Processing device, processing system, processing method, and program

Abstract

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

Description

Technical Field

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

Background Art

[0002] A wheelchair is one of the devices that supports people with disabilities in their legs. As a related technology, Patent Document 1 discloses a technology related to a wheelchair that can reduce the operation burden of a support member.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the technical field related to wheelchairs such as Patent Document 1, technologies that can improve convenience are required.

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

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, the processing device is A processing device for determining the condition of a person using a wheelchair, wherein if the pressure on the seat surface of the wheelchair detected by a pressure sensor is equal to or greater than a first threshold, and thereafter the pressure detected by the pressure sensor is equal to or greater than the first threshold, and the change in the angle of the wheelchair detected by a gyro sensor is equal to or greater than a second threshold in the horizontal direction, then it is determined that the person has fallen while sitting in the wheelchair. If it is determined that the above is true, the determination unit determines that both the person and the wheelchair have fallen over while the person is away from the wheelchair, and the pressure on the seat of the wheelchair detected by the pressure sensor is greater than or equal to a first threshold, and thereafter the pressure detected by the pressure sensor is less than the first threshold, and the change in the angle of the wheelchair detected by the gyro sensor is less than the second threshold with respect to the horizontal direction, and there is a part of the line from the person's heel to their neck in the image captured by the camera that is tilted more than or equal to a third threshold, or the person's face is at a height close to the floor and maintained for a certain period of time, then it is determined that the wheelchair has not fallen over, but the person has fallen over. 。

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

[0008] According to another aspect of the present disclosure, the processing method is A processing method executed by a processing device for determining the condition of a person using a wheelchair, wherein if the pressure on the seat surface of the wheelchair detected by a pressure sensor is equal to or greater than a first threshold, and thereafter the pressure detected by the pressure sensor is equal to or greater than the first threshold, and the change in the angle of the wheelchair detected by a gyro sensor is equal to or greater than a second threshold in the horizontal direction, then it is determined that the person has fallen while sitting in the wheelchair; and if the pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than a first threshold, and thereafter the pressure detected by the pressure sensor is less than the first threshold, and the change in the angle of the wheelchair detected by the gyro sensor is greater than or greater than the second threshold in the horizontal direction If it is determined that the value is above a threshold, it is determined that both the person and the wheelchair have fallen over while the person is away from the wheelchair. If the pressure on the seat of the wheelchair detected by the pressure sensor is above a first threshold, and thereafter the pressure detected by the pressure sensor is below the first threshold, and the change in the angle of the wheelchair detected by the gyro sensor is below the second threshold with respect to the horizontal direction, and there is a part of the line from the person's heel to their neck in the image captured by the camera that is tilted above a third threshold, or if the person's face is at a height close to the floor and remains so for a certain period of time, it is determined that the wheelchair has not fallen over, but the person has fallen over. 。

[0009] According to another aspect of this disclosure, the program is If the computer of the processing unit that determines the state of a person using a wheelchair determines that the pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than a first threshold, and thereafter the pressure detected by the pressure sensor is equal to or greater than the first threshold, and the change in the angle of the wheelchair detected by the gyro sensor is equal to or greater than a second threshold in the horizontal direction, then the computer determines that the person has fallen while sitting in the wheelchair. If it is determined that the above conditions are met, the system will determine that both the person and the wheelchair have fallen over while the person is away from the wheelchair, and the pressure on the seat of the wheelchair detected by the pressure sensor is greater than or equal to a first threshold, and thereafter the pressure detected by the pressure sensor is less than the first threshold, and the change in the angle of the wheelchair detected by the gyro sensor is less than the second threshold with respect to the horizontal direction, and there is a part of the line from the person's heel to their neck in the image captured by the camera that is tilted more than or equal to a third threshold, or the person's face is at a height close to the floor and remains so for a certain period of time, then it will determine that the wheelchair has not fallen over, but the person has fallen over. . [Effects of the Invention]

