the center-of-gravity balance during walking based on the calculation result of the comparison calculation unit.

[0004] Patent Document 2 discloses a portable terminal for determining the direction of a pedestrian's movement. The portable terminal in Patent Document 2 comprises an acceleration sensor that outputs 3-axis acceleration data and a geomagnetic sensor that outputs 3-axis geomagnetic data. The portable terminal in Patent Document 2 derives a gravity vector in the direction of gravity from multiple acceleration vectors and selects a geomagnetic vector corresponding to the gravity vector. The portable terminal in Patent Document 2 calculates a coordinate system transformation matrix by combining rotation matrices for each spatial axis in order to transform the gravity vector and geomagnetic vector of the sensor coordinate system into the world coordinate system. The portable terminal in Patent Document 2 uses the coordinate system transformation matrix to transform the multiple acceleration vectors and geomagnetic vectors into the world coordinate system. The portable terminal in Patent Document 2 calculates the angle between an approximate straight line representing the orthogonal projection of the trajectory of the group of acceleration vectors mapped to the world coordinate system onto the Earth's surface and an axis representing the north direction as the direction angle. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2004-089355 [Patent Document 2] Patent No. 5072093 [Overview of the project] [Problems that the invention aims to solve]

[0006] The method described in Patent Document 1 derives the trajectory of the center of gravity balance during walking based on the difference in the force exerted by both feet. However, while the method in Patent Document 1 derives the trajectory of the center of gravity balance, it could not derive the walking movement path for each step cycle for each of the two feet.

[0007] The method described in Patent Document 2 uses 3-axis acceleration data and 3-axis geomagnetic data to determine the direction of a pedestrian's movement. However, while the method described in Patent Document 1 determines the direction of a pedestrian's movement, it could not derive the walking path for each step cycle for each of the two feet.

[0008] The purpose of this disclosure is to provide a walking information generation device, etc., that can generate walking information relating to the walking path for each step cycle for each of the two feet. [Means for solving the problem]

[0009] A walking information generation device according to one aspect of the present disclosure includes: an acquisition unit that acquires walking data including time-series data of the foot positions of a subject; a detection unit that detects the start and end points of a walking cycle from the time-series data of foot positions included in the walking data; a calculation unit that calculates a first movement component related to the start point and a second movement component related to the end point; a walking information generation unit that generates walking information relating to the walking path of a subject using the calculated first and second movement components; and an output unit that outputs the generated walking information.

[0010] In a walking information generation method according to one aspect of this disclosure, walking data including time-series data of the subject's foot position is acquired, the start and end points of the walking cycle are detected from the time-series data of foot position included in the walking data, a first movement component related to the start point and a second movement component related to the end point are calculated, walking information relating to the subject's walking path is generated using the calculated first and second movement components, and the generated walking information is output.

[0011] A program according to one aspect of this disclosure causes a computer to perform the following processes: acquiring walking data including time-series data of a subject's foot position; detecting the start and end points of a walking cycle from the time-series data of foot position included in the walking data; calculating a first movement component related to the start point and a second movement component related to the end point; generating walking information relating to the subject's walking path using the calculated first and second movement components; and outputting the generated walking information. [Effects of the Invention]

[0012] According to this disclosure, it becomes possible to provide a walking information generation device, etc., that can generate walking information relating to the walking path for each step cycle for each of the two feet. [Brief explanation of the drawing]

[0013] [Figure 1] This is a block diagram showing an example of the configuration of a pedestrian information generation device according to the first embodiment. [Figure 2] This is a conceptual diagram illustrating an example of a walking event in the first embodiment. [Figure 3] This is a conceptual diagram illustrating an example of a human body surface in the first embodiment. [Figure 4] This is a conceptual diagram showing an example of a walking path derived by the walking information generation device according to the first embodiment. [Figure 5] This is a conceptual diagram showing an example of how a walking path is derived by a walking information generation device according to the first embodiment. [Figure 6] This is a conceptual diagram showing another example of a walking movement path derived by the walking information generation device according to the first embodiment. [Figure 7] This is a conceptual diagram showing another example of how a walking path is derived by a walking information generation device according to the first embodiment. [Figure 8] This is a conceptual diagram showing an example of a walking abnormality detected by the walking information generation device according to the first embodiment. [Figure 9] This is a conceptual diagram illustrating an example of visual information generated by a walking information generation device according to the first embodiment. [Figure 10] This is a conceptual diagram illustrating an example of the arrangement of a measuring device that measures sensor data acquired by a walking information generation device according to the first embodiment. [Figure 11] This is a flowchart illustrating an example of the operation of a pedestrian information generation device according to the first embodiment. [Figure 12] This is a flowchart illustrating an example of the pedestrian information generation process by the pedestrian information generation device according to the first embodiment. [Figure 13] This flowchart illustrates another example of the pedestrian information generation process by the pedestrian information generation device according to the first embodiment. [Figure 14] This is a conceptual diagram illustrating Application Example 1 of the first embodiment. [Figure 15] This is a conceptual diagram illustrating Application Example 1 of the first embodiment. [Figure 16] This is a conceptual diagram illustrating Application Example 1 of the first embodiment. [Figure 17] This is a conceptual diagram illustrating Application Example 2 of the first embodiment. [Figure 18] This is a conceptual diagram illustrating Application Example 2 of the first embodiment. [Figure 19] This is a block diagram showing an example of the configuration of a pedestrian information generation device according to the second embodiment. [Figure 20] This block diagram shows an example of a hardware configuration for executing the processes according to each embodiment. [Modes for carrying out the invention]

[0014] The embodiments for carrying out the present invention will be described below with reference to the drawings. However, the embodiments described below have technically preferred limitations for carrying out the present invention, but the scope of the invention is not limited thereto. In all the figures used in the description of the embodiments below, the same parts are denoted by the same reference numerals unless there is a particular reason not to. Also, in the embodiments below, repeated explanations of similar configurations and operations may be omitted.

[0015] (First embodiment) First, the configuration of the walking information generation device according to the first embodiment will be described with reference to the drawings. The walking information generation device according to this embodiment acquires walking data measured according to the walking of the subject. The walking data includes time-series data of the center position of the foot (also called foot position). The walking information generation device according to this embodiment uses the walking data to generate walking information that includes the movement path for each walking cycle (also called walking movement path), which serves as a reference for walking.

[0016] (composition) Figure 1 is a block diagram showing the configuration of the walking information generation device 10 according to this embodiment. The walking information generation device 10 includes an acquisition unit 11, a detection unit 12, a calculation unit 13, a walking information generation unit 15, and an output unit 17. The acquisition unit 11, the detection unit 12, the calculation unit 13, the walking information generation unit 15, and the output unit 17 may be divided depending on the processing to be performed.

[0017] The acquisition unit 11 acquires the subject's walking data. The walking data includes data related to the subject's foot movements. Data related to foot movements is also called foot data. In this embodiment, the center position of the foot is called the foot position. The foot position may be offset from the center position of the foot, as long as it does not affect the verification of the walking path. The foot data is time-series data of the three-dimensional foot position. There are no particular limitations on the method of measuring the foot data.

