Motion data measurement device, motion control device, motion data measurement method, and motion control method

Abstract

The present invention provides a motion data measurement device and a motion data measurement method with which motion data of a target object can be measured. Another purpose of the present invention is to provide a motion control device and a motion control method with which the motion of the target object can be controlled on the basis of the motion data of the target object.　Provided are a motion data measurement device 100 and a motion data measurement method wherein a distance to a target object 7 is measured by a distance measurement means 1, and motion data of the target object 7 is calculated from a change of the distance measured by the distance measurement means 1 over time. Also provided are a motion control device and a motion control method wherein a motion control means disposed on a mobile body is used to control the motion of the target object 7 on the basis of the motion data.

Description

Motion data measurement device, motion control device, motion data measurement method, and motion control method

[0001] The present invention relates to a motion data measuring device, a motion control device, a motion data measuring method, and a motion control method.

[0002] Collisions that occur while driving a car often result in serious injury or death to the occupants. Therefore, various safety devices have been developed to ensure occupant safety. Among these, seat belts and airbags are the most widely used and representative safety devices.

[0003] Seat belts have been used for many years to prevent occupants from being thrown from their seats during a vehicle collision and to reduce occupant injuries. The basic structure of a seat belt consists of a belt attached to the vehicle seat and a buckle that secures it, and its role is to secure the occupant to the seat during a collision. For this reason, seat belts are required to have a high level of safety performance. However, there is a problem that seat belts are not fully effective if they are not used properly or are not fastened correctly. For example, it is known that safety during a collision is reduced if an occupant fastens their seat belt loosely or if it is not adjusted according to their body size. In addition, the strong impact during a collision can cause rib fractures or chest injuries, especially in the elderly and people with weaker bodies, due to the seat belt.

[0004] An airbag is designed to quickly inflate during a vehicle collision to prevent the occupant from hitting the dashboard, steering wheel, or other parts of the vehicle. The airbag has a function of protecting the occupant in a short time by detecting a signal with a sensor when a collision occurs and activating a gas generator to inflate the airbag. Due to its high safety performance, the airbag is particularly effective during a frontal collision, but there are also limitations. For example, if the airbag is not deployed at an appropriate timing or is deployed erroneously, it may pose a danger to the occupant instead. For example, since the airbag rapidly inflates with very high-pressure gas, if the face or chest is too close to the airbag during deployment, there is a possibility of receiving a strong impact and suffering damage to the neck, chest, or face. In particular, caution is required when approaching the steering wheel too closely during driving or when moving the seat forward in the passenger seat.

[0005] Due to these problems with seat belts and airbags, sensors for detecting the position of the occupant have also been developed (for example, Patent Document 1).

[0006] Japanese Patent Application Laid-Open No. 2021-132998

[0007] However, these sensors only measure the position of the occupant and do not measure motion data such as the speed and acceleration of the occupant. In order to further improve safety, it is necessary to measure such motion data.

[0008] Therefore, an object of the present invention is to provide a motion data measurement device that can also measure the motion data of an object and a motion control device using the same. Another object is to provide a method for measuring motion data and a method for motion control.

[0009] In order to achieve the above object, the motion data measurement device of the present invention is characterized by comprising distance measurement means for measuring the distance to an object and arithmetic means for calculating the motion data of the object based on the time change of the distance measured by the distance measurement means.

[0010] Here, the motion data measuring device may include at least an imaging means for capturing an image of the object, and the calculation means may identify the object from the image captured by the imaging means. In this case, it is preferable to include at least an illumination means for illuminating the object with light.

[0011] Furthermore, the distance measuring means may be a TOF sensor. The TOF sensor may measure the distance to the object by irradiating the object with dot-shaped or line-shaped light.

[0012] Furthermore, it is preferable that the distance measuring means measures the distance at intervals of 200 ms or less.

[0013] Furthermore, the calculation means may calculate the motion data of the object based on the average distance of the distances between multiple positions on the object.

[0014] Furthermore, it is preferable that the motion data includes the acceleration of the object.

[0015] Furthermore, the distance measuring means may be positioned on a mobile body that transports the object.

[0016] Furthermore, the motion control device of the present invention is characterized by comprising a motion data measuring device of the present invention and motion control means arranged on the moving body, which controls the motion of the object based on the motion data measured by the motion data measuring device.

[0017] Here, the motion control means may control the motion of the object using a moving average of motion data measured by the motion data measuring device.

