WO2019187035A1 - Angle measuring module, pole, angle measuring method and program - Google Patents

Abstract

An angle measuring module (20) includes: an acceleration sensor (21), the measuring axis of which is fixed to a shaft of a pole; and a control unit (25) that acquires a sensor output value. After a ground contact determining unit (252) of the control unit (25) determines that the output of the acceleration sensor (21) is an extreme value, an angle calculating unit (253) calculates the angle between the direction of the acceleration vector and the extension direction of the shaft when the magnitude of the acceleration vector becomes a value indicating the acceleration of gravity. Then, an angle determining unit (254) determines whether the measured angle is within a predetermined range, and a speaker (24) outputs a determination sound which is different depending on the determination result.

Description

Angle measurement module, pole, angle measurement method and program

The present invention relates to an angle measurement module for measuring an angle with respect to the vertical direction, a pole having a function of measuring an angle with respect to the vertical direction, an angle measurement method, and a program.

□ When performing exercises such as Nordic walking or skiing, the athlete should hold the pole in both hands or one hand. The exerciser keeps the exercise posture normal by poking the ground with a pole, and stimulates muscles of the whole body to increase exercise efficiency. However, it is said that if the exerciser's posture and how to use the pole are not correct, the exercise efficiency will decrease.

A device having a function of acquiring a state of motion by mounting a sensor on such a pole has been proposed (for example, Patent Document 1).

The pole described in Patent Document 1 includes a pressure sensor near the tip, and a user interface in the grip. It is described that the user can perform the right kind of exercise by measuring the physiological effect based on the data acquired by the pressure sensor and displaying it on the display.

In addition, a method has been proposed in which an accelerating sensor is provided on a wand that assists walking of a patient with a gait disorder to determine whether the direction of the wand relative to the traveling direction is normal (for example, Patent Document 2).

In the walking assist device described in Patent Document 2, the gravity sensor senses the direction of the force generated by the movement of the cane that tries to strike forward, and whether or not there is a deviation in the current direction of the cane with respect to the traveling direction. Is determined by the gyro sensor. And when deviation has arisen, it is demonstrated that an appropriate walk can be encouraged with respect to a patient by rotating and moving the laser light source part and irradiating the light which shows the advancing direction.

JP-T-2004-520925 JP 2016-159133 A

In exercise such as Nordic walking or skiing, the trajectory of the pole during exercise changes and the exercise efficiency changes depending on the angle at which the pole shaft contacts the vertical direction. The exerciser cannot accurately determine whether or not the angle of the shaft with respect to the vertical direction at the time of grounding is appropriate, and it is difficult to increase the exercise efficiency.

In particular, there are multiple styles of exercise such as Nordic walking or skiing. If the pole is not grounded at an appropriate angle according to the style, the exercise efficiency will be reduced, and the exerciser will be burdened with specific parts. May increase. Therefore, it is desirable for the exerciser to exercise while confirming whether the extending direction of the shaft is in an appropriate direction. The pressure sensor for the pole described in Patent Document 1 detects the pressure when grounded, and thus it has not been possible to accurately determine whether or not the angle of the shaft is appropriate.

Also, in a cane that assists walking of a patient with a walking disorder, the locus of the cane during walking changes depending on the angle of the cane when touched with respect to the vertical direction, and the burden on the patient also changes. The patient cannot accurately determine whether or not the angle of the cane with respect to the vertical direction at the time of grounding is appropriate, and the burden on the patient may increase. Since the walking aid device described in Patent Document 2 detects the direction of the cane with an acceleration sensor and detects a deviation from the traveling direction, it cannot determine whether the direction of the cane is appropriate at the timing of grounding. Could not show patient how to use cane efficiently and efficiently.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an angle measurement module or the like that can accurately measure the angle of the shaft extending direction with respect to the vertical direction at the timing of grounding.

In order to achieve the above object, an angle measurement module according to the first aspect of the present invention includes:
An acceleration sensor having a plurality of measurement axes fixed to the pole shaft;
Based on the sensor output value of each measurement axis of the acceleration sensor acquired immediately after the pole is grounded, an angle calculation unit that calculates the angle of the extending direction of the shaft with respect to the vertical direction;
It is characterized by providing.