[0018] For example, foot data is measured using motion capture. In motion capture, markers are placed on various parts of the subject's body. For example, markers are placed on parts including the feet. The subject is filmed with a camera while walking, and the foot position is measured according to the position of the markers in the captured image (video). Because motion capture allows for direct measurement of foot position, highly accurate foot data can be obtained.

[0019] For example, foot data is measured by analyzing images (videos) captured by a camera. Using software such as OpenPose, foot data can be measured by calculating the foot position based on the positions of bones and joints detected from the person in the image.

[0020] For example, foot data is measured using acceleration and angular velocity measured by inertial sensors attached to the feet. When using inertial sensors, the foot position can be calculated by integrating the acceleration and angular velocity. For example, foot data may also be measured using smart apparel equipped with inertial sensors on various parts of the body. For example, foot data is measured according to the foot position measured using inertial sensors installed in footwear.

[0021] For example, gait data includes time-series data of foot data for a predetermined gait section. For example, a predetermined gait section includes multiple gait cycles. A predetermined gait section may be a single gait cycle. In the following, the period from when the heel of the right foot lands until the heel of the right foot lands again is defined as one gait cycle of the right foot. Similarly, the period from when the heel of the left foot lands until the heel of the left foot lands again is defined as one gait cycle of the left foot. The event of the heel landing is called heel strike. Heel strike is one of several events (also called gait events) detected in a single gait cycle. The start and end points of a gait cycle may be set to the timing of gait events other than heel strike.

[0022] Figure 2 is a conceptual diagram illustrating gait events detected in a single gait cycle based on the right foot. The horizontal axis of Figure 2 represents the gait cycle normalized with one gait cycle of the right foot set as 100 percent (%). The point when the right heel touches the ground is defined as the starting point (0%), and the point when the right heel touches the ground again is defined as the ending point (100%). Each of the multiple timings included in one gait cycle is called a gait phase. One gait cycle of one foot is broadly divided into the stance phase, in which at least a portion of the sole of the foot is in contact with the ground, and the swing phase, in which the sole of the foot is off the ground. In the example in Figure 2, the gait cycle is normalized so that the stance phase accounts for 60% and the swing phase accounts for 40%. The stance phase is subdivided into early stance T1, mid-stance T2, late stance T3, and early swing T4. The swing phase is subdivided into early swing T5, mid-swing T6, and late swing T7. The gait waveform for one gait cycle does not necessarily have to start from the moment the heel touches the ground. For example, the starting point of the gait waveform for one gait cycle may be set to the middle of the stance phase.

[0023] Walking event E1 represents heel contact (HC), the beginning of a single step cycle. Heel contact occurs when the heel of the right foot, which was off the ground during the swing phase, lands on the ground. Walking event E2 represents opposite toe off (OTO). Opposite toe off occurs when the toes of the left foot leave the ground while the sole of the right foot remains in contact with the ground. Walking event E3 represents heel rise (HR). Heel rise occurs when the heel of the right foot lifts off the ground while the sole of the right foot remains in contact with the ground. Walking event E4 represents opposite heel strike (OHS). Opposite heel strike occurs when the heel of the left foot, which was off the ground during the swing phase of the left foot, lands on the ground. Walking event E5 represents toe-off (TO). Toe-off is the event where the toes of the right foot leave the ground while the sole of the left foot remains in contact with the ground. Walking event E6 represents foot-adjacent (FA). Foot-adjacent is the event where the left and right feet cross while the sole of the left foot remains in contact with the ground. Walking event E7 represents tibia vertical (TV). Tibia vertical is the event where the tibia of the right foot becomes nearly perpendicular to the ground while the sole of the left foot remains in contact with the ground. Walking event E8 represents heel strike (HS), the end of one walking cycle. Walking event E8 corresponds to the end of the walking cycle that began with walking event E1, and also to the beginning of the next walking cycle.

[0024] The detection unit 12 extracts foot data from the walking data. Foot data is time-series data of the spatial position of the foot. The detection unit 12 detects the start and end points of the walking cycle from the foot data. In this embodiment, the detection unit 12 sets the points of consecutive heel strikes as the start and end points for each walking cycle. The heel strike corresponding to the start point is called the first heel strike. The point of the first heel strike is called the first landing point. The heel strike corresponding to the end point is called the second heel strike. The point of the second heel strike is called the second landing point. The foot data includes the spatial foot position for one walking cycle, with the first heel strike as the start point and the second heel strike as the end point. For example, the foot data includes, with respect to a predetermined walking cycle, the foot position in the horizontal plane at the time of the first heel strike and the foot position in the horizontal plane at the time of the second heel strike. The horizontal plane is the surface that divides the body horizontally. If the ground is not sloped, the ground surface is parallel to the horizontal plane.

[0025] Figure 3 is a conceptual diagram illustrating the planes (also called the human body planes) set for the human body. In this embodiment, the sagittal plane divides the body into left and right halves, the coronal plane divides the body into front and back halves, and the horizontal plane divides the body horizontally. In this embodiment, the ground surface is defined as the horizontal plane. In this embodiment, rotation in the sagittal plane with the x-axis as the axis of rotation is defined as roll, rotation in the coronal plane with the y-axis as the axis of rotation is defined as pitch, and rotation in the horizontal plane with the z-axis as the axis of rotation is defined as yaw. Furthermore, the angle of rotation in the sagittal plane with the x-axis as the axis of rotation is defined as the roll angle, the angle of rotation in the coronal plane with the y-axis as the axis of rotation is defined as the pitch angle, and the angle of rotation in the horizontal plane with the z-axis as the axis of rotation is defined as the yaw angle. In this embodiment, with respect to the coronal plane, the right side is defined as positive for the right foot, and the left side is defined as positive for the left foot.

[0026] The calculation unit 13 calculates the foot movement component (also called the first movement component) at the time of the first heel strike (starting point). The calculation unit 13 also calculates the foot movement component (also called the second movement component) at the time of the second heel strike (ending point). In this embodiment, an example of calculating the foot movement component in the horizontal plane is given.

[0027] For example, the foot displacement component is a three-dimensional acceleration vector. When the foot displacement component is an acceleration vector, the first displacement component includes the direction and magnitude of the acceleration at the time of the first heel strike (starting point). When the foot displacement component is an acceleration vector, the second displacement component includes the direction and magnitude of the acceleration at the time of the second heel strike (starting point).

[0028] For example, the foot's displacement component is a three-dimensional velocity vector. When the foot's displacement component is a velocity vector, the first displacement component includes the direction and magnitude of the velocity at the time of the first heel strike (starting point). When the foot's displacement component is a velocity vector, the second displacement component includes the direction and magnitude of the acceleration at the time of the second heel strike (starting point).

