JP2006039971A - Pedometer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To more accurately detect one step by walking to more accurately grasp an actual walking situation. <P>SOLUTION: By paying attention to a characteristic pattern of acceleration of a leg part formed according to the walking and monitoring whether the pattern appears from acceleration data of the leg pattern or not, one step by the leg part is detected. For example, when sampling the acceleration in an advance direction, it is monitored whether to show a change accompanying a first peak exceeding a prescribed threshold value larger than an 0 G or not, next, it is monitored whether to show convergence onto constant velocity or not, next, it is monitored whether to show a change accompanying a second peak being less than a prescribed threshold value smaller than the 0 G or not, next, it is monitored whether to show convergence onto the 0 G or not, and one step by the leg part is detected on the basis of monitoring results thereof. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a pedometer that can be used as a pedometer that analyzes the walking of a person and counts the number of steps, for example.

  Conventionally, a general pedometer is configured to measure body vibration due to walking (including running, the same applies hereinafter), count the number of steps due to walking based on the vibration, and present the number of steps to the user. Yes. In addition, products that measure and present the amount of activity such as calories burned are also commercialized. Furthermore, in recent years, a small and lightweight acceleration sensor manufactured by applying MEMS (Micro Electro Mechanical System) technology or the like has been used to measure body vibrations due to walking.

  Note that Patent Document 1 describes a body motion detection device that determines the motion state of a human body from the intensity of acceleration in two directions.

  Further, Patent Document 2 discloses a frame made of a semiconductor substrate, a weight part that is freely supported by an elastic beam projecting inward from the frame, and an acceleration acting on the beam. It has a piezoresistor whose resistance value changes in response to the piezoresistor, and an electrode for extracting a signal from the piezoresistor, and restricts the application of stress exceeding the mechanical strength of the beam itself, to the acceleration acting beyond the allowable range On the other hand, a semiconductor acceleration sensor having excellent impact resistance is described.

Further, in Patent Document 3, a weight portion having a rectangular portion in which each side is arranged substantially parallel to each side of the opening window in a rectangular opening window penetrating the front and back of the support frame is substantially parallel. A sensor body provided with a strain detection element that is integrally connected to one side of a support frame via a plurality of flexible rectangular beam portions and detects stress generated in the beam portions by the action of acceleration on the weight portion. And a cover that is joined to the support frame and restricts the range in which the weight portion operates, and a semiconductor acceleration sensor in which the outer side surface of the beam portion at both ends and the side surface of the rectangular portion of the weight portion are continuous on the same surface is disclosed Has been.
Japanese Patent Laid-Open No. 11-4222 JP 2004-177233 A JP 2004-85390 A

  However, with the above-mentioned general pedometer that counts the number of steps based on body vibration, it is difficult to distinguish whether the body vibration is due to walking or not, and the actual walking situation is accurately grasped. There is a problem that it cannot be done. In addition, it is difficult to distinguish between normal walking and fast walking, and each walking step is counted as the same walking step.

  On the other hand, the pedometer using the small and light acceleration sensor can grasp a user's activity state to some extent, and is also used by a user who needs calorie control.

  However, even the pedometer using the above-mentioned small and light acceleration sensor is unsatisfactory for users who need more accurate calorie control due to special circumstances, and can detect one step by walking more accurately. Therefore, there is a demand for a pedometer that can grasp the actual walking situation more accurately.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a pedometer that can more accurately detect one step by walking and grasp the actual walking situation more accurately.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a vertical acceleration detecting means for detecting the vertical acceleration separately upward or downward, and the detection result by the vertical acceleration detecting means is obtained by sampling data at regular intervals. A pedometer attached to a user's leg, and having a sampling data value from the vertical acceleration detecting means greater than 1G. When a process for monitoring whether or not a change with a first peak exceeding a predetermined first threshold value for a vertical direction is shown and a monitoring result showing a change with the first peak are obtained, the upper and lower A process for monitoring whether the value of the sampling data from the acceleration detecting means indicates a change accompanied by a second peak that is less than a predetermined second vertical threshold value smaller than 1G; When a monitoring result indicating a change with a peak is obtained, a change with a third peak in which the value of the sampling data from the vertical acceleration detecting means exceeds a predetermined third vertical threshold value greater than 1G. When the process of monitoring whether or not to indicate the change and the monitoring result indicating the change accompanied by the third peak is obtained, the value of the sampling data from the vertical acceleration detection means indicates convergence to 1G And a process of detecting a step by the leg when a monitoring result indicating convergence to 1G is obtained by this process.

  In this configuration, paying attention to the characteristic pattern related to the time change characteristic of the leg acceleration formed in response to walking, by monitoring whether the characteristic pattern appears from the acceleration data of the leg Since one step by the leg is detected, one step by walking can be detected more accurately, and the actual walking situation can be grasped more accurately.

  According to the second aspect of the present invention, the longitudinal acceleration detection means for detecting the acceleration in the traveling direction forward or backward separately, and the result of detection by the longitudinal acceleration detection means are input as sampling data at regular intervals to obtain walking information. A pedometer attached to a user's leg, wherein the computing means has a value of sampling data from the longitudinal acceleration detecting means when the front side in the traveling direction is positive When a process for monitoring whether or not to show a change with a first peak that exceeds a predetermined traveling direction threshold value greater than 0G at 0 and a monitoring result showing a change with the first peak is obtained, When the process of monitoring whether the value of the sampling data from the longitudinal acceleration detection means indicates convergence to a constant speed and a monitoring result indicating convergence to a constant speed is obtained in this process A process of monitoring whether the value of the sampling data from the longitudinal acceleration detecting means shows a change accompanied by a second peak that falls below a predetermined traveling direction threshold value less than 0 G; When a monitoring result indicating the accompanying change is obtained, a process for monitoring whether or not the value of the sampling data from the longitudinal acceleration detection means indicates convergence to 0G, and this process converges to 0G When a monitoring result indicating is obtained, a process of detecting one step by the legs is executed.

  In this configuration, paying attention to the characteristic pattern related to the time change characteristic of the leg acceleration formed in response to walking, by monitoring whether the characteristic pattern appears from the acceleration data of the leg Since one step by the leg is detected, one step by walking can be detected more accurately, and the actual walking situation can be grasped more accurately.