[0018] Furthermore, the motion control means may utilize at least one of either a seat belt or an airbag.

[0019] Furthermore, the motion data measurement method of the present invention is characterized by comprising: a distance measurement step of measuring the distance from the distance measuring means to the object using the distance measuring means; and a calculation step of calculating motion data of the object based on the time change of the distance measured in the distance measurement step.

[0020] Here, the motion data measurement method may include at least an imaging step of capturing an image of the object, and the calculation step may identify the object from the image captured in the imaging step. In this case, the imaging step may include at least irradiating the object with light and capturing the reflected light.

[0021] Furthermore, the distance measurement step may involve measuring the distance to the object using a TOF sensor. The TOF sensor may measure the distance to the object by irradiating the object with dot-shaped or line-shaped light.

[0022] Furthermore, it is preferable that the distance measurement step involves measuring the distance at intervals of 200 ms or less.

[0023] Furthermore, the calculation step may involve calculating the motion data of the object based on the average distance of multiple positions on the object.

[0024] Furthermore, it is preferable that the motion data includes the acceleration of the object.

[0025] Furthermore, the distance measuring means may be located on a mobile body that transports the object.

[0026] Furthermore, the motion control method of the present invention is characterized by comprising: a motion data measurement method of the present invention; and a motion control step of controlling the motion of an object using motion control means arranged on the moving body based on the motion data measured by the motion data measurement method.

[0027] In this case, it is preferable that the motion control step controls the motion of the object using a moving average of the motion data measured by the motion data measurement method.

[0028] Here, the motion control means may use at least one of a seat belt or an airbag.

[0029] The motion data measuring device and motion data measuring method of the present invention can measure motion data of an object. Furthermore, the motion control device and motion control method of the present invention can control the motion of an object based on the motion data of the object.

[0030] This is a schematic diagram showing the motion data measurement device of the present invention. This is a schematic diagram showing the motion control device of the present invention.

[0031] The motion data measuring device 100 of the present invention will be described below. As shown in Figure 1, the motion data measuring device 100 of the present invention mainly consists of a distance measuring means 1 for measuring the distance to an object 7, and a calculation means 2 for calculating motion data of the object 7 based on the time change of the distance measured by the distance measuring means 1.

[0032] In this specification, the object 7 can be anything that can be measured by the motion data measuring device 100 or the motion data measuring method, such as living organisms or moving objects. In particular, the motion data measuring device 100 and the motion data measuring method of the present invention can be suitably used when a human being is the object 7. Furthermore, the object 7 may be a part of a living organism or the like. For example, if it is a human being, the head, neck, chest, and other parts may be used as the object.

[0033] Distance measuring means 1 is for measuring the distance to the object 7. Preferably, it is capable of measuring the distance to the object 7 at intervals of 200 ms or less. Distance measuring means 1 can be any means as long as it can measure the distance to the object 7. For example, a time-of-flight (TOF) sensor using the TOF method can be used as distance measuring means 1. A TOF sensor is a sensor that can measure the distance to the object 7 by measuring the time it takes for light irradiated from a light source onto the object 7 to reflect and return to the sensor. TOF sensors include those that irradiate light across the entire irradiation area, those that irradiate in a dot pattern, and those that irradiate in a line pattern. If light from a light source can be irradiated onto a predetermined irradiation area of ​​the object 7, the distance at each irradiated position can be measured and the three-dimensional structure of the object 7 can be detected. Furthermore, it is highly accurate and can measure a wide range of distances, from short to long distances, in real time. Distance measuring means 1 can be placed, for example, on a mobile body 9 that transports the object 7.

[0034] As shown in Figure 1, for example, the TOF sensor is composed of a light irradiation means 11, an optical element 12, a camera unit 13, and a calculation unit 14.

[0035] The light irradiation means 11 is for irradiating the optical element 12 with light of wavelength λ. The light irradiation means 11 can be any light source that irradiates the optical element 12 with light of wavelength λ. The light irradiation means 11 may be a single light source or multiple light sources. Alternatively, multiple light sources may be created by passing light from a single light source through an aperture in which multiple pores are formed. When the light irradiation means 11 is composed of multiple light sources, it is preferable that the light sources be formed on the same plane. A specific example of the light irradiation means 11 is a VCSEL (Vertical Cavity Surface Emitting Laser), which can be expected to produce high output with low power. A VCSEL has multiple light sources that can irradiate light in a direction perpendicular to the light-emitting surface. It is also preferable that a light-absorbing film is formed on parts other than the light sources, as this prevents noise from reflected light.