[0029] The walking information generation unit 15 acquires a first movement component and a second movement component. The walking information generation unit 15 calculates a first auxiliary line that passes through the first landing point and is parallel to the first movement component. The walking information generation unit 15 also calculates a second auxiliary line that passes through the second landing point and is parallel to the second movement component. The walking information generation unit 15 calculates a walking path according to the relationship between the first auxiliary line and the second auxiliary line. For example, the walking information generation unit 15 calculates the position of the intersection point between the first auxiliary line and the second auxiliary line. The walking information generation unit 15 calculates a walking path according to the position of the intersection point between the first auxiliary line and the second auxiliary line.

[0030] Figure 4 is a conceptual diagram illustrating the walking path W when the walking path is a straight line. Figure 4 shows the walking path W with respect to the left foot. L And the walking path W related to the right foot R This is shown. Figure 4 also shows the subject's walking path L. Walking movement path W related to the left foot. L Regarding the walking path W, L The first auxiliary line A1 and the second auxiliary line A2 used in the derivation are shown. The first contact point H at the first heel strike of the left foot. L1 The first migration component v L1 This is shown by an arrow (vector). The first displacement component v L1A first auxiliary straight line A1 (broken line) is associated therewith. A second contact point H at the second heel contact of the left foot L2 is associated with a second movement amount component v L2 which is indicated by an arrow (vector). The second movement amount component v L2 is associated with a second auxiliary straight line A2 (dotted line).

[0031] As shown in FIG. 4, when the walking movement path is a straight line, the first auxiliary straight line A1 (broken line) and the second auxiliary straight line A2 (dotted line) are substantially parallel. In such a case, the walking information generation unit 15 derives a straight line connecting the first contact point H L and the second contact point H L1 as the walking movement path W. Similarly for the right foot as for the left foot, the walking information generation unit 15 derives the walking movement path W L2 R . FIG. 4 shows the first contact point H L1 , the second contact point H L2 , the first movement amount component v L1 , and the second movement amount component v L2 for the right foot. For the right foot, the auxiliary straight line used for deriving the walking movement path W R is omitted.

[0032] FIG. 5 is a conceptual diagram for explaining an example of determining that the walking movement path is a straight line. A first circle C1 centered on the first contact point H L1 and a second circle C2 centered on the second contact point H L2 overlap in a specific region S. When the walking movement path is a straight line, an intersection point P c of the first auxiliary straight line A1 (broken line) and the second auxiliary straight line A2 (dotted line) is located outside the specific region S. That is, when the intersection point P c of the first auxiliary straight line A1 (broken line) and the second auxiliary straight line A2 (dotted line) is located outside the specific region S, the walking movement path is a straight line.

[0033] FIG. 6 is a conceptual diagram for explaining the walking movement path W when the walking movement path is a curve. FIG. 6 shows the walking movement path W L for the left foot and the walking movement path W R ​This is shown. Figure 6 also shows the subject's walking path L. Walking movement path W related to the left foot. L Regarding the walking path W, L The first auxiliary line A1 and the second auxiliary line A2 used in the derivation are shown. The first contact point H at the first heel strike of the left foot. L1 The first migration component v L1 This is shown by an arrow (vector). The first displacement component v L1 The first auxiliary line A1 (dashed line) corresponds to this. The second contact point H at the second heel strike of the left foot. L2 The second migration component v L2 This is shown by an arrow (vector). The second displacement component v L2 The second auxiliary line A2 (dotted line) corresponds to this.

[0034] As shown in Figure 6, when the walking path is curved, the first auxiliary line A1 (dashed line) and the second auxiliary line A2 (dotted line) are not parallel. In such cases, the walking information generation unit 15 determines the first ground contact point H L1 , second ground point H L2 The curve passing through the intersection point is derived as the walking path. For example, the walking information generation unit 15 determines the first ground contact point H L1 , second ground point H L2 The curves, with the intersections as control points, are derived as walking paths. For example, the walking information generation unit 15 determines the first ground contact point H L1 , second ground point H L2 And, as curves with the intersection points as control points, Bézier curves and spline curves are derived. In this embodiment, the first grounding point H L1 , second ground point H L2 An example is given of deriving a Bézier curve with the intersection points as control points as a walking path. Similar to the left foot, the walking information generation unit 15 also derives the walking path W for the right foot. R The following is derived. Figure 6 shows the first contact point H of the right foot. L1 , second ground point H L2 , the first movement amount component v L1 , and the second migration component v L2 This is illustrated in the diagram. For the right foot, the walking path W R The auxiliary lines used in the derivation are omitted.

[0035] Figure 7 is a conceptual diagram illustrating an example of how to identify a curved walking path. First contact point H L1 The first circle C1 centered on and the second contact point H L2 The region where the second circle C2, centered at point A1, overlaps with the specific region S is the specific region S. If the walking path is curved, the intersection point P of the first auxiliary line A1 (dashed line) and the second auxiliary line A2 (dotted line) is the specific region S. c It lies within a specific region S. That is, the intersection point P of the first auxiliary line A1 (dashed line) and the second auxiliary line A2 (dotted line). c However, when located within a specific region S, the walking path is curved.

[0036] As described above, when determining a walking path according to a specific area S, the walking information generation unit 15 determines the intersection point P of the first auxiliary line and the second auxiliary line. c Calculate the position of the intersection point P of the first auxiliary line A1 (dashed line) and the second auxiliary line A2 (dotted line). c If the first ground contact point H is located outside the specific region S, the walking information generation unit 15 will determine the first ground contact point H L1 and the second contact point H L2 The straight line connecting these points is derived as the walking path W. The intersection point P of the first auxiliary line A1 (dashed line) and the second auxiliary line A2 (dotted line) is... c If the first ground contact point H is located within a specific region S, the walking information generation unit 15 will determine the first ground contact point H L1 , second ground point H L2 , and intersection P c A Bézier curve with control points is derived as the walking path.

[0037] For example, the walking information generation unit 15 determines the first ground contact point H regardless of the position of the intersection of the first auxiliary line and the second auxiliary line. L1 , second ground point H L2 A Bézier curve with the intersection of the first auxiliary line and the second auxiliary line as control points may be derived as the walking path. In this case, if the walking path is a straight line, it is not possible to derive an accurate walking path. Therefore, as described above, it is better to switch the method of deriving the walking path depending on the position of the intersection of the first auxiliary line and the second auxiliary line.

[0038] Figure 8 is a conceptual diagram illustrating the identification of the walking path when an abnormality occurs during walking. The first contact point H is the first heel strike of the left foot. L1 The first migration component v L1 This is shown by an arrow (vector). The first displacement component v L1 The first auxiliary line A1 (dashed line) corresponds to this. The second contact point H at the second heel strike of the left foot. L2 The second migration component v L2 This is shown by an arrow (vector). The second displacement component v L2 The second auxiliary line A2 (dotted line) corresponds to this. In the example in Figure 8, the first ground contact point H L1 In this, the first migration component v L1 The direction of the toenail and the direction of the toenail d t The two values ​​are significantly different. In such cases, it can be assumed that some kind of abnormality has occurred.