  According to a third aspect of the present invention, there is provided vertical acceleration detection means for detecting vertical acceleration separately upward or downward, longitudinal acceleration detection means for detecting forward acceleration separately forward, backward acceleration detection means, A pedometer mounted on a user's leg, comprising computing means for obtaining walking information by inputting both detection results by the longitudinal acceleration detection means as sampling data at regular intervals, the computing means comprising: A process of monitoring whether the value of the sampling data from the vertical acceleration detecting means indicates a change with a first peak exceeding a first vertical threshold value greater than 1G; When a monitoring result indicating a change accompanied by a peak is obtained, the value of the sampling data from the vertical acceleration detecting means is smaller than 1 G for a predetermined vertical direction. When a process for monitoring whether or not to show a change with a second peak below a threshold value and a monitoring result showing a change with the second peak are obtained, sampling from the vertical acceleration detecting means A process for monitoring whether or not the data value shows a change with a third peak exceeding a predetermined vertical third threshold value greater than 1G, and a monitoring result showing the change with the third peak. And processing for monitoring whether or not the value of the sampling data from the vertical acceleration detection means indicates convergence to 1G, and the sampling data from the longitudinal acceleration detection means A process for monitoring whether or not the value of the value indicates a change accompanied by a first peak exceeding a predetermined traveling direction threshold value greater than 0 G when the front side of the traveling direction is positive, A process for monitoring whether the value of the sampling data from the longitudinal acceleration detection means indicates convergence to a constant speed when a monitoring result indicating a change with one peak is obtained; When a monitoring result indicating convergence to a constant speed is obtained, the value of the sampling data from the longitudinal acceleration detection means changes with a second peak below a predetermined traveling direction threshold value less than 0G. When the monitoring result indicating whether or not to indicate the change and the monitoring result indicating the change accompanied by the second peak is obtained in this process, the value of the sampling data from the longitudinal acceleration detection means converges to 0 G When a monitoring result indicating convergence to 1G is obtained and a monitoring result indicating convergence to 0G is obtained, one step by the legs is performed. Process to detect It is characterized by carrying out.

  In this configuration, paying attention to the characteristic pattern related to the time change characteristic of the leg acceleration formed in response to walking, by monitoring whether the characteristic pattern appears from the acceleration data of the leg Since one step by the leg is detected, one step by walking can be detected more accurately, and the actual walking situation can be grasped more accurately. Moreover, since detection is performed twice, detection accuracy can be improved.

  According to a fourth aspect of the present invention, in the pedometer according to the second or third aspect, the calculating means is a threshold for a predetermined traveling direction in which the value of sampling data from the longitudinal acceleration detecting means is greater than the 0 G at the latest. For each sampling data from the longitudinal acceleration detecting means from the time when the value is exceeded, the integrated value of the sampling data is obtained, thereby obtaining the instantaneous speed of the detected walking including one step by the leg detected by the processing. And the accumulated speed is obtained by accumulating the instantaneous speed, and from the accumulated speed at or after the moment when the detected walking instantaneous speed returns to zero and the number of samplings required to obtain the accumulated speed. An average speed of the detected walking is obtained. In this configuration, various walking information such as a moving distance can be derived based on the average speed.

  According to a fifth aspect of the present invention, in the pedometer according to the fourth aspect of the present invention, the pedometer includes a timekeeping means, and the calculation means uses the timekeeping means to detect one step by the leg and one of the other leg. On the other hand, the moving distance of the detected walking consisting of one step by the leg and one by the other leg is obtained from the average speed of the detected walking and the walking time of the detected walking. In this configuration, the movement distance can be accurately obtained.

  The invention according to claim 6 is the pedometer according to claim 4 or 5, wherein when the user walks in a certain section, by calculating an average speed of each detected walking in the section, It is characterized in that the walking speed in the section is obtained. With this configuration, the average walking speed in a certain section can be accurately obtained.

  The invention according to claim 7 is the pedometer according to claim 5, comprising: a converted value storage means for storing a calorie consumption calculation reference value for each average speed and personal information of the detected walking, and a calorie consumption storage means. The calculation means reads, for each detected walking, an average speed of the detected walking and a calorie consumption reference value corresponding to the user's personal information from the converted value storage means, The calorie consumption value corresponding to the travel distance is obtained by multiplying the travel distance of the detected walking, and this is accumulated and stored in the calorie consumption storage means. In this structure, the calorie consumption value by walking can be calculated | required correctly.

  According to the present invention, one step by walking can be detected more accurately, and the actual walking situation can be grasped more accurately.

(Embodiment 1)
FIG. 1 is a schematic block diagram of the main part of the pedometer of Embodiment 1 according to the present invention, and FIG. 2 is an explanatory diagram of the gait detection principle by the pedometer. 2A shows a schematic waveform of acceleration in the vertical direction generated in the ankle part, and FIG. 2B shows a schematic waveform of acceleration in the traveling direction generated in the ankle part.

  As shown in FIG. 1, the pedometer 1 according to the first embodiment is a so-called pedometer that is used by being mounted on a user's leg (preferably an ankle) to obtain various kinds of walking information, and includes an acceleration sensor 11, The microcomputer includes an A / D converter 12, a storage unit 13, and a signal processor / arithmetic unit 10.

  The acceleration sensor 11 has two weight portions that swing along the two axes according to two orthogonal acceleration components, and detects acceleration in the vertical direction (one axial direction). Are detected separately for upward or downward, and acceleration in the direction of travel (other axial directions) is detected forward or backward. Specifically, the detection result of upward or downward acceleration is output as, for example, an analog signal (vertical acceleration detection signal) of positive voltage or negative voltage, respectively, and the detection result of acceleration of forward or backward is expressed as positive voltage, for example. Alternatively, it is configured to output with a negative voltage analog signal (longitudinal acceleration detection signal). In FIG. 1, one line is shown between the acceleration sensor 11 and the A / D converter 12, but actually at least two lines are used, both of which are analog vertical acceleration detections. A signal and a longitudinal acceleration detection signal are output from the acceleration sensor 11 to the A / D converter 12 in parallel.