[0036] Furthermore, when multiple motion data measuring devices 100 are arranged, the TOF sensors may use different wavelengths of light for each motion data measuring device 100. This makes it possible to distinguish the light from the TOF sensors of other motion data measuring devices 100, thus preventing the erroneous detection of light from other motion data measuring devices 100.

[0037] The optical element 12 is for irradiating the light from the light irradiation means 11 as controlled light. The optical element 12 can be anything as long as it can control and irradiate the light from the light irradiation means 11 onto a predetermined irradiation area. For example, it can irradiate the entire surface of the irradiation area, irradiate in a dot pattern, or irradiate in a line pattern. However, if the light is irradiated across the entire surface, the imaging and calculation processing of the reflected light will take time. Therefore, it is preferable that the optical element 12 can control the light from the light irradiation means 11 into dot-shaped or line-shaped light, as this will speed up the processing time.

[0038] The camera unit 13 is for detecting light reflected from various positions on the object 7. The camera unit 13 can be anything that can detect reflected light and convert it into digital data; for example, existing image sensors such as CMOS or CCD can be used.

[0039] The calculation unit 14 is for calculating the distance to the object 7 from the signal received by the camera unit 13. The calculation unit 14 can be anything that can calculate the distance to the object 7 from the time it takes for the light emitted from the light irradiation means 11 to be reflected by the object 7 and received by the camera unit 13. For example, a central processing unit (CPU) or a computer including a CPU can be used.

[0040] Here, as described above, a TOF sensor that measures the distance to an object 7 by irradiating the object 7 with dot-shaped or line-shaped light can speed up the processing time for imaging in the camera unit 13 and calculations in the calculation means 2. Speeding up the processing time is preferable because it allows for a shorter interval for measuring the distance. The measurement interval can be set appropriately depending on the purpose of use of the motion data measuring device 100, but for example, when using the motion data measuring device 100 of the present invention in an automobile, it is preferable to shorten the measurement interval to 200 ms or less, preferably 100 ms or less, and even more preferably 50 ms or less or 20 ms or less.

[0041] The calculation means 2 is for calculating motion data of the object 7 based on the time change of the distance measured by the distance measuring means 1. Here, motion data refers to the velocity and acceleration of the object 7. The calculation means 2 compares the distance of the object 7 measured by the distance measuring means at a certain time with the distance of the object 7 measured at an earlier time. This allows the distance traveled by the object 7 to be calculated. Dividing this distance traveled by the difference in time allows the velocity of the object 7 to be calculated. Therefore, the calculation means 2 can calculate the velocity of the object 7 by receiving distance data measured by the distance measuring means 1 twice. In addition, the calculation means 2 compares the velocity of the object 7 calculated by the calculation means 2 at a certain time with the velocity of the object 7 measured at an earlier time. This allows the change in the velocity of the object 7 to be calculated. Dividing this change in velocity by the difference in time allows the acceleration of the object 7 to be calculated. The calculation means 2 can calculate the acceleration of the object 7 by using the two velocity data calculated by the calculation means 2. Therefore, the calculation means 2 can calculate the acceleration of the object 7 by receiving distance data measured by the distance measuring means 1 three times. The calculation means 2 can be anything that can receive distance data measured by the distance measuring means 1 and calculate motion data such as velocity and acceleration, for example, a central processing unit (CPU) or a computer including a CPU can be used. Furthermore, the calculation means 2 can be the same as the calculation unit 14 used in the distance measuring means 1.

[0042] Also, the distance measuring means 1 may measure the distances of a plurality of positions on the object 7. In this case, when calculating the motion data of the object 7, the calculation means 2 may use the distance of any position of the object as a reference. Also, the calculation means 2 may calculate the motion data of the object 7 based on the average distance of the distances of a plurality of positions on the object 7. By doing so, even if there is a position where the distance on the object 7 cannot be measured by the distance measuring means 1, the distance of the object 7 can be measured based on the distances of other positions. Therefore, the motion data of the object 7 can be surely calculated by the calculation means 2.

[0043] Further, the motion data measuring device 100 may include at least an imaging means 3 for imaging an image of the object 7. In this case, the calculation means 2 can identify the object 7 from the image captured by the imaging means. Thereby, since the calculation means 2 can surely identify the object 7, the motion data of the object 7 can be accurately calculated. For the identification of the object, an existing method known conventionally, such as identification by AI, may be used.