[0039] For example, abnormalities could include twisting an ankle, tripping over a step, losing balance, or falling. In such events, the first displacement component v is different from normal. L1 The direction of the toenail and the direction of the toenail d t The discrepancy with the first migration component v becomes larger. L1 The direction of the toenail and the direction of the toenail d t Depending on the discrepancy, abnormalities in walking may be detected. For example, the walking information generation unit 15 generates the first displacement component v L1 The direction of the toenail and the direction of the toenail d t If the angle deviates by more than a preset standard, an abnormality is detected. Similarly, the walking information generation unit 15 generates the second movement component v L2 The direction of the toenail and the direction of the toenail d t The system detects the occurrence of an anomaly based on the deviation from the given value. The walking information generation unit 15 generates the first displacement component v in a series of consecutive walking cycles. L1 or the second migration component v L2 The direction of the toenail and the direction of the toenail d t Anomalies may be detected in response to fluctuations in the discrepancy. No particular limitations are placed on the detection of anomalies.

[0040] For example, when walking on a straight road, if the walking path of a person being walked on deviates left and right, there may be some abnormality occurring. For example, if the person is drunk and walking with a zigzag gait, the walking path will continue to deviate left and right. In such a case, if the family members of the person are notified, they can go to pick up the person.

[0041] The walking information generation unit 15 generates walking information regarding the derived walking path. For example, the walking information includes visual information regarding the walking path corresponding to the walking of the person. For example, the visual information regarding the walking path is a curve or a straight line connecting between the first contact point H L1 and the second contact point H L2 For example, the visual information regarding the walking path is an arrow starting from the first contact point H L1 and ending at the second contact point H L2 For example, the visual information regarding the walking path is overlaid on a video representing the walking of the person. The walking information is not particularly limited as long as it includes the visual information regarding the walking path.

[0042] FIG. 9 is a conceptual diagram for explaining an example of the visual information regarding the walking path. FIG. 9 is a conceptual diagram of a walking person (character) viewed from directly above in the front. The person in FIG. 9 is walking on a path that curves to the left around the person. The person in FIG. 9 has the left foot as the support leg and the right foot is in a state of leaving the ground. In FIG. 9, for the left foot, the first contact point H L1 , the second contact point H L2 , and the walking path W L are shown. Also, in FIG. 9, for the right foot, the first contact point H R1 , the second contact point H R2 , and the walking path W R are shown. In the example of FIG. 9, the curve indicating the walking path W includes an arrowhead indicating the direction of progress. The curve indicating the walking path W may not include an arrowhead indicating the direction of progress. The walking path W is the walking path W R regarding the right foot and the walking path W L regarding the left footIt may also be represented by a single curve that averages these two elements. Furthermore, the viewpoint relative to the walking person can be arbitrarily set to the left, right, rear, above, or diagonally, centered on the person. For example, the video may only show the lower half of the person's body, not their entire body. The walking path W is varied in accordance with the person's walking in the video. For example, the walking path W is varied in correspondence with the walking cycle of the person in the video. As shown in the example in Figure 9, the walking state, including changes in the direction of travel, can be intuitively grasped according to the movement of the walking path W, which varies in accordance with the person's walking in the video.

[0043] The output unit 17 outputs the walking information generated by the walking information generation unit 15. For example, the output unit 17 outputs the walking information to a terminal device having a screen. The walking information output to the terminal device is displayed on the screen of the terminal device. For example, the output unit 17 displays the walking information on the screen of the subject's (user's) mobile terminal. For example, the output unit 17 displays the walking information on the screen of a terminal device used by professionals such as doctors, physical therapists, and care workers who examine the subject's physical condition. The professionals can provide the subject with a diagnosis and advice based on the walking information displayed on the terminal device screen. For example, the output unit 17 may also output the walking information to an external system that uses the walking information. There are no particular limitations on how the walking information output from the output unit 17 can be used.

[0044] For example, the pedestrian information generation device 10 connects to an external system built on a cloud or server via a mobile terminal (not shown) carried by the target person (user). The mobile terminal (not shown) is a portable communication device. For example, the mobile terminal is a portable terminal device with communication functions such as a smartphone, smartwatch, tablet, or mobile phone.

[0045] For example, the gait information generation device 10 is connected to a terminal device (not shown) used by a person who verifies the physical condition of the subject (user). The terminal device is equipped with software that processes gait information and displays images corresponding to the gait information. For example, the terminal device is an information processing device such as a stationary personal computer, a notebook personal computer, a tablet, or a mobile terminal. The terminal device may also be a dedicated terminal for processing gait information.

[0046] For example, the pedestrian information generation device 10 is connected to a mobile terminal or terminal device via a wired connection such as a cable. For example, the pedestrian information generation device 10 is connected to a mobile terminal or terminal device via wireless communication. For example, the pedestrian information generation device 10 is connected to a mobile terminal or terminal device via a wireless communication function (not shown) conforming to standards such as Bluetooth® or WiFi®. The communication function of the pedestrian information generation device 10 may conform to standards other than Bluetooth® or WiFi®. The pedestrian information may be used by an application installed on the mobile terminal or terminal device. In that case, the mobile terminal or terminal device performs processing using the pedestrian information by application software installed on the device. The pedestrian information generation device 10 may also be implemented on the mobile terminal or terminal device.

[0047] [Measuring device] Next, an example of a measuring device for measuring foot data will be described with reference to the drawings. Figure 10 is a conceptual diagram showing an example in which a measuring device 120, which includes a sensor for measuring physical quantities related to foot movement, is placed inside a shoe 110. In this embodiment, an example is shown in which the measuring device 120 is placed inside a shoe 110. The measuring device 120 may be attached to the waist, knee, or other parts of the body, as long as it can measure physical quantities related to foot movement.

[0048] Figure 10 shows an example where the measuring device 120 is placed in a shoe 110 for one foot (right foot). To derive the walking path for both feet, the measuring device 120 can be placed in both shoes 110. In the example in Figure 10, the measuring device 120 is installed in a position corresponding to the back of the arch of the foot. For example, the measuring device 120 is mounted on an insole inserted into the shoe 110. For example, the measuring device 120 may be mounted on the bottom surface of the shoe 110. For example, the measuring device 120 may be embedded in the body of the shoe 110. The measuring device 120 may or may not be detachable from the shoe 110. The measuring device 120 may be installed in a position other than the back of the arch of the foot, as long as it can acquire sensor data related to foot movement. The measuring device 120 may be installed on the socks worn by the user or on anklets or other decorative items worn by the user. The measuring device 120 may be directly attached to the foot or embedded in the foot.