An angle determination unit that determines whether or not the angle calculated by the angle calculation unit is within a predetermined range may be further provided.

A judgment sound that can be discriminated from each other is output at least one of when the angle calculated by the angle calculation unit is within a predetermined range and when the angle is not within the range. A speaker may be further provided.

The angle calculation unit is based on the sensor output value of each measurement axis of the acceleration sensor when the magnitude of the sensor output value exceeds a predetermined threshold value and then becomes a value indicating gravitational acceleration. The angle of the extending direction of the shaft with respect to the vertical direction may be calculated.

The angle calculation unit is configured to detect the sensor of each measurement axis of the acceleration sensor when the magnitude of the sensor output value reaches a value indicating gravity acceleration continuously for a predetermined number of times after a predetermined threshold value is exceeded. Based on the output value, the angle of the extending direction of the shaft with respect to the vertical direction may be calculated.

A speaker that outputs a notification sound indicating an abnormality when the magnitude of the sensor output value does not reach a value indicating the gravitational acceleration continuously for a predetermined number of times within a predetermined time after the magnitude of the sensor output value exceeds a predetermined threshold; , May be further provided.

A low-pass filter that outputs a low-frequency region of the output of the acceleration sensor,
The angle calculation unit may calculate the angle based on an output of the low pass filter.

The pole according to the second aspect of the present invention is characterized by having the angle measurement module according to the first aspect.

An angle measurement method according to the third aspect of the present invention is as follows.
A sensor output value acquisition step for acquiring a sensor output value output by an acceleration sensor fixed to the pole shaft;
Based on the sensor output value acquired immediately after the pole is grounded, an angle calculating step for calculating an angle of the extending direction of the shaft with respect to a vertical direction;
It is characterized by having.

A program according to the fourth aspect of the present invention is:
Computer
A sensor output value acquisition unit for acquiring a sensor output value output by an acceleration sensor fixed to the shaft of the pole;
Based on the sensor output value acquired immediately after the pole is grounded, an angle calculation unit that calculates an angle of the extending direction of the shaft with respect to the vertical direction,
It is made to function as.

According to the present invention, it is possible to accurately measure the angle of the extending direction of the shaft with respect to the vertical direction at the timing of grounding.

It is a figure which shows the external appearance of the pole which concerns on embodiment of this invention. It is a block diagram which shows the hardware constitutions of the angle measurement module which concerns on embodiment of this invention. 2 is a block diagram illustrating a functional configuration of an angle measurement module according to Embodiment 1. FIG. 3 is a flowchart of angle determination processing according to the first embodiment. 6 is a block diagram illustrating a functional configuration of an angle measurement module according to Embodiment 2. FIG. 10 is a flowchart of angle determination processing according to the second embodiment. It is a block diagram which shows the hardware constitutions of the angle measurement module of another example.

(Embodiment 1)
The pole according to the present invention includes a pole and a stock used in sports such as Nordic walking and skiing, and walking aids such as a cane for assisting walking of a patient having a walking disorder. In this embodiment, as an example, a pole used in Nordic walking will be described. FIG. 1 is a diagram showing an appearance of a pole 1 according to the present embodiment.

As shown in FIG. 1, the pole 1 includes a grip 10, a strap 11, a shaft 12, and a tip portion 13. The user of the pole 1 holds the grip 10 and fixes the back of the hand with the strap 11, and grounds the tip end portion 13, so that the pole 1 makes a movement such as walking by hitting the ground. When exercising, the user moves with the pole 1 in one or both hands.

The shaft 12 may have a certain length, or may be configured to be stretchable. FIG. 1 shows a stretchable configuration. The shaft 12 includes two pipe-like bodies 121 and 122 having different diameters, and the lower pipe-like body 122 having a small diameter is inserted inside the upper pipe-like body 121 having a large diameter. Then, the length is changed by adjusting the insertion amount, and the length is fixed by the fixing sleeve 123.

The tip portion 13 is covered with a cover made of an elastic body such as synthetic rubber in order to reduce an impact at the time of ground contact and to prevent slipping.

The shaft 12 is provided with an angle measurement module 20 so as to be detachable. FIG. 2 is a block diagram illustrating a hardware configuration of the angle measurement module 20. As shown in FIG. 2, the angle measurement module 20 includes an acceleration sensor 21, an AD converter (Analog-Digital Converter) 22, a storage unit 23, a speaker 24, and a control unit 25.