[0044] As the imaging means 3, for example, an existing image sensor such as a CMOS or a CCD, which converts imaging information such as the light intensity and wavelength (color) of the received light into digital data and outputs it, can be used. Also, the imaging means 3 can be made common with the camera unit 13 of the distance measuring means 1.

[0045] Furthermore, the motion data measuring device 100 may further include an illumination means 31 that irradiates light onto the object 7. This allows the imaging means 3 to capture reflected light from the illumination means 31 even in dark conditions such as at night. The illumination means 31 can be anything that can irradiate light onto the object 7 so that the reflected light can be captured by the imaging means 3. For example, an LED (Light Emitting Diode) that can emit light with low power consumption can be used. It is preferable that the light emitted by the illumination means 31 is of a different wavelength to distinguish it from the light emitted by the light irradiation means 11. Also, considering safety for the eyes, it is preferable that the light emitted is visible light or light with a longer wavelength than visible light. Specifically, an infrared light emitting means can be used as the illumination means 31.

[0046] Furthermore, the motion control device of the present invention will be described with reference to Figure 2. The motion control device of the present invention mainly consists of the motion data measuring device 100 and the motion control means 4 described above. The distance measuring means 1 of the motion data measuring device 100 is positioned on the moving body 9 that transports the object 7.

[0047] The motion control means 4 is positioned on the moving body 9 and controls the motion of the object 7 based on motion data measured by the motion data measuring device 100. Here, the moving body 9 refers to a vehicle such as an automobile that transports the object 7, such as a person or luggage. The motion control means 4 can be anything that can control the motion of the object 7. If the moving body 9 is a vehicle such as an automobile equipped with seat belts 41 and airbags, the motion control means 4 can be at least one or both of the seat belts 41 and / or airbags.

[0048] Further, controlling the movement of the object 7 means, for example, reducing the speed or acceleration of the object 7 or stopping the movement of the object 7. Therefore, when the movement control means 4 is the seat belt 41, it means suppressing the movement of the seat belt 41 to reduce the speed or acceleration of the person (object 7), or completely stopping the movement of the seat belt 41 to stop the movement of the person (object 7). When the movement control means 4 is an airbag, it means adjusting the air pressure of the airbag to reduce the speed or acceleration of the person (object 7), or fully inflating the airbag to stop the movement of the person (object 7).

[0049] In addition, since the speed and acceleration of the object 7 constantly vary depending on the speed and acceleration of the moving body 9, it may not be possible to properly control the movement of the object 7 by only comparing with the previous speed and acceleration. Therefore, the movement control means 4 may control the movement of the object 7 using the moving average of the movement data measured by the movement data measuring device. For example, when the change in the moving average of the movement data suddenly becomes large, or when the deviation rate becomes large by comparing the moving average with the most recent movement data, the movement of the object 7 can be controlled. The moving average may be obtained by averaging movement data such as speed and acceleration for an appropriate period depending on the type of the moving body 9 or the object 7. For example, when the measurement interval of the movement data is 20 ms and a 40 ms moving average is calculated, the average of two consecutive movement data may be calculated and used.

[0050] Further, the movement data measurement method of the present invention is mainly composed of a distance measurement step of measuring the distance to the object 7 and a calculation step of calculating the movement data of the object 7 based on the time change of the distance measured in the distance measurement step.

[0051] The distance measurement step involves measuring the distance from the distance measuring means 1 to the object 7 using the distance measuring means 1. In the distance measurement step, it is preferable to measure the distance to the object 7 at intervals of 200 ms or less. Any distance measuring means 1 can be used in the distance measurement step as long as it can measure the distance to the object 7. For example, a TOF sensor can be used as the distance measuring means 1. Furthermore, it is preferable that the distance measuring means 1 is located on a mobile body 9 that transports the object 7.

[0052] Here, a TOF sensor that measures the distance to an object 7 by irradiating the object 7 with dot-shaped or line-shaped light can speed up the calculation process. Speeding up the processing time allows for a shorter interval for measuring the distance, which is preferable. The measurement interval can be set appropriately depending on the purpose of use of the motion data measurement method, but for example, when using the motion data measurement method of the present invention in an automobile, it is preferable to shorten the measurement interval to 200 ms or less, preferably 100 ms or less, and even more preferably 50 ms or less or 20 ms or less.