[0049] The measuring device 120 includes an acceleration sensor and an angular velocity sensor. The acceleration sensor measures acceleration in three axes (also called spatial acceleration). The acceleration sensor measures acceleration in three axes (also called spatial acceleration) as a physical quantity related to the movement of the foot. The acceleration sensor outputs the measured spatial acceleration. The angular velocity sensor measures angular velocity around three axes (also called spatial angular velocity). The angular velocity sensor measures angular velocity around three axes (also called spatial angular velocity) as a physical quantity related to the movement of the foot. The angular velocity sensor outputs the measured spatial angular velocity. The measuring device 120 stores sensor data related to the measured physical quantities in a buffer (not shown). There are no particular limitations on the data format of the sensor data.

[0050] For example, the acceleration sensor can be of the piezoelectric, piezoresistive, or capacitive type. The sensor used as an acceleration sensor is not limited to any measurement method as long as it can measure acceleration. For example, the angular velocity sensor can be of the vibration or capacitive type. The sensor used as an angular velocity sensor is not limited to any measurement method as long as it can measure angular velocity. The measuring device 120 may include sensors other than the acceleration sensor and angular velocity sensor. A description of sensors other than the acceleration sensor and angular velocity sensor that may be included in the measuring device 120 is omitted.

[0051] The measuring device 120 is, for example, an inertial measuring device that measures acceleration and angular velocity. An example of an inertial measuring device is an IMU (Inertial Measurement Unit). An IMU includes an acceleration sensor that measures acceleration in three axes and an angular velocity sensor that measures angular velocity around three axes. The measuring device 120 may also be implemented by an inertial measuring device such as a VG (Vertical Gyro) or AHRS (Attitude Heading). Alternatively, the measuring device 120 may be implemented by a GPS / INS (Global Positioning System / Inertial Navigation System).

[0052] The measuring device 120 transmits sensor data stored in the buffer at predetermined timings. For example, the measuring device 120 transmits gait parameters during the swing phase, which is less likely to affect the measurement of sensor data. For example, the measuring device 120 may transmit sensor data for each step cycle. For example, the measuring device 120 may transmit sensor data at predetermined time intervals. The measuring device 120 removes the sensor data used to calculate the transmitted gait parameters from the buffer. The sensor data transmitted from the measuring device 120 may be all the data for one step cycle, or only the data for a specific time period. The sensor data transmitted from the measuring device 120 may be converted to the world coordinate system, or it may remain in the local coordinate system. The sensor data transmitted from the measuring device 120 may also be specific gait parameters. For example, specific gait parameters may include walking speed, stride length, ground contact angle, lift-off angle, foot lift height (sensor position), outward rotation angle, toe direction, etc. A specific gait parameter does not have to include all of the above-mentioned gait parameters, nor does it have to include other gait parameters.

[0053] For example, sensor data transmitted from the measuring device 120 is received by a portable terminal (not shown) carried by a user wearing the shoe 110 on which the measuring device 120 is installed. The measuring device 120 may transmit sensor data via a wired connection such as a cable, or it may transmit sensor data via wireless communication. For example, the measuring device 120 may be configured to transmit sensor data via a wireless communication function (not shown) that conforms to a standard such as Bluetooth®. The communication function of the measuring device 120 may conform to a standard other than Bluetooth®.

[0054] A mobile terminal (not shown) receives sensor data transmitted from the measuring device 120. For example, the mobile terminal uses application software installed on it to generate walking information using the received sensor data. For example, the mobile terminal displays the generated walking information on its screen. For example, the generated walking information may be displayed on the screen of a terminal device (not shown) that is visible to the user. The mobile terminal may also transmit the received sensor data to a server or the cloud. There are no particular limitations on the use of the sensor data received by the mobile terminal.

[0055] (operation) Next, an example of the operation of the gait information generation device 10 will be explained with reference to the drawings. Figure 11 is a flowchart illustrating an example of the operation of the gait information generation device 10. In the explanation following the flowchart in Figure 11, the gait information generation device 10 will be the main operator.

[0056] In Figure 11, first, the gait information generation device 10 acquires gait data (step S11). The gait data includes time-series data of foot position corresponding to physical quantities related to foot movement (foot data).

[0057] Next, the gait information generation device 10 detects the start and end points of the gait cycle from the foot data included in the gait data (step S12). For example, the gait information generation device 10 detects consecutive heel strikes as the start / end points of the foot data. Of the consecutive heel strikes, the preceding heel strike is the start point. Of the consecutive heel strikes, the subsequent heel strike is the end point.

[0058] Next, the gait information generation device 10 calculates the first displacement component at the time of the first heel strike (start point) and the second displacement component at the time of the second heel strike (end point) (step S13). The first displacement component is the acceleration vector and velocity vector at the time of the first heel strike (start point). The second displacement component is the acceleration vector and velocity vector at the time of the second heel strike (end point).

[0059] Next, the walking information generation device 10 generates walking information relating to the walking path using the first movement component and the second movement component (step S14). The walking information includes visual information indicating the walking path.

[0060] Next, the walking information generation device 10 outputs the generated walking information (step S15). The walking information generation device 10 outputs walking information that includes visual information about the walking path. The visual information included in the output walking information is displayed on the screen of a mobile terminal or terminal device (not shown).

[0061] [Walking information generation process] Next, an example of step S14 (walking information generation process) in Figure 11 will be explained with reference to the drawing. Below, examples will be given in which the same processing is performed regardless of whether the walking path is straight or curved, and in which different processing is performed depending on whether the walking path is straight or curved. In the following walking information generation process, the walking information generation device 10 will be the main operator.

[0062] Figure 12 is a flowchart illustrating an example of the gait information generation process. Figure 12 shows an example where the same process is performed regardless of whether the gait path is straight or curved.

[0063] In Figure 12, first, the gait information generation device 10 derives extension lines for the first displacement component and the second displacement component, respectively (step S111).

[0064] Next, the walking information generation device 10 derives the intersection point of the two extension lines (step S112).

[0065] Next, the walking information generation device 10 derives a Bézier curve with the first landing point, the second landing point, and the intersection as control points, as the walking path (step S113).

[0066] Next, the walking information generation device 10 generates walking information related to the derived walking path (step S114).

[0067] Figure 13 is a flowchart illustrating another example of the gait information generation process. Figure 13 shows an example where different processing is performed depending on whether the gait path is straight or curved.

[0068] In Figure 13, first, the gait information generation device 10 derives extension lines for the first displacement component and the second displacement component, respectively (step S121).

[0069] Next, the walking information generation device 10 derives the intersection point of the two extension lines (step S122).

[0070] If the intersection point is not within the specified area (No in step S123), the walking information generation device 10 derives a straight line connecting the first landing point and the second landing point as the walking path (step S124). After step S123, the process proceeds to step S126.

[0071] On the other hand, if the intersection is within a specific area (Yes in step S123), the walking information generation device 10 derives a Bézier curve with the first landing point, the second landing point, and the intersection as control points as the walking path (step S125).

[0072] Following steps S123 and S124, the walking information generation device 10 generates walking information relating to the derived walking path (step S126).

[0073] In the walking information generation process shown in Figure 12, if the intersection of the extension lines for the first and second movement components falls outside the specified region, an appropriate walking path cannot be derived. In the walking information generation process shown in Figure 13, an appropriate walking path can be derived even if the intersection of the extension lines falls outside the specified region. Therefore, according to the walking information generation process shown in Figure 13, an appropriate walking path can be derived even if the walking path is a straight line.