The acceleration sensor 21 has three measurement axes orthogonal to each other and outputs acceleration values in the three-axis directions. Here, as shown in FIG. 1, the measurement axis of the acceleration sensor 21 is fixed to the pole 1 so that the z axis coincides with the extending direction of the shaft 12 of the pole 1.

The AD converter 22 outputs a digital signal generated by sampling the analog signal output from the acceleration sensor 21 at a constant sampling frequency. The digital signal is output to the control unit 25 as a sensor output value of each measurement axis of the acceleration sensor 21. That is, sensor output values are input to the control unit 25 at regular intervals.

The storage unit 23 is composed of a nonvolatile memory such as a flash memory. A part of the storage area of the storage unit 23 is used as a buffer for overwriting and saving the sensor output value. The other storage areas of the storage unit 23 store various programs executed by the control unit 25.

Speaker 24 outputs a plurality of types of notification sounds based on a control signal from control unit 25.

The control unit 25 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The control unit 25 executes a program stored in the storage unit 23, so that each of the sensor output value acquisition unit 251, the ground determination unit 252, the angle calculation unit 253, and the angle determination unit 254 is performed as illustrated in FIG. Functions as a functional unit. Each functional unit of the control unit 25 may be configured by a dedicated circuit such as an ASIC (Application Specific Integrated） Circuit).

The sensor output value acquisition unit 251 acquires the sensor output value obtained by performing AD conversion on the output of each measurement axis of the acceleration sensor 21 by the AD converter 22, stores the sensor output value in the buffer of the storage unit 23, and the ground determination unit 252. The sensor output value is passed to the angle calculation unit 253.

The ground determination unit 252 determines that the tip 13 is grounded when the magnitude of the input sensor output value exceeds a predetermined threshold. Here, the determination may be made only by the z-axis magnitude of the sensor output value, or the magnitude of the acceleration vector is calculated from the magnitude of each measurement axis of the sensor output value to obtain the magnitude of the acceleration vector. You may determine based on. By setting the threshold value high, only the grounding impact can be detected, and erroneous detection can be avoided.

When the ground contact determination unit 252 determines ground contact, the angle calculation unit 253 calculates an angle based on the sensor output value. In the angle calculation unit 253, the magnitude of the acceleration vector obtained from the magnitudes of the three axes of the sensor output values input from the sensor output value acquisition unit 251 after the contact determination unit 252 determines the contact indicates the gravitational acceleration. The angle is calculated from the sensor output value when the value is reached. Here, when the magnitude of the acceleration vector is within a predetermined error range centered on the value of the gravitational acceleration, it may be determined that the value indicates the gravitational acceleration.

In addition, when the magnitude of the acceleration vector becomes a value indicating the gravitational acceleration continuously for a predetermined number of times, it can be determined that the impact noise due to the pole 1 hitting the ground has been settled. You may make it calculate. In the following description, a case will be described where the angle is calculated when the magnitude of the acceleration vector reaches a value indicating the gravitational acceleration continuously n times (n is a natural number).

When the magnitude of the sensor output value indicates a large value exceeding the threshold value and the ground contact determination unit 252 determines the ground contact, the tip 13 is grounded when the magnitude of the acceleration vector becomes a value indicating gravitational acceleration. The timing immediately after is shown. At this time, the direction of the acceleration vector indicates the vertical direction. At the timing immediately after the contact with the ground, the control unit 25 can measure an accurate angle without being affected by the impact of the ground.

The angle at which the measurement is performed is an angle between the acceleration vector obtained from the size of each measurement axis of the sensor output value and the extending direction of the shaft 12 of the pole 1. Here, since the z-axis of the acceleration sensor 21 is aligned with the extending direction of the shaft 12, the control unit 25 measures the angle of the acceleration vector and the z-axis obtained from the three-axis magnitudes of the sensor output values.

When the angle calculation unit 253 calculates an angle, the angle determination unit 254 determines whether the calculated angle is a predetermined direction, and when the angle is a predetermined direction and in a predetermined direction. Different notification sounds are output from the speaker 24 in the case where there is not. The notification sound is an arbitrary type of distinguishable sound, for example, two types of sounds “beep” and “boo”.