  The A / D converter 12 is capable of reproducing the vertical acceleration detection signal and the longitudinal acceleration detection signal from the acceleration sensor 11 at a preset sampling frequency and reproducing the waveform having the minimum absolute value among the detection target waveforms. In this way, it is converted into a digital signal. The sampling frequency is set to a frequency (for example, about several tens Hz in this embodiment) that is at least twice as high as the highest frequency waveform among the detection target waveforms. The A / D converter 12 uses a 2-port input, 2-port output, or two A / D converters in order to process the vertical acceleration detection signal and the longitudinal acceleration detection signal in parallel. The In addition, both the digital vertical acceleration detection signal and the longitudinal acceleration detection signal are taken in by the signal processor / arithmetic unit 10.

  The storage unit 13 is composed of, for example, a semiconductor storage device such as a RAM and a ROM, and stores various data necessary for the operation of the pedometer 1. For example, data such as walking detection data and walking information Used to remember.

  The signal processor / arithmetic unit 10 is, for example, a microcomputer main body that executes processing such as control of the entire pedometer 1 according to a predetermined program, and has a function of starting or stopping various interrupt timers such as T1 to T4. In addition, a foot rise detection function 111, a foot drop detection function 112, a foot landing detection function 113, a one-step occurrence / stop detection function 114, a foot swing detection function 121, a foot constant speed progress detection function 122, a foot landing detection function 123, a step Various processing functions such as a generation / stop detection function 124 and a walking information derivation function 100 are provided.

  Here, among the above-mentioned various functions, the functions 111 to 114 and the functions 121 to 124 are leg portions formed in response to walking as shown in FIG. 2 when the acceleration sensor has a weight portion. This is based on finding a characteristic pattern in the time-varying characteristics of acceleration. The functions 111 to 114 detect one step by the leg by monitoring whether or not the characteristic pattern of FIG. 2A found in the time change characteristic of the acceleration in the vertical direction appears. Composed. On the other hand, the functions 121 to 124 detect one step by the leg by monitoring whether or not the characteristic pattern of FIG. 2B found in the time change characteristic of the acceleration in the traveling direction appears. Configured as follows. Hereinafter, these functions and the walking information deriving function 100 will be described in detail.

  In the foot rise detection function 111, the value of the digital vertical acceleration detection signal (sampling data) from the acceleration sensor 11 by the A / D converter 12 exceeds the threshold value Tv11 as shown in FIG. A process for monitoring whether or not a change with the first peak P11 is indicated is performed.

  In the first embodiment, when the value of the vertical acceleration detection signal exceeds the threshold value Tv11, the interrupt timer T1 is started, and the threshold value is again detected at the next detection after this detection (after TM2 described later). Until it exceeds Tv11, the vertical acceleration data (sampling data) by each vertical acceleration detection signal starts to be sequentially stored in the storage unit 13, and the current vertical acceleration data value becomes smaller than the previous vertical acceleration data value. By detecting, it is comprised so that the 1st peak P11 may be detected.

  The threshold value Tv11 is set to 1.3G, for example, as a predetermined first vertical threshold value that is greater than 1G when stationary because the vertical acceleration value immediately after the start of walking is greater than 1G when stationary. The The 1.3G value is stored in advance in the storage unit 13 as the walking detection data. However, G is a gravitational acceleration.

  Regarding the storage of the vertical acceleration data, from the vertical acceleration data at the time of rising from 1G immediately before detection by the threshold value Tv11 to the vertical acceleration data at the time of rising from 1G at the next detection, the storage unit 13 sequentially. You may make it memorize. In this case, the vertical acceleration data is sequentially stored in the storage unit 13, and the vertical acceleration crossing 1G by the forward (temporal forward) search from the vertical acceleration data before the time when the vertical acceleration data exceeds the threshold value Tv 11. You just need to identify the data.

  The foot descent detection function 112 has a second peak in which the value of the digital vertical acceleration detection signal from the acceleration sensor 11 falls below the threshold value Tv12 when a monitoring result indicating a change with the first peak P11 is obtained. A process for monitoring whether or not a change with P12 is indicated is performed.

  In the first embodiment, when the value of the vertical acceleration detection signal falls below the threshold value Tv12, the second peak P12 is detected by detecting that the current vertical acceleration data value is larger than the previous vertical acceleration data value. Configured to detect.

  The threshold value Tv12 only needs to be able to detect the line between P11 and P12 in FIG. 2A and the second peak P12 lower than 1G. Therefore, as the predetermined second threshold value for the vertical direction smaller than 1G, For example, it is set to 0.8 G and is stored in advance in the storage unit 13 as the above-described walking detection data.

  The foot landing detection function 113 has a third peak in which the value of the digital vertical acceleration detection signal from the acceleration sensor 11 exceeds the threshold value Tv13 when a monitoring result indicating a change with the second peak P12 is obtained. A process for monitoring whether or not a change with P13 is indicated is performed. The third peak P13 is generated when the weight for detecting the vertical acceleration of the acceleration sensor 11 still proceeds and rebounds when the foot touches the ground.

  In the first embodiment, when the value of the vertical acceleration detection signal exceeds the threshold value Tv13, the third peak P13 is detected by detecting that the current vertical acceleration data value is smaller than the previous vertical acceleration data value. A process of detecting is executed. In addition, in order to increase the detection accuracy of one step of walking, if the time measured TM1 by the interrupt timer T1 immediately after the third peak P13 is shorter than a predetermined reference time, the previous monitoring result is validated. Otherwise, invalid processing is executed.

  The reference time is set to 0.25 seconds, for example. The threshold value Tv13 is only required to be able to detect the line between P12 and P13 in FIG. 2A and the third peak P13 exceeding 1G. Therefore, as the predetermined third threshold value for vertical direction larger than 1G, For example, it is set to 1.5G. The reference time and the threshold value Tv13 are stored in advance in the storage unit 13 as the walking detection data.

  The one-step occurrence / stop detection function 114 determines whether the value of the digital vertical acceleration detection signal from the acceleration sensor 11 indicates convergence to 1G when a monitoring result indicating a change with the third peak P13 is obtained. A process of monitoring whether or not is performed.