[0074] (Examples of application) Next, examples of applications of the walking information generation device 10 will be explained with reference to the drawings. In the following examples, walking information (also called display information), including visual information, is superimposed on a video of a walking subject viewed from diagonally above. The video of the subject may be an actual video or a virtual person (character) that mimics the subject's movements. In the following examples, a character is displayed in the video. The display information shown below may be generated by the walking information generation device 10 or by another device or system that has acquired the walking information.

[0075] [Application Example 1] Figures 14 to 16 are conceptual diagrams relating to Application Example 1 of the walking information generation device 10. In this application example, arrows indicating the walking path are displayed on the screen 100. In this application example, the arrows indicating the walking path are displayed superimposed on the feet of the person (character). The arrows indicating the walking path may be displayed at a position away from the person (character).

[0076] A viewpoint switching area 111, which includes buttons for switching viewpoints, is displayed in the upper left corner of screen 100. The viewpoint switching area 111 displays buttons for switching viewpoints between a frontal viewpoint (first viewpoint V1) and a viewpoint diagonally to the left and slightly in front (second viewpoint V2), with the person (character) at the center. The viewpoints correspond to the viewpoint of the user viewing screen 100. The viewpoint switching area 111 is an interface area that accepts user input.

[0077] Figure 14 shows an example where the image of a person (character) is displayed on screen 100, centered on the person (character) and viewed from a frontal viewpoint (first viewpoint V1). In Figure 14, the first viewpoint V1 is selected in the viewpoint switching region 111. From the first viewpoint V1, the walking path can be understood while referring to the walking state within the coronal plane. In other words, from the first viewpoint V1, it is easier to understand the walking state in the left-right direction (within the coronal plane).

[0078] Figure 15 shows an example of displaying an image of a character on screen 100, centered on the character and viewed from a viewpoint slightly to the left and slightly in front (second viewpoint V2). In Figure 15, the viewpoint has switched from the first viewpoint V1 (Figure 14) to the second viewpoint V2 in the viewpoint switching region 111, according to the selection of the second viewpoint V2. When viewed from a viewpoint slightly in front of the character's direction of movement, such as the second viewpoint V2, it is easier to grasp the change in the direction of movement in three dimensions.

[0079] Figure 16 is a conceptual diagram illustrating an example of displaying a walking path in this application, linked to a video. Figure 16 shows a view from a diagonal front-right perspective, centered on a person (character). Figure 16 shows three frames extracted from multiple frames included in the video related to the person's walking. The actual video consists of many more frames. The three frames in Figure 16 progress from the top left to the bottom right as time (walking cycle) progresses. The video showing the person's walking state changes according to the progression of time (walking cycle). The arrows indicating the walking path change in accordance with the walking phase of the person's walking. By overlaying the arrows indicating the walking path onto the video, the change in the person's direction of movement can be intuitively grasped in accordance with the walking path that fluctuates in accordance with the person's walking.

[0080] [Application Example 2] Figures 17 and 18 are conceptual diagrams relating to Application Example 2 of the walking information generation device 10. In this application example, arrows indicating the walking path are displayed on the screen 100. An information display area 112 is displayed in the upper left corner of the screen 100. The information display area 112 is a display area that displays information corresponding to the walking path.

[0081] Figure 17 shows an example of displaying an image on screen 100 that depicts a person (character) walking in a normal walking state. In the example of Figure 17, the information "Normal walking state" is displayed on screen 100, corresponding to the person's normal walking state. In addition, in the example of Figure 17, the information "Walking on a curve" is displayed on screen 100, corresponding to the curved walking path.

[0082] Figure 18 shows an example where an image illustrating a situation in which a person (character) is about to fall is displayed on screen 100. In the example in Figure 18, in response to the detection of an abnormality in the walking path, the information "Abnormal walking condition" is displayed on screen 100. Also in the example in Figure 18, in response to the detected abnormality, the information "There is a risk of falling" is displayed on screen 100. When detecting abnormalities in a subject in real time, a warning may be issued in response to the detection of an abnormality. For example, if a warning sound is emitted from the mobile device carried by the subject, people around the subject can become aware of the abnormality. For example, the subject's family or acquaintances may be notified that an abnormality has occurred. In this way, the family or acquaintances who receive the notification can take some kind of action.

[0083] In this application example, information indicating the walking path and the walking state of the person in the video is displayed on screen 100. Furthermore, in this application example, information indicating that an abnormality has occurred with the person in the video is also displayed on screen 100. Therefore, according to this application example, the state of the person in the video can be intuitively understood.

[0084] As described above, the walking information generation device of this embodiment comprises an acquisition unit, a detection unit, a calculation unit, a walking information generation unit, and an output unit. The acquisition unit acquires walking data including time-series data of the subject's foot positions. The detection unit detects the start and end points of the walking cycle from the time-series data of foot positions included in the walking data. The calculation unit calculates a first movement component related to the start point and a second movement component related to the end point. The walking information generation unit generates walking information related to the subject's walking path using the calculated first and second movement components. The output unit outputs the generated walking information.

[0085] In this embodiment, walking information relating to the walking path is generated for each of the subject's feet, corresponding to the movement component of each foot. Therefore, according to this embodiment, walking information relating to the walking path for each step cycle can be generated for each of the feet.

[0086] In one embodiment of this system, the calculation unit calculates the acceleration vector or velocity vector at the starting point as the first displacement component. The calculation unit calculates the acceleration vector or velocity vector at the ending point as the second displacement component. According to this embodiment, the walking path for each step cycle can be derived for each of the two feet using the acceleration vector or velocity vector as the displacement component.

[0087] In one embodiment of this system, the acquisition unit detects the first heel strike, which is the preceding of two consecutive heel strikes, as the starting point. The acquisition unit detects the second heel strike, which is the succeeding of two consecutive heel strikes, as the ending point. The calculation unit calculates the position of the intersection point between a first auxiliary line parallel to the first displacement component and passing through the starting point, and a second auxiliary line parallel to the second displacement component and passing through the ending point, in the horizontal plane. The walking information generation unit derives a curve passing through the starting point, the ending point, and the intersection point as a walking path. According to this embodiment, the curve passing through the starting point, the ending point, and the intersection point can be derived as a walking path for each step cycle.

[0088] In one embodiment of this system, the walking information generation unit derives a curve with a start point, an end point, and an intersection point as control points, which is used as the walking path. According to this embodiment, the curve with a start point, an end point, and an intersection point as control points can be derived as the walking path for each step cycle.

[0089] In one embodiment of this system, the walking information generation unit derives a Bézier curve with a start point, an end point, and an intersection point as control points, as a walking path. According to this embodiment, a Bézier curve with a start point, an end point, and an intersection point as control points can be derived as a walking path for each step cycle.