For example, in the case of the defensive style of Nordic walking, the direction of the shaft 12 of the pole 1 is preferably the vertical direction. For this reason, when the angle calculated by the angle calculation unit 253 is within a predetermined range centered on 0 degrees, the speaker 24 outputs a notification sound “beep” and is outside the range. The speaker 24 outputs a notification sound “boo”. Thus, the user can determine from the notification sound “beep” that the direction of the shaft 12 immediately after the grounding is correct, and can determine from the notification sound “buzz” that the direction is not correct.

The operation of the angle measurement module 20 configured as described above will be described with reference to the flowchart shown in FIG. FIG. 4 is a flowchart of angle determination processing executed by the control unit 25. When the angle measurement module 20 is powered on, the control unit 25 executes an angle determination process.

The sensor output value acquisition unit 251 acquires a sensor output value obtained by performing AD conversion on the output of the acceleration sensor 21 by the AD converter 22 (step S101). The ground determination unit 252 determines whether or not the sensor output value acquired by the sensor output value acquisition unit 251 is a local maximum value (step S102). Specifically, the ground contact determination unit 252 determines that the sensor output value is the maximum value when the sensor output value exceeds a predetermined threshold due to an impact when the tip 13 of the pole 1 hits the ground. To do.

When the sensor output value is not the maximum value (step S102; No), the control unit 25 continues to acquire the sensor output value and determine whether the sensor output value is the maximum value (steps S101 and S102). ). When the sensor output value is the maximum value (step S102; Yes), the sensor output value acquisition unit 251 further acquires the sensor output value (step S103).

The angle calculation unit 253 calculates the magnitude of the acceleration vector from the sensor output value acquired in step S103, and whether the magnitude of the acceleration vector is a value indicating gravitational acceleration (acceleration vector magnitude = g; g is gravity It is determined whether or not (acceleration) (step S104). Here, the angle calculation unit 253 may determine that the value of the acceleration vector is a value indicating the gravitational acceleration when the magnitude of the acceleration vector is within a predetermined error range centered on the gravitational acceleration value g.

If the magnitude of the acceleration vector is not a value indicating gravitational acceleration (step S104; No), the process returns to step S103, and the sensor output value acquisition unit 251 acquires the next sensor output value. If the magnitude of the acceleration vector is a value indicating the gravitational acceleration (step S104; Yes), the angle calculating unit 253 continuously increases the value indicating the gravitational acceleration n times or more (n is a natural number). , The number of times of continuous measurement that can be predicted that noise has been set in advance.) (Step S105). When it is less than n times (step S105; No), the process returns to step S103 and the sensor output value acquisition unit 251 acquires the next sensor output value.

When the magnitude of the acceleration vector becomes a value indicating the gravitational acceleration continuously n times or more (step S105; Yes), it is considered that the impact noise due to the pole 1 hitting the ground has been reduced. The angle calculation unit 253 calculates the angle between the direction of the acceleration vector and the z direction (step S106).

The angle determination unit 254 determines whether or not the angle calculated in step S106 is within a predetermined range (step S107). For example, in the case of the defensive style of Nordic walking, the direction of the shaft 12 of the pole 1 is preferably a vertical direction. Therefore, the angle determination unit 254 determines whether or not the angle calculated in step S106 is within a predetermined range centered on 0 degrees.

When the angle calculated in step S106 is within the predetermined range (step S107; Yes), the angle determination unit 254 outputs a normal determination sound for notifying that the angle is correct from the speaker 24 (step S107). S108). If the angle calculated in step S106 is not within the predetermined range (step S107; No), an abnormality determination sound for notifying that the angle is not correct is output from the speaker 24 (step S109). Thereafter, the process returns to step S101, and the sensor output value acquisition unit 251 acquires the next sensor output value.

In this way, the angle measurement module 20 measures the angle with respect to the vertical direction of the shaft 12 immediately after the pole 1 is grounded based on the output of the acceleration sensor 21, and determines whether or not the angle is an appropriate angle. A notification sound can be output.