[0010] Each aspect of this disclosure can improve convenience. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example of the configuration of a processing system according to some embodiments of the present disclosure. [Figure 2] This figure shows an example of the configuration of an apparatus according to some embodiments of the present disclosure. [Figure 3] This figure shows an example of the processing flow of a processing system according to some embodiments of the present disclosure. [Figure 4] This is a first image diagram illustrating a fall according to some embodiments of the present disclosure. [Figure 5] This is a second illustrative diagram of a fall according to some embodiments of the present disclosure. [Figure 6] This is an illustrative diagram of a person's posture according to some embodiments of the present disclosure. [Figure 7] This is a third illustrative diagram of a fall according to some embodiments of the present disclosure. [Figure 8] This figure shows an example of the configuration of an apparatus according to some embodiments of the present disclosure. [Figure 9] This figure shows an example of the processing flow of a processing apparatus according to some embodiments of the present disclosure. [Figure 10] This is a schematic block diagram showing the configuration of a computer according to at least one embodiment. [Modes for carrying out the invention]

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

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

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

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

[0016] The gyro sensor 202 is mounted in a state fixed to the wheelchair 10. The gyro sensor 202 measures the change in the angle of the wheelchair 10.

[0017] The camera 203 is mounted in a state fixed to the wheelchair 10 facing the front direction of the wheelchair 10. The camera 203 can photograph the entire 360-degree circumference.

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

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

[0020] Furthermore, the processing unit 204 determines the posture of a person based on the image of that person captured by the camera 203. For example, the processing unit 204 extracts characteristic features of the person from the image captured by the camera 203. Then, the processing unit 204 determines the posture based on the extracted characteristic features. The processing unit 204 may use any technology within the scope of being able to determine a person's posture. The processing unit 204 may also prioritize people in order to suppress false detections of people captured by the camera 203. For example, the processing unit 204 may prioritize people who are close to the wheelchair 10 in the frontal direction and are short in distance from the wheelchair 10 for the purpose of determining whether they have fallen.

[0021] The processing unit 204 then determines whether a person has fallen over based on at least one of the following: whether a person is sitting in the wheelchair 10, whether the wheelchair 10 is tilted, and the person's posture. Specifically, the processing unit 204 determines whether a person has fallen over based on at least one of the pressure on the seat of the wheelchair 10 detected by the pressure sensor 201, the change in the angle of the wheelchair 10 detected by the gyro sensor 202, and the person's posture based on the image captured by the camera 203.

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

[0023] (Processing performed by the processing system of this disclosure) Figure 3 is a diagram showing an example of the processing flow of processing system 1 according to some embodiments of the present disclosure. Here, we will explain the fall detection process performed by processing system 1 shown in Figure 3. The pressure sensor 201 is assumed to detect the pressure on the seat surface. The gyro sensor 202 is assumed to measure the change in angle of the wheelchair 10. The camera 203 is assumed to capture 360-degree images of the surroundings.

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

[0025] If the processing unit 204 determines that the person is not sitting in the wheelchair 10 (NO in step S1), it determines that the person has not fallen. This is based on the assumption that the person was not originally sitting in the wheelchair 10. Then, the processing unit 204 returns to the process of step S1.

[0026] Furthermore, if the processing unit 204 determines that a person is sitting in the wheelchair 10 (YES in step S1), it determines whether the person has stood up or not (step S2). For example, if the pressure detected by the pressure sensor 201 is above a predetermined threshold, the processing unit 204 determines that the person has not stood up. Also, if the pressure detected by the pressure sensor 201 is below a predetermined threshold, the processing unit 204 determines that the person has stood up.

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

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

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

[0030] Figure 4 is a first conceptual diagram of a fall according to some embodiments of the present disclosure. Figure 4 shows an image of a situation where a person is sitting in the wheelchair 10 and the processing unit 204 determines, based on the gyro sensor 202, that the wheelchair 10 has fallen over. Specifically, Figure 4 shows, for example, a situation where the wheelchair 10 falls over with the person sitting in it. This is an example of a case where the wheelchair 10 falls over with the person seated in it and wearing a seat belt.