[0090] In one embodiment of this system, the walking information generation unit derives a walking path based on the positional relationship between a specific region where the first circle and the second circle overlap and the intersection point. The first circle is a circle centered at the starting point, with the distance between the starting point and the ending point as its radius. The second circle is a circle centered at the ending point, with the distance between the starting point and the ending point as its radius. If the intersection point is located inside the specific region, the walking information generation unit derives a curve passing through the starting point, the ending point, and the intersection point as the walking path. If the intersection point is located outside the specific region, the walking information generation unit derives a straight line connecting the starting point and the ending point as the walking path. According to this embodiment, an appropriate walking path can be selected based on the positional relationship between the specific region and the intersection point.

[0091] In one embodiment of this system, the walking information generation unit generates walking information by overlaying visual information, including the walking path, onto frames that constitute a video showing the walking state of the subject. The output unit outputs the walking information about the subject to the terminal device. The output unit displays the display information related to the visual information included in the walking information on the screen of the terminal device. According to this embodiment, it becomes easier to intuitively grasp the walking path of each foot in accordance with the walking state of the subject displayed on the screen of the terminal device.

[0092] In one embodiment of this system, the walking information generation unit generates walking information that includes visual information superimposed on frames constituting a video showing the walking state of the subject, based on information corresponding to the detected abnormality. The abnormality is detected from at least one of the first and second movement components relating to the subject. The output unit outputs the walking information relating to the subject to the terminal device. The output unit displays display information relating to the visual information included in the walking information on the screen of the terminal device. According to this embodiment, abnormalities occurring to the subject can be intuitively grasped in accordance with the walking state of the subject displayed on the screen of the terminal device.

[0093] The method of this embodiment can also be applied to walking on uneven surfaces. For example, the method of this embodiment can be applied to walking on slopes and stairs. Furthermore, according to the method of this embodiment, lateral stalst when walking on a curve can be evaluated using visual information representing the subject's walking path. For example, the method of this embodiment may be used to detect when a subject is walking on a curve. For example, by notifying the subject of the risk of falling according to the curvature of the curve, it may be possible to prevent the subject from falling on the curve. For example, the subject's physical condition may be estimated in response to the detection of curved walking.

[0094] A person walking along a straight road, swaying periodically from side to side, may be intoxicated and unsteady on their feet. In such cases, notifying the person's family or those around them of the abnormal physical condition could potentially help them avoid danger. Accidents can occur on train platforms when intoxicated people fall onto the tracks. Notifying station staff or passengers around the person of the abnormal physical condition detected by the method of this embodiment could potentially reduce the number of accidents where people fall onto the tracks.

[0095] When a subject has a large gait, even when walking in a straight line, the walking path becomes curved. In this case, the center of curvature of the walking path derived for each foot is located on the opposite side of the line of movement of the subject's center of gravity. In such cases, the walking path derived for each foot corresponds to the trajectory of the gait of each foot. In one gait cycle, the amount of gait is maximum at the point in time when the length of the perpendicular line drawn from the walking path to the straight line representing the movement of the body's center of gravity is maximum. For example, the average of the walking paths derived for each foot can be considered as a straight line representing the movement of the body's center of gravity. Therefore, the walking path in the horizontal plane that can be derived using the method of this embodiment can be used as an indicator of gait.

[0096] (Second embodiment) Next, a walking information generation device according to the second embodiment will be described with reference to the drawings. The walking information generation device of this embodiment has a simplified configuration compared to the first walking information generation device.

[0097] Figure 19 is a block diagram showing an example of the configuration of the walking information generation device 20 according to this embodiment. The walking information generation device 20 comprises an acquisition unit 21, a detection unit 22, a calculation unit 23, a walking information generation unit 25, and an output unit 27.

[0098] The acquisition unit 21 acquires walking data, including time-series data of the subject's foot positions. The detection unit 22 detects the start and end points of the walking cycle from the time-series data of foot positions included in the walking data. The calculation unit 23 calculates a first movement component related to the start point and a second movement component related to the end point. The walking information generation unit 25 generates walking information related to the subject's walking path using the calculated first and second movement components. The output unit 27 outputs the generated walking information.

[0099] In this embodiment, walking information relating to the walking path is generated for each of the subject's feet, corresponding to the movement component of each foot. Therefore, according to this embodiment, walking information relating to the walking path for each step cycle can be generated for each of the feet.

[0100] (Hardware) Here, the hardware configuration for executing the processing according to each embodiment of this disclosure will be explained using the information processing device 90 (computer) in Figure 20 as an example. Note that the information processing device 90 in Figure 20 is an example configuration for executing the processing of each embodiment and does not limit the scope of this disclosure.

[0101] As shown in Figure 20, the information processing device 90 comprises a processor 91, main memory 92, auxiliary storage 93, input / output interface 95, and communication interface 96. In Figure 20, interface is abbreviated as I / F (Interface). The processor 91, main memory 92, auxiliary storage 93, input / output interface 95, and communication interface 96 are connected to each other via a bus 98, enabling data communication. Furthermore, the processor 91, main memory 92, auxiliary storage 93, and input / output interface 95 are connected to a network such as the Internet or an intranet via the communication interface 96.

[0102] The processor 91 loads programs (instructions) stored in the auxiliary storage device 93, etc., into the main memory 92. For example, the program is a software program for executing the processing of each embodiment. The processor 91 executes the program loaded into the main memory 92. By executing the program, the processor 91 executes the processing of each embodiment.

[0103] The main memory 92 has an area where the program is loaded. The processor 91 loads the program stored in the auxiliary memory 93, etc., into the main memory 92. The main memory 92 is implemented by volatile memory such as DRAM (Dynamic Random Access Memory). Alternatively, non-volatile memory such as MRAM (Magneto Resistive Random Access Memory) may be configured / added as the main memory 92.

[0104] The auxiliary storage device 93 stores various data, such as programs. The auxiliary storage device 93 is implemented by a local disk such as a hard disk or flash memory. It is also possible to omit the auxiliary storage device 93 by configuring the system to store various data in the main memory 92.

[0105] The input / output interface 95 is an interface for connecting the information processing device 90 to peripheral devices, based on standards and specifications. The communication interface 96 is an interface for connecting to external systems and devices via a network such as the Internet or an intranet, based on standards and specifications. The input / output interface 95 and the communication interface 96 may be shared as interfaces for connecting to external devices.

[0106] The information processing device 90 may be connected to input devices such as a keyboard, mouse, or touch panel, as needed. These input devices are used to input information and settings. When a touch panel is used as an input device, the screen with touch panel functionality serves as the interface. The processor 91 and the input devices are connected via an input / output interface 95.

[0107] The information processing device 90 may be equipped with a display device for displaying information. If a display device is provided, the information processing device 90 is equipped with a display control device (not shown) for controlling the display of the display device. The information processing device 90 and the display device are connected via an input / output interface 95.