As described above, in the present embodiment, the angle measurement module 20 fixes the measurement axis of the acceleration sensor 21 to the shaft 12 of the pole 1, and the control unit 25 acquires the sensor output value. After the ground contact determination unit 252 of the control unit 25 determines that the output of the acceleration sensor 21 is a maximum value, the angle calculation unit 253 performs acceleration when the magnitude of the acceleration vector becomes a value indicating gravitational acceleration. The angle between the vector direction and the extending direction of the shaft 12 is calculated. Then, the angle determination unit 254 determines whether or not the measured angle is within a predetermined range, and the speaker 24 outputs a different determination sound according to the determination result. Thereby, the user can know whether the angle with respect to the vertical direction of the extending direction of the shaft 12 at the timing of grounding is correct, and can learn how to use the correct pole 1.

(Embodiment 2)
A second embodiment of the present invention will be described in detail with reference to the drawings. The angle measurement module 20 according to the present embodiment is a module that measures the angle in the extending direction of the shaft 12 with respect to the vertical direction based on the output of the acceleration sensor 21 as in the first embodiment, and also implements a hardware configuration. This is the same as the first embodiment. Since the functional configuration of the control unit 35 and the angle determination process executed by the control unit 35 are different from those in the first embodiment, these will be described in detail with reference to FIGS.

FIG. 5 is a block diagram showing a functional configuration of the angle measurement module 20. As shown in FIG. 5, the control unit 35 executes a program stored in the storage unit 23, so that a sensor output value acquisition unit 251, a ground determination unit 252, an angle calculation unit 253, an angle determination unit 254, a timer It functions as 351. The sensor output value acquisition unit 251, the ground contact determination unit 252, the angle calculation unit 253, and the angle determination unit 254 have the same functions as those in the first embodiment. The timer 351 measures the time from when it is determined that the sensor output value of the acceleration sensor 21 is the maximum value because the pole 1 is grounded.

The operation of the angle measurement module 20 configured as described above will be described with reference to the flowchart shown in FIG. FIG. 6 is a flowchart of the angle determination process executed by the control unit 35. When the angle measurement module 20 is powered on, the control unit 35 executes an angle determination process.

The sensor output value acquisition unit 251 acquires a sensor output value obtained by performing AD conversion on the output of the acceleration sensor 21 by the AD converter 22 (step S101). The ground determination unit 252 determines whether or not the sensor output value acquired by the sensor output value acquisition unit 251 is a local maximum value (step S102). Specifically, the ground contact determination unit 252 determines that the sensor output value is the maximum value when the sensor output value exceeds a predetermined threshold due to an impact when the tip 13 of the pole 1 hits the ground. To do.

When the sensor output value is not the maximum value (step S102; No), the control unit 25 continues to acquire the sensor output value and determine whether the sensor output value is the maximum value (steps S101 and S102). ). When the sensor output value is a maximum value (step S102; Yes), the timer 351 starts measuring time t from 0 (step S201). Then, it is determined whether the time limit expires t ₀ where t is the predetermined time (step S202).

When the time t has not exceeded the limit time _{t 0} (step S202; No), the sensor output value acquisition unit 251 further obtains a sensor output value (step S103).

The angle calculation unit 253 calculates the magnitude of the acceleration vector from the sensor output value acquired in step S103, and whether the magnitude of the acceleration vector is a value indicating gravitational acceleration (acceleration vector magnitude = g; g is gravity It is determined whether or not (acceleration) (step S104). Here, the angle calculation unit 253 may determine that the acceleration vector has a value indicating the gravitational acceleration when the magnitude of the acceleration vector is within a predetermined error range centered on the value of the gravitational acceleration g.

If the magnitude of the acceleration vector is not a value indicating gravitational acceleration (step S104; No), the process returns to step S202. If the magnitude of the acceleration vector is a value indicating gravitational acceleration (step S104; Yes), the angle calculating unit 253 continuously obtains a value indicating gravitational acceleration n times or more (n is a natural number). It is determined whether or not there is (step S105). When it is less than n times (step S105; No), the process returns to step S202.

When the magnitude of the acceleration vector becomes a value indicating the gravitational acceleration continuously n times or more (step S105; Yes), it is considered that the impact noise due to the pole 1 hitting the ground has been reduced. The angle calculation unit 253 calculates the angle between the direction of the acceleration vector and the z direction (step S106).