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

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

[0033] Figure 5 is a second conceptual diagram of a fall according to some embodiments of the present disclosure. Figure 5 shows an image of a situation where the processing unit 204 determines, based on the gyro sensor 202, that the wheelchair 10 has fallen over while the person is standing. Specifically, Figure 5 shows, for example, a situation where both the person and the wheelchair 10 have fallen over while the person has moved away from the wheelchair 10. This is an example of a situation where the wheelchair 10 falls over and the impact is strong enough to throw the person from the wheelchair 10.

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

[0035] Figure 6 is an illustrative diagram of a person's posture according to some embodiments of the present disclosure. Part 6(a) of Figure 6 shows an example where the person's posture is upright. Part 6(b) of Figure 6 shows an example where the person's posture is not upright. For example, the processing unit 204 determines that the person's posture is upright if the person's feature quantities indicate within a predetermined error range that the posture is as shown in part 6(a). The processing unit 204 determines that the person's posture is not upright if the person's feature quantities cannot indicate within a predetermined error range that the posture is as shown in part 6(a). The processing unit 204 may also determine that the person's posture is not upright if there is a part of the line from the person's heels to their neck that is tilted above a threshold, or if the person's face is at a height close to the floor and this state is maintained for a certain period of time.

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

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

[0038] Figure 7 is a third conceptual diagram of a fall according to some embodiments of the present disclosure. Figure 7 shows an image of a person standing up, in which the processing unit 204 determines the person's posture based on the image of the person taken by the camera 203. Specifically, Figure 7 shows, for example, a situation in which the wheelchair 10 is not tipping over, but the person has fallen. This is an example in which no impact occurs to the wheelchair 10, but the person falls over, for example, by losing their footing.

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

[0040] This processing unit 20 can determine the condition of the person using the wheelchair 10. In other words, the processing unit 20 can improve convenience.

[0041] In another embodiment of this disclosure, the camera 203 may be mounted in a fixed manner on multiple wheelchairs 10. The orientation of the camera 203 may be arbitrary. Furthermore, the processing unit 204 may perform processing using images captured by multiple cameras 203 instead of the image captured by a single camera 203 according to one embodiment of this disclosure.

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

[0043] The determination unit 301 determines the state of the person using the wheelchair based on at least two combinations of information from the pressure sensor, the gyro sensor, and the camera. The determination unit 301 can be implemented, for example, using the functions of the processing unit 204 illustrated in Figure 2.

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

[0045] In the processing device 20 for determining the condition of a wheelchair user, the determination unit 301 determines the condition of the wheelchair user based on at least two combinations of information from the pressure sensor, the gyro sensor, and the camera (step S101).

[0046] Several embodiments of the processing apparatus 20 according to the present disclosure have been described above. This processing apparatus 20 can improve convenience.

[0047] In addition, the order of the processes in each embodiment of this disclosure may be changed, as long as appropriate processing is performed.

[0048] Although each embodiment of this disclosure has been described, the processing system 1, wheelchair 10, processing unit 20, and other control devices described above may have a computer system inside. The processing steps described above are stored in the form of a program on a computer-readable recording medium, and the processing is performed when the computer reads and executes this program. A specific example of a computer is shown below.

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

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

[0051] Examples of storage 8 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), magnetic disks, magneto-optical disks, CD-ROMs (Compact Disc Read Only Memory), DVD-ROMs (Digital Versatile Disc Read Only Memory), and semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. Furthermore, if this program is distributed to computer 5 via a communication line, computer 5, upon receiving the program, may expand it into main memory 7 and execute the above processing. In at least one embodiment, storage 8 is a tangible storage medium that is not temporary.

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

[0053] While several embodiments of this disclosure have been described, these embodiments are illustrative and do not limit the scope of the disclosure. These embodiments may be modified in various ways, without departing from the gist of the disclosure.

[0054] Furthermore, some or all of the above embodiments may also be described as follows, but are not limited to these.