  As a method of monitoring whether or not convergence to 1G is indicated, for example, whether or not the difference between the values of two vertical acceleration detection signals that are temporally adjacent to each other falls within a predetermined reference range is determined. In the first embodiment, the value of the digital vertical acceleration detection signal from the acceleration sensor 11 falls within a predetermined threshold range Tr1 for a time TM2 as a predetermined vertical landing determination time. It is configured to monitor whether it fits.

  More specifically, when the value of the vertical acceleration detection signal enters the threshold range Tr1, the interrupt timer T2 is activated, and the interrupt timer T2 is kept within the threshold range Tr1 while the value of the vertical acceleration detection signal remains within the threshold range Tr1. A process of monitoring whether or not the time measured by T2 exceeds time TM2 is executed. The time TM2 is set to 0.2 seconds, for example. Further, the threshold range Tr1 is set as 0.8G <Tr1 <1.2G as a predetermined vertical threshold range including 1G, for example. These TM2 and Tr1 are stored in advance in the storage unit 13 as the above-mentioned walking detection data.

  In the foot swing detection function 121, the value of the digital longitudinal acceleration detection signal (sampling data) by the A / D converter 12 from the acceleration sensor 11 exceeds the threshold value Tv21 as shown in FIG. A process for monitoring whether or not a change with the first peak P21 is indicated is performed.

  In the first embodiment, when the value of the longitudinal acceleration detection signal exceeds the threshold value Tv21, the interrupt timer T3 is started, and each longitudinal acceleration is detected until it exceeds the threshold value Tv21 again at the next detection after the current detection. Each of the longitudinal acceleration data (sampling data) based on the detection signal is sequentially stored in the storage unit 13, and the first peak is detected by detecting that the current longitudinal acceleration data value is smaller than the immediately preceding longitudinal acceleration data value. It is configured to detect P21.

  The threshold value Tv21 is set to, for example, 0.2G as a predetermined (first) threshold value for a traveling direction that is larger than 0G when stationary when the front side in the traveling direction is positive. As stored in the storage unit 13 in advance.

  Regarding the storage of the longitudinal acceleration data, from the longitudinal acceleration data at the time of rising from 0G immediately before detection by the threshold value Tv21 to the longitudinal acceleration data at the time of rising from 0G at the next detection, the storage unit 13 sequentially. You may make it memorize. In this case, the longitudinal acceleration data is sequentially stored in the storage unit 13, and the longitudinal acceleration crossing 0G is obtained from the longitudinal acceleration data before the time when the longitudinal acceleration data exceeds the threshold value Tv21 by forward (temporally forward) search. You just need to identify the data.

  The foot constant speed progress detection function 122 indicates that the value of the digital longitudinal acceleration detection signal from the acceleration sensor 11 indicates convergence to a constant speed when a monitoring result indicating a change with the first peak P21 is obtained. Whether to monitor whether or not.

  As a method of monitoring whether or not convergence to a constant speed is indicated, for example, whether or not the difference between the values of two longitudinal acceleration detection signals that are temporally adjacent to each other falls within a predetermined reference range is determined. In the first embodiment, it is possible to monitor whether or not the value of the digital longitudinal acceleration detection signal from the acceleration sensor 11 shows a change reaching the threshold value Tv23 after being lower than the threshold value Tv22. It is configured to The threshold value Tv22 is set to, for example, -0.2G as a second threshold value for a predetermined traveling direction smaller than 0G, and the threshold value Tv23 is a third threshold value for a predetermined traveling direction near 0G. For example, it is set to 0 G, and both are stored in advance in the storage unit 13 as the walking detection data.

  The foot landing detection function 123 has a second peak P22 in which the value of the digital longitudinal acceleration detection signal from the acceleration sensor 11 falls below the threshold value Tv24 when a monitoring result indicating convergence to a constant speed is obtained. A process for monitoring whether or not there is a change is performed. The second peak P22 is generated when the weight for detecting the longitudinal acceleration of the acceleration sensor 11 still advances in the same direction due to inertia when the foot lands on the ground.

  In the first embodiment, when the value of the longitudinal acceleration detection signal falls below the threshold value Tv24, the second peak P22 is detected by detecting that the current longitudinal acceleration data value becomes larger than the immediately preceding longitudinal acceleration data value. A process of detecting is executed. In addition, in order to increase the detection accuracy of one step of walking, if the time measured TM3 by the interrupt timer T3 immediately after the second peak P22 is shorter than a predetermined reference time, the previous monitoring result is validated. Otherwise, invalid processing is executed.

  The reference time is set to 0.25 seconds, for example. The threshold value Tv24 is set to, for example, -0.5G as a predetermined traveling direction (fourth) threshold value smaller than 0G. The reference time and the threshold value Tv24 are stored in advance in the storage unit 13 as the walking detection data.

  The one-step occurrence / stop detection function 124 determines whether the value of the digital longitudinal acceleration detection signal from the acceleration sensor 11 indicates convergence to 0 G when a monitoring result indicating a change with the second peak P22 is obtained. A process of monitoring whether or not is performed.

  As a method of monitoring whether or not convergence to 0G is indicated, for example, whether or not the difference between two longitudinal acceleration detection signals that are temporally adjacent to each other falls within a predetermined reference range is determined. In the first embodiment, the value of the digital longitudinal acceleration detection signal from the acceleration sensor 11 is within the predetermined threshold range Tr2 for the time TM4 as the predetermined traveling direction landing determination time. It is configured to monitor whether it fits.

  More specifically, when the value of the longitudinal acceleration detection signal falls within the threshold range Tr2, the interrupt timer T4 is activated, and the interrupt timer continues while the value of the vertical acceleration detection signal remains within the threshold range Tr2. A process of monitoring whether or not the time measured by T4 exceeds the time TM4 is executed. The time TM4 is set to 0.2 seconds, for example. Further, the threshold range Tr2 is set to −0.2G <Tr2 <0.2G, for example, as a predetermined traveling direction threshold range including 0G. And these TM4 and Tr2 are memorize | stored in the memory | storage part 13 beforehand as the said data for a walk detection.

  In the walking information deriving function 100, a monitoring result that falls within the threshold range Tr1 is obtained by the one-step occurrence / stop detection function 114, and a monitoring result that falls within the threshold range Tr2 is obtained by the one-step occurrence / stop detection function 124. In this case, a process of detecting the occurrence of one step by the leg portion to which the pedometer 1 is attached is performed. Further, each time one step by the leg is detected, a process of storing in the storage unit 13 the number of detected walking steps (two steps) including one step by the leg and one step by the other leg is executed.