The angle determination unit 254 determines whether or not the angle calculated in step S106 is within a predetermined range (step S107). For example, in the case of the defensive style of Nordic walking, the direction of the shaft 12 of the pole 1 is preferably a vertical direction. Therefore, the angle determination unit 254 determines whether or not the angle calculated in step S106 is within a predetermined range centered on 0 degrees.

When the angle calculated in step S106 is within the predetermined range (step S107; Yes), the angle determination unit 254 outputs a normal determination sound for notifying that the angle is correct from the speaker 24 (step S107). S108). If the angle calculated in step S106 is not within the predetermined range (step S107; No), an abnormality determination sound for notifying that the angle is not correct is output from the speaker 24 (step S109). Thereafter, the process returns to step S101, and the sensor output value acquisition unit 251 acquires the next sensor output value.

In step S202, when the time t by the timer 351 to measure exceeds the time limit _{t 0} is (step S202; Yes), and outputs the abnormality determination sound from the speaker 24 (step S109). In time state t exceeds the time limit t ₀ step S202, without the magnitude of the acceleration vector calculated from the sensor output value reaches to be continuously n times a value that indicates the gravitational acceleration, the time limit t ₀ Is the state that has passed. In this state, it is considered that the angle could not be accurately measured due to noise or the like, so the speaker 24 outputs an abnormality determination sound.

As described above, in the present embodiment, the angle measurement module 20 measures the time t after the timer 351 determines that the output of the acceleration sensor 21 is the maximum value, and the magnitude of the acceleration vector. Even when the time limit t ₀ has elapsed without continuously reaching n times, the abnormality determination sound is output. As a result, it is possible to avoid a state in which the determination sound is not output when the angle cannot be measured normally after the pole 1 has struck the ground, and the abnormality determination sound can be output and notified to the user.

As described above, according to the present invention, the angle measurement module includes an acceleration sensor having a plurality of measurement axes fixed to the pole shaft, and the sensor output value of each measurement axis of the acceleration sensor acquired immediately after the pole is grounded. Based on this, the angle of the extending direction of the shaft with respect to the vertical direction is calculated. This makes it possible to accurately measure the angle of the extending direction of the shaft with respect to the vertical direction at the timing of grounding.

The present invention is capable of various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention and do not limit the scope of the present invention. In other words, the scope of the present invention is shown not by the embodiments but by the claims. Various modifications within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.

For example, FIG. 7 is a diagram illustrating a functional configuration of the angle measurement module 30 of another example. In the above embodiment, the angle measurement module 30 converts the output of the acceleration sensor 21 into a digital signal by the AD converter 22 and inputs it to the control unit 25. However, as shown in FIG. 25 may further include a low-pass filter (LPF: Low） Pass 更 に Filter) 31. At this time, a signal obtained by AD converting the output of the acceleration sensor 21 by the AD converter 22 is input to the low-pass filter 31, and a low-frequency band signal after passing through the low-pass filter 31 is input to the control unit 25. Thereby, noise in a high frequency band can be eliminated from the output of the acceleration sensor 21, and erroneous detection of the magnitude and direction of acceleration is avoided in the ground determination of the ground determination unit 252 and the angle calculation of the angle calculation unit 253. be able to.

Also, based on the angle calculated by the angle calculation unit 253 of the control unit 25, two kinds of determination sounds are output from the speaker 24 depending on whether or not the angle is within a predetermined range. The determination sound may be output to any one of the case where the angle is within a predetermined range and the case where the angle is not within the range.

Alternatively, three or more threshold values for dividing the range may be set, and three or more determination sounds may be output depending on which of the four or more ranges the calculated angle belongs to. Good. For example, three values of θ1, θ2, and θ3 are set as angle thresholds, and a determination sound of “beep” is output when θ1 is less than θ2, and a determination sound of “beep” is output when θ2 is less than θ3. If it is output and less than θ1 and greater than or equal to θ3, a determination sound “boo” may be output.

Also, the angle measurement modules 20 and 30 may generate vibrations and notify the user simultaneously with or instead of the process of outputting the judgment sound from the speaker 24. As shown in FIG. 7, the angle measurement module 30 may include a communication unit 32, and the communication unit 32 may transmit the angle measured by the angle calculation unit 253 to the external data processing device 40. The data processing device 40 may store the received angle and display the history on the display unit.