[0108] The information processing device 90 may be equipped with a drive device. The drive device mediates between the processor 91 and the recording medium (program recording medium) by reading data and programs stored on the recording medium and writing the processing results of the information processing device 90 to the recording medium. The information processing device 90 and the drive device are connected via an input / output interface 95.

[0109] The above is an example of a hardware configuration for enabling the processing according to each embodiment of the present invention. The hardware configuration in Figure 20 is an example of a hardware configuration for executing the processing according to each embodiment and does not limit the scope of the present invention. A program that causes a computer to execute the processing according to each embodiment is also included in the scope of the present invention.

[0110] A program recording medium that stores the program according to each embodiment is also included in the scope of the present invention. The recording medium can be implemented as an optical recording medium such as a CD (Compact Disc) or DVD (Digital Versatile Disc). The recording medium may also be implemented as a semiconductor recording medium such as a USB (Universal Serial Bus) memory or an SD (Secure Digital) card. Furthermore, the recording medium may be implemented as a magnetic recording medium such as a flexible disk, or other recording media. When a program executed by a processor is recorded on a recording medium, that recording medium corresponds to a program recording medium.

[0111] The components of each embodiment may be combined in any way. The components of each embodiment may be implemented by software. The components of each embodiment may be implemented by circuitry.

[0112] Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above embodiments. Various modifications to the configuration and details of the present invention can be made that will be understood by those skilled in the art within the scope of the present invention. [Explanation of Symbols]

[0113] 10, 20 Walking Information Generation Device 11, 21 Acquisition Department 12, 22 Detection unit 13, 23 Calculation section 15, 25 Walking Information Generation Unit 17, 27 Output section

Claims

1. A means for acquiring walking data, including time-series data of the subject's foot position, A detection means for detecting the start and end points of a walking cycle from the time-series data of foot position included in the walking data, A calculation means for calculating a first displacement component which is the acceleration vector or velocity vector of the subject's foot at the starting point, and a second displacement component which is the acceleration vector or velocity vector of the subject's foot at the ending point. A walking information generation means that generates walking information relating to the walking path of the subject using the calculated first and second movement components, The system includes an output means for outputting the generated walking information, The aforementioned calculation means is The acceleration vector or velocity vector of the subject's foot at the starting point is calculated as the first displacement component. The acceleration vector or velocity vector of the subject's foot at the endpoint is calculated as the second displacement component. The detection means is Of two consecutive heel strikes, the first heel strike, which is the preceding one, is detected as the starting point. Of the two consecutive heel strikes, the second heel strike is detected as the endpoint. The aforementioned calculation means is In a horizontal plane, the position of the intersection of a first auxiliary line parallel to the first displacement component and passing through a first landing point which is the position of the subject's feet at the starting point, and a second auxiliary line parallel to the second displacement component and passing through a second landing point which is the position of the subject's feet at the ending point is calculated. The aforementioned walking information generation means is A walking information generation device that derives a curve passing through the first landing point, the second landing point, and the intersection as the walking path.

2. The aforementioned walking information generation means is The walking information generation device according to claim 1, which derives a curve with the first landing point, the second landing point, and the intersection as control points, as the walking movement path.

3. The aforementioned walking information generation means is The walking information generation device according to claim 1, wherein a Bézier curve with the first landing point, the second landing point, and the intersection point as control points is derived as the walking movement path.

4. The aforementioned walking information generation means is If the intersection point lies within a specific region where a first circle centered at the first landing point and having a radius equal to the distance between the first and second landing points overlaps with a second circle centered at the second landing point and having a radius equal to the distance between the first and second landing points, then a curve passing through the first landing point, the second landing point, and the intersection point is derived as the walking path. The walking information generation device according to claim 1, wherein if the intersection is located outside the specific area, a straight line connecting the first landing point and the second landing point is derived as the walking movement path.

5. The aforementioned walking information generation means is The walking information is generated by overlaying visual information, including the walking path, onto frames that constitute a video showing the walking state of the subject, The output means is The walking information relating to the subject is output to the terminal device. A walking information generating device according to any one of claims 1 to 4, wherein display information relating to the visual information included in the walking information is displayed on the screen of the terminal device.

6. The aforementioned walking information generation means is The walking information is generated by superimposing visual information onto frames constituting a video showing the walking state of the subject, based on information corresponding to an abnormality detected from at least one of the first and second movement components relating to the subject. The output means is The walking information relating to the subject is output to the terminal device. A walking information generating device according to any one of claims 1 to 4, wherein display information relating to the visual information included in the walking information is displayed on the screen of the terminal device.

7. Computers We acquire walking data, including time-series data of the subject's foot position. From the time-series data of foot position included in the walking data, the start and end points of the walking cycle are detected. The first displacement component, which is the acceleration vector or velocity vector of the subject's foot at the starting point, and the second displacement component, which is the acceleration vector or velocity vector of the subject's foot at the ending point, are calculated. Using the calculated first and second movement components, walking information relating to the subject's walking path is generated. The generated walking information is output, In the above calculation, The acceleration vector or velocity vector of the subject's foot at the starting point is calculated as the first displacement component. The acceleration vector or velocity vector of the subject's foot at the endpoint is calculated as the second displacement component. In the above detection, Of two consecutive heel strikes, the first heel strike, which is the preceding one, is detected as the starting point. Of the two consecutive heel strikes, the second heel strike is detected as the endpoint. In the above calculation, In a horizontal plane, the position of the intersection of a first auxiliary line parallel to the first displacement component and passing through a first landing point which is the position of the subject's feet at the starting point, and a second auxiliary line parallel to the second displacement component and passing through a second landing point which is the position of the subject's feet at the ending point is calculated. In the above generation, A method for generating walking information, which derives a curve passing through the first landing point, the second landing point, and the intersection as the walking path.

8. A process to acquire walking data including time-series data of the subject's foot position, A process for detecting the start and end points of the walking cycle from the time-series data of foot position included in the walking data, A process for calculating a first displacement component which is the acceleration vector or velocity vector of the subject's foot at the starting point, and a second displacement component which is the acceleration vector or velocity vector of the subject's foot at the ending point. A process to generate walking information relating to the walking path of the subject using the calculated first and second movement components, A process to output the generated walking information, In the calculation process described above, A process of calculating the acceleration vector or velocity vector of the subject's foot at the starting point as the first displacement component, A process of calculating the acceleration vector or velocity vector of the subject's foot at the endpoint as the second displacement component, In the detection process described above, A process to detect the first heel strike, which is the preceding heel strike, as the starting point among two consecutive heel strikes, A process to detect the second heel strike, which is the subsequent of two consecutive heel strikes, as the endpoint, In the calculation process described above, A process to calculate the position of the intersection point between a first auxiliary line parallel to the first displacement component and passing through a first landing point which is the position of the subject's feet at the starting point, and a second auxiliary line parallel to the second displacement component and passing through a second landing point which is the position of the subject's feet at the ending point, in a horizontal plane. In the above generation process, A program that causes a computer to perform the following steps: deriving a curve passing through the first landing point, the second landing point, and the intersection as the walking path.

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