  3 and 4 are operation flow diagrams of the foot rise detection function 111 and the foot descent detection function 112, respectively. FIG. 5 is an operation flow diagram of the foot landing detection function 113, the one-step occurrence / stop detection function 114, and the walking information derivation function 100. With reference to these drawings, first, the detection operation of occurrence of one step based on the detection of the acceleration in the vertical direction will be described.

  When this one-step occurrence detection operation starts, the interrupt timers T1 and T2 are reset (S160 in FIG. 5), and the process proceeds to step S100 in FIG. 3 to sample the vertical acceleration detection signal. Subsequently, it is determined whether or not the value of the vertical acceleration data by the sampling exceeds the threshold value Tv11 (1.3G) (S101). If the determination result exceeding is not obtained (no in S101), the process returns to step S100, while if the determination result exceeding is obtained (yes in S101), the interrupt timer T1 is started in 0.75 seconds (S102). . Subsequently, the vertical acceleration data is stored in the storage unit 13 (S103). After step S103, all the vertical acceleration data are sequentially stored in the storage unit 13 until the threshold value Tv11 is again exceeded as described above.

  Subsequently, the vertical acceleration detection signal is sampled (S104), and it is determined whether or not the value of the current acceleration data is smaller than the value of the previous acceleration data (S105). If a small determination result is not obtained (No in S105), the process returns to Step S103. On the other hand, if a small determination result is obtained (Yes in S105), the process proceeds to Step S110 in FIG. Regarding the repetition of the determination in step S105, a limit may be set on the number of repetitions or the elapsed time due to the repetition, and if the limit is exceeded, the process may return to step S160.

  When the process proceeds to step S110 in FIG. 4, the vertical acceleration detection signal is sampled, and it is determined whether or not the value falls below the threshold value Tv12 (0.8G) (S111). If a lower discrimination result is not obtained (No in S111), the process returns to step S110. On the other hand, if a lower discrimination result is obtained (Yes in S111), the vertical acceleration data is stored in the storage unit 13 (S112).

  Subsequently, the vertical acceleration detection signal is sampled (S113), and it is determined whether or not the current acceleration data value is larger than the immediately preceding acceleration data value (S114). If a large determination result is not obtained (no in S114), the process returns to step S112. If a large determination result is obtained (yes in S114), the process proceeds to step S120 in FIG. In addition, regarding the repetition of the determination in steps S111 and S114, a limit may be set on the number of repetitions or the elapsed time by the repetition, and when the limit is exceeded, the process may return to step S160.

  When the process proceeds to step S120 in FIG. 5, the vertical acceleration detection signal is sampled, and it is determined whether or not the value exceeds the threshold value Tv13 (1.5G) (S121). If the determination result exceeding is not obtained (no in S121), the process returns to step S120. On the other hand, if the determination result exceeding is obtained (yes in S121), the vertical acceleration data is stored in the storage unit 13 (S122).

  Subsequently, the vertical acceleration detection signal is sampled (S123), and it is determined whether or not the current acceleration data value is smaller than the previous acceleration data value (S124). If a small determination result is not obtained (no in S124), the process returns to step S122. If a small determination result is obtained (yes in S124), the process proceeds to step S125.

  In step S125, it is determined whether or not the time count TM1 (also used as T1 in FIG. 5) by the interrupt timer T1 is shorter than 0.25 seconds. If a short determination result is not obtained (no in S125), the process returns to step S160. On the other hand, if a short determination result is obtained (yes in S125), the interrupt timer T1 is reset (S126), and the process proceeds to step S130.

  In step S130, the vertical acceleration detection signal is sampled, and it is determined whether or not the value falls within the threshold range Tr1 (0.8G to 1.2G) (S131). If the entering discrimination result is not obtained (no in S131), the process returns to step S130, while if the entering discrimination result is obtained (yes in S131), the interrupt timer T2 is started (S132).

  Subsequently, the vertical acceleration detection signal is sampled (S133), and it is determined whether or not the value falls within the threshold range Tr1 (S134). If the entering discrimination result is not obtained (no in S134), the process returns to step S130, whereas if the entering discrimination result is obtained (yes in S134), the process proceeds to step S135.

  In step S135, it is determined whether or not the time measured by the interrupt timer T2 has passed the time TM2 (0.2 seconds) (S135). Then, if the elapsed discrimination result is not obtained (No in S135), the process returns to Step S133, while if the elapsed discrimination result is obtained (Yes in S135), the process proceeds to Step S150. The operation in step S150 will be described later.

  6 and 7 are operation flow diagrams of the foot swing detection function 121 and the foot constant speed progress detection function 122, respectively. FIG. 8 is an operation flow of the foot landing detection function 123, the one-step occurrence / stop detection function 124, and the walking information derivation function 100. Next, referring to these drawings, the detection operation of the occurrence of one step based on the detection of the acceleration in the traveling direction will be described.

  When this one-step occurrence detection operation starts, the interrupt timers T3 and T4 are reset (S260 in FIG. 8), and the process proceeds to step S200 in FIG. 6 to sample the longitudinal acceleration detection signal. Subsequently, it is determined whether or not the value of longitudinal acceleration data obtained by the sampling exceeds a threshold value Tv21 (0.2G) (S201). If the determination result exceeding is not obtained (no in S201), the process returns to step S200, whereas if the determination result exceeding is obtained (yes in S201), the interrupt timer T3 is started in 0.75 seconds (S202). . Subsequently, the longitudinal acceleration data is stored in the storage unit 13 (S203). After step S203, all the longitudinal acceleration data are sequentially stored in the storage unit 13 until the threshold value Tv21 is exceeded again as described above.

  Subsequently, the longitudinal acceleration detection signal is sampled (S204), and it is determined whether or not the current acceleration data value is smaller than the immediately preceding acceleration data value (S205). If a small determination result is not obtained (no in S205), the process returns to step S203. If a small determination result is obtained (yes in S205), the process proceeds to step S210 in FIG. Regarding the repetition of the determination in step S205, a limit may be set on the number of repetitions or the elapsed time by the repetition, and when the limit is exceeded, the process may return to step S260.