In addition, by arbitrarily setting the normal range of the angle calculated by the angle calculation unit 253, the angle measurement modules 20 and 30 are used for other styles of Nordic walking, other sports, and walking training for persons with walking disabilities. can do. Further, the angle measurement modules 20 and 30 may be configured so that the user can arbitrarily set a normal range of angles.

Further, although the angle measurement modules 20 and 30 are detachably provided on the shaft 12 of the pole 1, they may be incorporated in the pole 1.

In addition, by installing the program executed by the control units 25 and 35 of the above-described embodiment in an information terminal such as an existing smartphone or a clock terminal, the terminal can also function as the angle measurement module according to the present invention. It is.

Such a program distribution method is arbitrary, for example, a computer-readable recording medium such as a CD-ROM (Compact Disc Read-Only Memory), a DVD (Digital Versatile Disc), an MO (Magneto Optical Disc), a memory card, etc. It may be stored and distributed in the network, or distributed via a communication network such as a mobile phone network or the Internet.

DESCRIPTION OF SYMBOLS 1 ... Paul 10 ... Grip 11 ... Strap 12 ... Shaft 13 ... Tip part 20, 30 ... Angle measurement module 21 ... Acceleration sensor 22 ... AD converter 23 ... Memory | storage part 24 ... Speaker 25, 35 ... Control part 31 ... Low pass filter 32 ... Communication unit 40 ... Data processing device 121, 122 ... Pipe-like body 251 ... Sensor output value acquisition unit 252 ... Ground determination unit 253 ... Angle calculation unit 254 ... Angle determination unit 351 ... Timer

Claims (10)

An acceleration sensor having a plurality of measurement axes fixed to the pole shaft;
Based on the sensor output value of each measurement axis of the acceleration sensor acquired immediately after the pole is grounded, an angle calculation unit that calculates the angle of the extending direction of the shaft with respect to the vertical direction;
An angle measurement module comprising: An angle determination unit that determines whether or not the angle calculated by the angle calculation unit is within a predetermined range;
The angle measurement module according to claim 1. A judgment sound that can be discriminated from each other is output at least one of when the angle calculated by the angle calculation unit is within a predetermined range and when the angle is not within the range. A speaker is further provided.
The angle measurement module according to claim 1 or 2. The angle calculation unit is based on the sensor output value of each measurement axis of the acceleration sensor when the magnitude of the sensor output value exceeds a predetermined threshold value and then becomes a value indicating gravitational acceleration. Calculating the angle of the extending direction of the shaft with respect to the vertical direction;
The angle measurement module according to any one of claims 1 to 3. The angle calculation unit is configured to detect the sensor of each measurement axis of the acceleration sensor when the magnitude of the sensor output value reaches a value indicating gravity acceleration continuously for a predetermined number of times after a predetermined threshold value is exceeded. Based on the output value, the angle of the extending direction of the shaft with respect to the vertical direction is calculated.
The angle measurement module according to any one of claims 1 to 3. A speaker that outputs a notification sound indicating an abnormality when the magnitude of the sensor output value does not reach a value indicating the gravitational acceleration continuously for a predetermined number of times within a predetermined time after the magnitude of the sensor output value exceeds a predetermined threshold; And further,
The angle measurement module according to claim 5. A low-pass filter that outputs a signal in a low-frequency region of the acceleration sensor,
The angle calculation unit calculates the angle based on an output of the low-pass filter;
The angle measurement module according to any one of claims 1 to 6. A pole having the angle measurement module according to any one of claims 1 to 7. A sensor output value acquisition step for acquiring a sensor output value output by an acceleration sensor fixed to the pole shaft;
Based on the sensor output value acquired immediately after the pole is grounded, an angle calculating step for calculating an angle of the extending direction of the shaft with respect to a vertical direction;
An angle measuring method. Computer
A sensor output value acquisition unit for acquiring a sensor output value output by an acceleration sensor fixed to the shaft of the pole;
Based on the sensor output value acquired immediately after the pole is grounded, an angle calculation unit that calculates an angle of the extending direction of the shaft with respect to the vertical direction,
Program to function as.

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