[0053] The calculation step calculates the motion data of the object 7 using the time change of the distance measured in the distance measurement step, using the calculation means 2. The calculation step compares the distance of the object 7 measured at a certain time in the distance measurement step with the distance of the object 7 measured at an earlier time. This allows the distance traveled by the object 7 to be calculated. Dividing this distance traveled by the difference in time allows the velocity of the object 7 to be calculated. Therefore, the calculation step can calculate the velocity of the object 7 by receiving distance data measured in the distance measurement step twice. The calculation step also compares the velocity of the object 7 calculated in the calculation step at a certain time with the velocity of the object 7 measured at an earlier time. This allows the change in the velocity of the object 7 to be calculated. Dividing this change in velocity by the difference in time allows the acceleration of the object 7 to be calculated. The calculation step can calculate the acceleration of the object 7 by using the two velocity data calculated in the calculation step. Therefore, the calculation step can calculate the acceleration of the object 7 by receiving distance data measured in the distance measurement step three times. The calculation process can be anything that can receive distance data measured in the distance measurement process and calculate motion data such as velocity and acceleration. For example, a central processing unit (CPU) or a computer containing one can be used.

[0054] Furthermore, the distance measurement step may measure the distances between multiple locations on the object 7. In this case, the calculation step may use any distance on the object as the reference when calculating the motion data of the object 7. Alternatively, the calculation step may calculate the motion data of the object 7 based on the average distance of the distances between multiple locations on the object 7. In this way, even if there are locations on the object 7 where the distance could not be measured in the distance measurement step, the distance of the object 7 can be measured based on the distances of other locations. Therefore, the motion data of the object 7 can be reliably calculated by the calculation step.

[0055] Furthermore, the motion data measurement method may include at least an imaging step of capturing an image of the object 7. In this case, the calculation step can identify the object 7 from the image captured in the imaging step. As a result, the calculation step can reliably identify the object 7 and accurately calculate the motion data of the object 7. The identification of the object can be done using conventional methods known to date, such as identification by AI.

[0056] The imaging process can be carried out, for example, by capturing an image of at least the object 7 using the imaging means 3 described above. Furthermore, the imaging means 3 can also be the same as the camera unit 13 of the distance measuring means 1.

[0057] Furthermore, the imaging step may involve irradiating the object 7 with light and imaging the reflected light. For example, the illumination means 31 described above can be used for the illumination. This allows the imaging means 3 to image the reflected light from the illumination means 31, etc., even in dark conditions such as at night. To distinguish the light irradiated in the imaging step from the light irradiated by the light irradiation means 11, it is preferable to use light of a different wavelength. Also, considering safety for the eyes, it is preferable that the light irradiated is visible light or light with a longer wavelength than visible light. Specifically, an illumination means 31, etc., that emits infrared light can be used.

[0058] Next, the motion control method of the present invention will be described. The motion control method of the present invention mainly consists of the motion data measurement method and motion control steps described above. The distance measuring means 1 used in the motion data measurement method is positioned on a moving body 9 that transports the object 7.

[0059] The motion control process controls the motion of an object 7 using motion control means 4 located on a moving body 9, based on motion data measured by a motion data measurement method. Here, the moving body 9 refers to a vehicle such as an automobile that transports an object 7 such as a person or luggage. The motion control means 4 can be anything that can control the motion of the object 7. If the moving body 9 is a vehicle such as an automobile equipped with seat belts 41 and airbags, the motion control means 4 can be at least one or both of the seat belts 41 and / or airbags.

[0060] Furthermore, controlling the motion of the object 7 means, for example, reducing the speed or acceleration of the object 7, or stopping the movement of the object 7. Therefore, if the motion control means 4 is a seat belt 41, it means suppressing the movement of the seat belt 41 to reduce the speed and acceleration of the person (object 7), or completely stopping the movement of the seat belt 41 to stop the movement of the person (object 7). Also, if the motion control means 4 is an airbag, it means adjusting the air pressure of the airbag to reduce the speed and acceleration of the person (object 7), or completely inflating the airbag to stop the movement of the person (object 7).