  When the process proceeds to step S210 in FIG. 7, the longitudinal acceleration detection signal is sampled, and it is determined whether or not the value is below the threshold value Tv22 (−0.2 G) (S211). If a lower discrimination result is not obtained (no in S211), the process returns to step S210. On the other hand, if a lower discrimination result is obtained (yes in S211), the longitudinal acceleration detection signal is sampled (S212). Subsequently, it is determined whether or not the current acceleration data value has reached the threshold value Tv23 (0G) (S213). If the reached discrimination result is not obtained (No in S213), the process returns to Step S212. If the reached discrimination result is obtained (Yes in S213), the process proceeds to Step S220 in FIG. In addition, regarding the repetition of the determination in steps S211, S213, a limit may be set on the number of repetitions or the elapsed time due to the repetition, and if the limit is exceeded, the process may return to step S260.

  In step S220, the longitudinal acceleration detection signal is sampled, and it is determined whether or not the value is below the threshold value Tv24 (−0.5 G) (S221). If a lower discrimination result is not obtained (no in S221), the process returns to step S220. On the other hand, if a lower discrimination result is obtained (yes in S221), the longitudinal acceleration data is stored in the storage unit 13 (S222).

  Subsequently, the longitudinal acceleration detection signal is sampled (S223), and it is determined whether or not the current acceleration data value is larger than the previous acceleration data value (S224). If a large discrimination result is not obtained (no in S224), the process returns to step S222. If a large discrimination result is obtained (yes in S224), the process proceeds to step S225.

  In step S225, it is determined whether the time count TM3 (also used as T3 in FIG. 8) by the interrupt timer T3 is shorter than 0.25 seconds. If a short discrimination result is not obtained (no in S225), the process returns to step S260. On the other hand, if a short discrimination result is obtained (yes in S225), the interrupt timer T3 is reset (S226), and the process proceeds to step S230.

  In step S230, the longitudinal acceleration detection signal is sampled, and it is determined whether or not the value falls within the threshold range Tr2 (−0.2G to 0.2G) (S231). If a determination result for entering is not obtained (no in S231), the process returns to step S230. On the other hand, if a determination result for entering is obtained (yes in S231), the interrupt timer T4 is started (S232).

  Subsequently, the longitudinal acceleration detection signal is sampled (S233), and it is determined whether or not the value falls within the threshold range Tr2 (S234). If the entering discrimination result is not obtained (no in S234), the process returns to step S230. If the entering discrimination result is obtained (yes in S234), the process proceeds to step S235.

  In step S235, it is determined whether or not the time measured by the interrupt timer T4 has passed the time TM4 (0.2 seconds) (S235). Then, if a lapsed discrimination result is not obtained (no in S235), the process returns to step S233, while if a lapsed discrimination result is obtained (yes in S235), the process proceeds to step S250.

  Here, when the process proceeds to step S250, the occurrence of one step by the leg portion to which the pedometer 1 is attached is detected, and the number of detected walking steps including one step by the leg portion and one step by the other leg portion is stored in the storage unit 13. Remembered.

  As described above, according to the first embodiment, as shown in FIG. 2, paying attention to the characteristic pattern regarding the time change characteristic of the acceleration of the leg formed in response to walking, the characteristic is obtained from the acceleration data of the leg. By monitoring whether or not a simple pattern appears, one step by the leg is detected, so that one step by walking can be detected more accurately and the actual walking situation can be grasped more accurately.

  In the first embodiment, the configuration includes the acceleration sensor 11 that detects biaxial acceleration. However, the configuration is not limited to this configuration, and a vertical acceleration sensor that detects vertical acceleration upward or downward is provided. The configuration may also include a longitudinal acceleration sensor that performs forward or backward detection of the acceleration in the traveling direction. In any of these configurations, as can be seen from the operation flow of FIG. 3 to FIG. 5 or FIG. 6 to FIG. 8 and FIG. The situation can be grasped more accurately.

  In addition, as examples of specific operation flows of steps S150 and S160 and steps S250 and S260 in FIGS. 5 and 8, the flows shown in FIGS. 9 and 10 can be used, respectively. In these flows, both the accelerations in the vertical direction and the traveling direction are processed separately in parallel, and when the occurrence of one step is detected by the detection of the other of the simultaneous travelings, the self-detection result is stored in the storage unit 13. It is working. In other words, in FIG. 9, when the occurrence of one step is detected by detecting the vertical direction (the gravitational direction in the figure), a flag F1 indicating that is set (S140), and the other step is performed by steps S141 to S143. When the flag F2 indicates that one step has been detected in the detection of the traveling direction, the process of step S150 is executed. Similarly, in FIG. 10, when the occurrence of one step is detected in the detection of the traveling direction, a flag F2 indicating that is set (S240), and one step is detected in the detection of the other vertical direction in steps S241 to S243. When it is indicated by the flag F1 that the occurrence of the above has been detected, the process of step S250 is executed. S160a and S260a correspond to S160 and S260, respectively, except that the newly generated T5, F1 and T6, F2 are further reset.

(Embodiment 2)
FIG. 11 is an explanatory diagram of the principle of deriving the number of steps information by the pedometer according to the second embodiment of the present invention, FIGS. It is an operation | movement flowchart of a foot landing detection function, a one step generation | occurrence | production / stop detection function, and a walk information derivation | leading-out function. In FIG. 11A, P121 to P124 correspond to the processing times of the functions 121 to 124, respectively.

  The pedometer 1 of the second embodiment is configured in the same manner as FIG. 1 of the first embodiment. As a first feature, the gait information derivation function 100 (signal processing / calculator 10) includes the gait information derivation function 100. Processing for obtaining an instantaneous speed of the detected walking including one step by the leg portion detected by the processing is performed.

  Here, the principle of deriving the instantaneous speed of the detected walking will be described. As shown in FIG. 11A, the values of longitudinal acceleration data corresponding to the locus A of one-step acceleration by the legs in the traveling direction are integrated ( (Integration), the trajectory B of the instantaneous speed of one step (speed for each sampling) can be obtained. As a special note, the trajectory B always returns to zero when the pedometer 1 is attached to the leg. If the pedometer is attached to the trunk, such as the waist, the instantaneous speed does not return to zero as in the case of the trajectory B, so it is difficult to obtain the instantaneous speed only from the data from the acceleration sensor. This is because, for example, even if the signal from the acceleration sensor is a signal with zero acceleration, it cannot be determined whether the vehicle is stopped or walking at a constant speed.