[0055] (Note 1) A processing device for determining the condition of a person using a wheelchair, A determination unit determines the state of the person using the wheelchair based on at least two combinations of information from the pressure sensor, the gyro sensor, and the camera. A processing device equipped with the following features.

[0056] (Note 2) The information from the pressure sensor is, This information indicates the pressure on the seat surface of the wheelchair detected by the pressure sensor. The processing apparatus described in Appendix 1.

[0057] (Note 3) The information from the gyro sensor is, This information indicates the change in the angle of the wheelchair detected by the gyro sensor. The processing apparatus described in Appendix 1 or Appendix 2.

[0058] (Note 4) The information from the aforementioned camera is, This is information indicating a person's posture based on the image captured by the aforementioned camera. The processing apparatus described in any one of the appendices 1 to 3.

[0059] (Note 5) The condition of the person using the wheelchair is: The person using the wheelchair is either in a state of having fallen or not in a state of having fallen. The processing apparatus described in any one of the appendices 1 to 4.

[0060] (Note 6) The determination unit, Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is sitting in the wheelchair, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that the person using the wheelchair has tipped over while sitting in the wheelchair. The processing apparatus described in any one of the appendices 1 to 5.

[0061] (Note 7) The determination unit, Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is standing, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that both the person using the wheelchair and the wheelchair have tipped over while the person using the wheelchair is away from the wheelchair. The processing apparatus described in any one of the appendices 1 through 6.

[0062] (Note 8) The determination unit, Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and when the person using the wheelchair is standing, it is determined based on the information from the gyro sensor that the wheelchair has not fallen over, and based on the information from the camera, it is determined that the person using the wheelchair has moved, in which case it is determined that the wheelchair has not fallen over, but the person using the wheelchair has fallen over. The processing apparatus described in any one of the appendices 1 through 7.

[0063] (Note 9) The processing apparatus described in any one of the appendices 1 to 8, A wheelchair equipped with the aforementioned processing device, A processing system equipped with the following features.

[0064] (Note 10) A processing method executed by a processing device that determines the condition of a person using a wheelchair, The state of the person using the wheelchair is determined based on at least two combinations of information from the pressure sensor, the gyro sensor, and the camera. A processing method that includes this.

[0065] (Note 11) The information from the pressure sensor is, This information indicates the pressure on the seat surface of the wheelchair detected by the pressure sensor. The processing method described in Appendix 10.

[0066] (Note 12) The information from the gyro sensor is, This information indicates the change in the angle of the wheelchair detected by the gyro sensor. The processing method described in Appendix 10 or Appendix 11.

[0067] (Note 13) The information from the aforementioned camera is, This is information indicating a person's posture based on the image captured by the aforementioned camera. The processing method described in any one of the appendices 10 to 12.

[0068] (Note 14) The condition of the person using the wheelchair is: The person using the wheelchair is either in a state of having fallen or not in a state of having fallen. The processing method described in any one of the appendices 10 to 13.

[0069] (Note 15) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is sitting in the wheelchair, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that the person using the wheelchair has tipped over while sitting in the wheelchair. A processing method described in any one of the appendices 10 to 14, including the above.

[0070] (Note 16) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is standing, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that both the person using the wheelchair and the wheelchair have tipped over while the person using the wheelchair is away from the wheelchair. The processing method described in any one of the appendices 10 to 15.

[0071] (Note 17) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and when the person using the wheelchair is standing, it is determined based on the information from the gyro sensor that the wheelchair has not fallen over, and based on the information from the camera, it is determined that the person using the wheelchair has moved, in which case it is determined that the wheelchair has not fallen over, but the person using the wheelchair has fallen over. A processing method described in any one of the appendices 10 to 16, including the above.

[0072] (Note 18) The computer in the processing unit that determines the condition of a person using a wheelchair, The state of the person using the wheelchair is determined based on at least two combinations of information from the pressure sensor, the gyro sensor, and the camera. A program that executes the command.

[0073] (Note 19) The information from the pressure sensor is, This information indicates the pressure on the seat surface of the wheelchair detected by the pressure sensor. The program described in Appendix 18.