[0061] Furthermore, since the velocity and acceleration of the object 7 are constantly fluctuating due to the velocity and acceleration of the moving body 9, it may not be possible to effectively control the motion of the object 7 by simply comparing it with the velocity and acceleration immediately preceding the measurement. Therefore, the motion control process may use a moving average of motion data measured by a motion data measurement method to control the motion of the object 7. For example, the motion of the object 7 can be controlled when the change in the moving average of the motion data becomes rapidly large, or when the deviation rate between the moving average and the most recent motion data becomes large. The moving average can be calculated by averaging motion data such as velocity and acceleration over an appropriate period depending on the type of moving body 9 and object 7. For example, if the measurement interval of the motion data is 20 ms and a 40 ms moving average is calculated, the average of two consecutive motion data points can be calculated and used.

[0062] 1 Distance measuring means 2 Calculation means 3 Imaging means 4 Motion control means 7 Object 9 Moving body 11 Light irradiation means 12 Optical element 13 Camera unit 14 Calculation unit 31 Lighting means 41 Seat belt 100 Motion data measuring device

Claims

1. A motion data measuring device comprising: a distance measuring means for measuring the distance to an object; and a calculation means for calculating motion data of the object based on the time change of the distance measured by the distance measuring means.

2. The motion data measuring device according to claim 1, comprising at least an imaging means for capturing an image of the object, wherein the calculation means identifies the object from the image captured by the imaging means.

3. The motion data measuring device according to claim 2, further comprising at least an illumination means for irradiating the object with light.

4. The motion data measuring device according to claim 1, characterized in that the distance measuring means is a TOF sensor.

5. The motion data measuring device according to claim 4, characterized in that the TOF sensor measures the distance to the object by irradiating the object with dot-shaped light.

6. The motion data measuring device according to claim 4, characterized in that the TOF sensor measures the distance to the object by irradiating the object with a line of light.

7. The motion data measuring device according to claim 1, characterized in that the distance measuring means measures the distance at intervals of 200 ms or less.

8. The motion data measuring device according to claim 1, characterized in that the calculation means calculates motion data of the object based on the average distance of the distances of a plurality of positions on the object.

9. The motion data measuring device according to claim 1, characterized in that the motion data includes the acceleration of the object.

10. The motion data measuring device according to any one of claims 1 to 9, characterized in that the distance measuring means is arranged on a moving body that transports the object.

11. A motion control device comprising: a motion data measuring device according to claim 10; and motion control means arranged on the moving body and controlling the motion of the object based on motion data measured by the motion data measuring device.

12. The motion control device according to claim 11, characterized in that the motion control means controls the motion of the object using a moving average of motion data measured by the motion data measuring device.

13. The motion control device according to claim 11, characterized in that the motion control means is at least one of a seat belt or an airbag.

14. A motion data measurement method characterized by comprising: a distance measurement step of measuring the distance from the distance measuring means to an object using the distance measuring means; and a calculation step of calculating motion data of the object based on the time change of the distance measured in the distance measurement step.

15. The motion data measurement method according to claim 14, comprising at least an imaging step of capturing an image of the object, wherein the calculation step identifies the object from the image captured in the imaging step.

16. The motion data measurement method according to claim 15, characterized in that the imaging step involves irradiating the object with light and imaging the reflected light.

17. The motion data measurement method according to claim 14, characterized in that the distance measurement step measures the distance to the object using a TOF sensor.

18. The motion data measurement method according to claim 17, characterized in that the TOF sensor measures the distance to the object by irradiating the object with dot-shaped light.

19. The motion data measurement method according to claim 17, characterized in that the TOF sensor measures the distance to the object by irradiating the object with a line of light.

20. The motion data measurement method according to claim 14, characterized in that the distance measurement step involves measuring the distance at intervals of 200 ms or less.

21. The motion data measurement method according to claim 14, characterized in that the calculation step calculates motion data of the object based on the average distance of the distances of a plurality of positions on the object.

22. The motion data measurement method according to claim 14, characterized in that the motion data includes the acceleration of the object.

23. The motion data measurement method according to any one of claims 14 to 22, characterized in that the distance measuring means is arranged on a mobile body that transports the object.

24. A motion control method characterized by comprising: a motion data measurement method according to claim 23; and a motion control step of controlling the motion of an object using motion control means arranged on the moving body based on motion data measured by the motion data measurement method.

25. The motion control method according to claim 24, characterized in that the motion control step controls the motion of the object using a moving average of motion data measured by the motion data measurement method.

26. The motion control method according to claim 24, characterized in that the motion control means is at least one of a seat belt or an airbag.

Images