  Paying attention to the above points, the signal processor / arithmetic unit 10 starts from the time when the value of the digital longitudinal acceleration detection signal (sampling data) from the acceleration sensor 11 exceeds the threshold value Tv21 at the latest. By calculating the integrated value of the digital longitudinal acceleration detection signal from the above-mentioned (steps 200a, S204a, S210a, S212a, S220a, S223a, S230a in FIGS. 12 to 14). (See S233a). As described in the first embodiment, the instantaneous velocity of the detected walking may be obtained from the first zero crossing time point in the trajectory B by specifying the longitudinal acceleration data that crosses 0G.

  As a second feature, the signal processor / arithmetic unit 10 accumulates the instantaneous speed of the detected walking for each sampling data from the acceleration sensor 11 as shown in FIG. The accumulated walking speed is stored in the storage unit 13, and the detected walking speed is calculated from the accumulated speed at or after the instantaneous speed of the detected walking returns to zero and the number of samplings required to obtain the accumulated speed. The process which calculates | requires the average speed of is performed.

  The sampling number can be obtained by incrementing a predetermined variable with an increment of 1 for each sampling of each sampling data used for obtaining the instantaneous speed. In order to accurately determine the movement distance of the detected walk consisting of one step by the other leg and one step by the other leg part, the walking time of the detected walk is obtained using the time measuring means (the above-mentioned microcomputer clocking function or another timer). The sampling number is obtained from the walking time.

  That is, when the series of processing from step S254 in FIG. 14 to step S253 in FIG. 14 through step S200a in FIG. 12 is defined as one cycle processing, the walking information deriving function 100 performs the first step S254 in the one cycle processing. In addition, using the interrupt timer function of Tw, the walking time of the detected walking consisting of one step by the leg part to which the pedometer 1 is attached and one step by the other leg part is obtained, and processing for storing this in the storage unit 13 is performed. . In this case, the walking time is obtained immediately before the next one-cycle process and after step S252. Therefore, the accumulated speed obtained in step S252 and stored in the storage unit 13 in step S253 is Holds for one cycle. Then, in step S252 in the next one-cycle process, the number of samples is obtained by dividing the walking time obtained immediately before this one-cycle process by the sampling period of the longitudinal acceleration detection signal. In this case, in order to match the original sampling number used for obtaining the accumulated speed, the sampling number corresponding to steps S252 to S254 may be subtracted from the sampling number obtained by dividing by the sampling period. desirable.

  Subsequently, the average speed of the detected walking is obtained by dividing the previous accumulated speed held during one cycle processing by the sampling number. This average speed is considered that the average speed of one step by the leg with the pedometer 1 is the same as the average speed by the other leg, and by multiplying the average speed by the above walking time. Then, the moving distance by the detected walking (two steps) is calculated. The average speed of the detected walking and the movement distance by the detected walking are stored in the storage unit 13 in step S253.

  As described above, according to the second embodiment, since the instantaneous speed of the detected walking is obtained, various walking information can be derived based on the instantaneous speed. Further, since the average speed of the detected walking is obtained, various walking information such as a moving distance can be derived based on the average speed. In the first embodiment, the moving distance can be accurately obtained from the average speed and the walking time separately obtained by the time measuring means. Thereby, for example, the calorie consumption reference value (converted value) for each detected walking average speed and personal information (weight, sex, etc.) is stored in the storage unit 13 in advance, and the signal processor / calculator 10 is For each detected walk, the calorie consumption calculation reference value corresponding to the average speed of the detected walk and the user's personal information is read out from the storage unit 13, and the calorie consumption calculation reference value is multiplied by the travel distance by the detected walk. If the calorie consumption value for minutes is obtained and accumulated in the storage unit 13, the calorie consumption value due to walking can be obtained accurately.

  As a modification of the second embodiment, when the user walks in a certain section, the signal processor / calculator 10 obtains the walking speed in the section by obtaining the average speed of each detected walking in the section. You may make it ask. With this configuration, the average walking speed in a certain section can be accurately obtained.

  As a modification of the second embodiment, the start of Tw is not limited to the timing of step S254, and may be simultaneous with T3 of step S202. Steps S252 and S253 may also be performed at the start of Tw or immediately before and after the start of Tw. In this case, after the processes of P121 to P124 shown in FIG. 11A, the average speed, the walking time, and the moving distance of the detected walking can be calculated together.

  Further, as can be seen from FIG. 11, since the component after the zero crossing of the trajectory B after the second peak P22 is considered as vibration noise of the weight part, each sample from the first zero crossing time point in the trajectory B until returning to the zero crossing time point again. Each time the instantaneous speed of the detected walking is obtained and accumulated as an accumulated speed, the predetermined variable is incremented by 1, and the accumulated speed when returning to the zero crossing point again is the predetermined variable (the number of samplings) at that time. It is desirable to obtain an average speed by dividing the above.

It is a schematic block diagram of the principal part of the pedometer of Embodiment 1 by this invention. It is explanatory drawing of the walk detection principle by the pedometer. It is an operation | movement flowchart of a leg raising detection function. It is an operation | movement flowchart of a leg fall detection function. It is an operation | movement flowchart of the foot landing detection function of a perpendicular direction, one step generation | occurrence | production / stop detection function, and a walk information derivation | leading-out function. It is an operation | movement flowchart of a foot | bridging detection function. It is an operation | movement flowchart of a step constant speed progress detection function. It is an operation | movement flowchart of the foot landing detection function of advancing direction, one step generation | occurrence | production / stop detection function, and a walk information derivation | leading-out function. It is an operation | movement flowchart which shows the modification of FIG. It is an operation | movement flowchart which shows the modification of FIG. It is explanatory drawing of the step count information derivation | leading-out principle by the pedometer of Embodiment 2 by this invention. It is an operation | movement flowchart of a foot | bridging detection function. It is an operation | movement flowchart of a step constant speed progress detection function. It is an operation | movement flowchart of the foot landing detection function of advancing direction, one step generation | occurrence | production / stop detection function, and a walk information derivation | leading-out function.