[0074] (Note 20) The information from the gyro sensor is, This information indicates the change in the angle of the wheelchair detected by the gyro sensor. The program described in Appendix 18 or Appendix 19.

[0075] (Note 21) The information from the aforementioned camera is, This is information indicating a person's posture based on the image captured by the aforementioned camera. The program described in any one of the appendices 18 through 20.

[0076] (Note 22) The condition of the person using the wheelchair is: The person using the wheelchair is either in a state of having fallen or not in a state of having fallen. The program described in any one of the appendices 18 through 21.

[0077] (Note 23) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is sitting in the wheelchair, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that the person using the wheelchair has tipped over while sitting in the wheelchair. The program described in any one of the appendices 18 to 22 that executes the above.

[0078] (Note 24) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and if, while the person using the wheelchair is standing, it is determined that the wheelchair has tipped over based on the information from the gyro sensor, it is determined that both the person using the wheelchair and the wheelchair have tipped over while the person using the wheelchair is away from the wheelchair. The program described in any one of the appendices 18 to 23 that executes the program.

[0079] (Note 25) Based on the information from the pressure sensor, it is determined that the person using the wheelchair is sitting in the wheelchair, and when the person using the wheelchair is standing, it is determined based on the information from the gyro sensor that the wheelchair has not fallen over, and based on the information from the camera, it is determined that the person using the wheelchair has moved, in which case it is determined that the wheelchair has not fallen over, but the person using the wheelchair has fallen over. The program described in any one of the appendices 18 to 24 that executes the above. [Explanation of Symbols]

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

Claims

1. Determining the condition of a person using a wheelchair. Processing apparatus, The pressure on the seat surface of the wheelchair detected by the pressure sensor is above a first threshold, Subsequently, if the pressure detected by the pressure sensor is equal to or greater than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, It was determined that the person fell while sitting in the wheelchair. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, With the person separated from the wheelchair, It was determined that both the person and the wheelchair had fallen over. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. It is less than the second threshold, In the image captured by the camera, along the line from the person's heel to their neck If there is a part that is tilted above the third threshold, or If the person's face is at a height close to the floor and remains there for a certain period of time, The aforementioned wheelchair has not fallen over, The person is determined to have fallen. A processing apparatus comprising a determination unit.

2. The apparatus according to Claim 1, A wheelchair equipped with the aforementioned processing device, A processing system equipped with the following features.

3. Determining the condition of a person using a wheelchair. A processing method executed by a processing unit, The pressure on the seat surface of the wheelchair detected by the pressure sensor is above a first threshold, Subsequently, if the pressure detected by the pressure sensor is equal to or greater than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, It was determined that the person fell while sitting in the wheelchair. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, With the person separated from the wheelchair, It was determined that both the person and the wheelchair had fallen over. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. It is less than the second threshold, In the image captured by the camera, along the line from the person's heel to their neck If there is a part that is tilted above the third threshold, or If the person's face is at a height close to the floor and remains there for a certain period of time, The aforementioned wheelchair has not fallen over, The person is determined to have fallen. A processing method that includes the act of doing something.

4. Determining the condition of a person using a wheelchair. In the processing unit's computer, The pressure on the seat surface of the wheelchair detected by the pressure sensor is above a first threshold, Subsequently, if the pressure detected by the pressure sensor is equal to or greater than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, It was determined that the person fell while sitting in the wheelchair. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. If it is determined that the value is above the second threshold, With the person separated from the wheelchair, It was determined that both the person and the wheelchair had fallen over. The pressure on the seat surface of the wheelchair detected by the pressure sensor is equal to or greater than the first threshold. Subsequently, if the pressure detected by the pressure sensor is less than the first threshold, The change in the angle of the wheelchair detected by the gyro sensor is relative to the horizontal direction. It is less than the second threshold, In the image captured by the camera, along the line from the person's heel to their neck If there is a part that is tilted above the third threshold, or If the person's face is at a height close to the floor and remains there for a certain period of time, The aforementioned wheelchair has not fallen over, The person is determined to have fallen. A program that executes a task.

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