Explanation of symbols

1 Pedometer 10 Signal Processing / Calculator 11 Acceleration Sensor 12 A / D Converter 13 Storage Unit

Claims (7)

A vertical acceleration detection means for detecting vertical acceleration separately upward or downward, and a calculation means for obtaining walking information by inputting the detection result by the vertical acceleration detection means as sampling data at regular intervals. A pedometer attached to the leg of
The computing means is
A process of monitoring whether the value of the sampling data from the vertical acceleration detection means indicates a change with a first peak exceeding a first vertical threshold value greater than 1G;
When a monitoring result indicating a change with the first peak is obtained, a second peak in which the value of the sampling data from the vertical acceleration detecting means falls below a predetermined second vertical threshold value smaller than 1G. A process of monitoring whether or not to show a change involving
A third peak in which the value of the sampling data from the vertical acceleration detecting means exceeds a predetermined third vertical threshold value greater than 1G when a monitoring result indicating a change with the second peak is obtained. A process of monitoring whether or not to show a change involving
A process for monitoring whether or not the value of the sampling data from the vertical acceleration detection means indicates convergence to 1G when a monitoring result indicating a change with the third peak is obtained;
When a monitoring result indicating convergence to 1G is obtained by this process, a process for detecting a step by the leg is executed. A longitudinal acceleration detecting means for detecting the acceleration in the traveling direction separately forward or backward, and an arithmetic means for obtaining walking information by inputting the detection result by the longitudinal acceleration detecting means as sampling data at regular intervals. A pedometer attached to the leg of
The computing means is
Whether the value of the sampling data from the longitudinal acceleration detection means shows a change with a first peak exceeding a predetermined traveling direction threshold value greater than 0G when the front side in the traveling direction is positive A process of monitoring,
A process for monitoring whether the value of the sampling data from the longitudinal acceleration detection means indicates convergence to a constant speed when a monitoring result indicating a change with the first peak is obtained;
When a monitoring result indicating convergence to a constant speed is obtained by this processing, the second peak in which the value of the sampling data from the longitudinal acceleration detection means falls below a predetermined traveling direction threshold value less than 0G. A process of monitoring whether or not to show a change accompanying,
A process for monitoring whether or not the value of the sampling data from the longitudinal acceleration detection means indicates convergence to 0 G when a monitoring result indicating a change with the second peak is obtained;
When a monitoring result indicating convergence to 0G is obtained by this process, a process for detecting a step by the leg is performed. Vertical acceleration detection means for detecting the acceleration in the vertical direction for each upward or downward direction, longitudinal acceleration detection means for detecting the acceleration in the traveling direction for each forward or backward direction, and both detection results by the vertical acceleration detection means and the longitudinal acceleration detection means A pedometer attached to the user's legs, and calculating means for obtaining walking information by inputting sampling data at regular intervals.
The computing means is
A process of monitoring whether the value of the sampling data from the vertical acceleration detecting means indicates a change with a first peak exceeding a first vertical threshold value greater than 1G; When a monitoring result indicating a change with a peak is obtained, a change with a second peak in which the value of the sampling data from the vertical acceleration detection means falls below a predetermined second vertical threshold value smaller than 1G. When the monitoring result indicating the change with the second peak is obtained, the value of the sampling data from the vertical acceleration detecting means is a predetermined vertical value greater than 1G. The vertical acceleration detecting means when a process for monitoring whether or not a change with a third peak exceeding a third threshold for direction is shown and a monitoring result showing a change with the third peak are obtained. Or The value of the sampling data, together with and a process of monitoring whether shows the convergence to 1G,
Whether the value of the sampling data from the longitudinal acceleration detection means shows a change with a first peak exceeding a predetermined traveling direction threshold value greater than 0G when the front side in the traveling direction is positive Whether or not the value of the sampling data from the longitudinal acceleration detection means indicates convergence to a constant speed when a monitoring process and a monitoring result indicating a change with the first peak are obtained in this process And when a monitoring result indicating convergence to a constant speed is obtained in this processing, the value of the sampling data from the longitudinal acceleration detection means is used for a predetermined traveling direction smaller than 0G. When a process for monitoring whether or not a change with a second peak below a threshold value is shown and a monitoring result showing a change with the second peak is obtained in this process, the longitudinal acceleration detection means Sun The value of the ring data, executes the processing for monitoring whether shows the convergence to 0G,
A pedometer, wherein when a monitoring result indicating convergence to 1G is obtained and a monitoring result indicating convergence to 0G is obtained, a process of detecting one step by the legs is executed.   The calculation means is configured for each sampling data from the longitudinal acceleration detection means from the time when the value of the sampling data from the longitudinal acceleration detection means exceeds a predetermined traveling direction threshold value greater than 0 G at the latest. Then, by calculating the integrated value of the sampling data, the instantaneous speed of the detected walking including one step by the leg detected by the processing is obtained, the cumulative speed is obtained by accumulating the instantaneous speed, and the detected walking The average speed of the detected walking is obtained from the accumulated speed at the time when the instantaneous speed returns to zero or after and the number of samplings required to obtain the accumulated speed. The pedometer described. With timekeeping means,
The calculating means obtains the walking time of the detected walking consisting of one step by the leg and one by the other leg using the time measuring means, while calculating the average speed of the detected walking and the walking time of the detected walking. The pedometer according to claim 4, wherein a moving distance of the detected walking composed of one step by the leg and one by the other leg is obtained.   The said calculating means calculates | requires the speed of the walk in the area by calculating | requiring the average speed of each detection walk in the area, when the said user walks in a certain area. Pedometer. Conversion value storage means for storing calorie consumption calculation reference values for each average speed and personal information of the detected walking, and calorie consumption storage means,
For each detected walking, the computing means reads an average speed of the detected walking and a calorie consumption calculation reference value corresponding to the user's personal information from the converted value storage means, and the detected calorie consumption reference value is detected as the detected calorie consumption reference value. 6. The pedometer according to claim 5, wherein a calorie consumption value corresponding to the movement distance is obtained by multiplying the walking movement distance, and this is accumulated and stored in the calorie consumption storage means.

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