JP2016150147A - Balance training apparatus - Google Patents

Abstract

The present invention provides a balance training apparatus that suppresses the possibility of a decrease in training efficiency. A balance training device (100) associates and stores a disturbance operation pattern that reduces the stability of an inverted motorcycle (10) in an inverted state and a moving distance Dm of the inverted motorcycle (10) based on the disturbance operation pattern. The storage range (34), the operation pattern selection unit (35) for selecting a disturbance operation pattern to be sent to the inverted motorcycle (10) as a command, and the training range in front of the inverted motorcycle (10) from the inverted motorcycle (10) ( A distance calculation unit (33) that calculates a forward distance d1 to the outer edge of At1) and a rear distance d2 from the inverted motorcycle to the outer edge of the training range (At1) behind the inverted motorcycle. The operation pattern selection unit (35) selects a disturbance operation pattern in which the relationship between the front distance d1, the rear distance d2, and the movement distance Dm satisfies d1> Dm and d2> Dm. [Selection] Figure 2

Description

  The present invention relates to a balance training apparatus.

  2. Description of the Related Art There is a balance training device that allows a passenger to perform a balance training by causing an inverted motorcycle to perform an unintended motion of the passenger while the passenger is on an inverted motorcycle.

  For example, Patent Document 1 discloses a balance training device that obtains position information of an inverted motorcycle and returns the inverted motorcycle to a movable range when it is determined that the position of the inverted motorcycle is outside the movable range of the inverted motorcycle. Yes.

JP 2014-182318 A

  In the balance training device disclosed in Patent Document 1, when the inverted motorcycle is returned to the movable range, the passenger's balance training is temporarily interrupted. As a result, training efficiency may be reduced.

  This invention provides the balance training apparatus which suppressed the possibility that training efficiency fell.

The balance training apparatus according to the present invention is:
A balance training device comprising an inverted motorcycle that can move at least in a training range,
A storage unit that stores a disturbance operation pattern that reduces the stability of the inverted two-wheeled vehicle in an inverted state and a movement distance Dm of the inverted two-wheeled vehicle according to the disturbance operation pattern in association with each other;
An operation pattern selection unit for selecting a disturbance operation pattern to be sent to the inverted motorcycle as a command;
An inverted two-wheeled vehicle position / direction estimating unit that estimates the position and direction of the two-wheeled inverted vehicle;
A distance for calculating a front distance d1 from the inverted motorcycle to the outer edge of the training range in front of the inverted motorcycle, and a rear distance d2 from the inverted motorcycle to the outer edge of the training range in the rear of the inverted motorcycle. A calculation unit,
The operation pattern selection unit has a relationship between a front distance d1, a rear distance d2, and a movement distance Dm.
d1> Dm (... Relational expression 1)
d2> Dm (.. relational expression 2)
Select a disturbance action pattern that satisfies

  According to such a configuration, the training is continued without interrupting the training. Therefore, it is possible to suppress the possibility that the training efficiency is reduced.

  This invention provides the balance training apparatus which suppressed the possibility that training efficiency fell.

It is a perspective view of the balance training apparatus concerning Embodiment 1. FIG. It is a block diagram of the balance training apparatus concerning Embodiment 1. FIG. It is the schematic which shows a front distance and a back distance. 3 is a flowchart of a control method 1 of the balance training apparatus according to the first embodiment. It is a graph which shows the disturbance waveform before a change. It is a graph which shows the disturbance waveform after a change. It is a graph which shows the disturbance waveform after a change. 3 is a flowchart of a control method 2 of the balance training apparatus according to the first embodiment.

Embodiment 1 FIG.
With reference to FIG. 1, the structure of the balance training apparatus concerning Embodiment 1 is demonstrated. FIG. 1 is a perspective view of the balance training apparatus according to the first embodiment.

  As shown in FIG. 1, the balance training apparatus 100 includes a balance training robot 10 and an apparatus body 20. The balance training apparatus 100 is used on the placement surface F1 having the training area At1 for the user U1 to perform balance training.

  The balance training robot 10 includes a robot body 11, a tread 12, wheels 13, a handle 14, and a grip 15. The treads 12 are disposed on both sides of the robot body 11 and support the user U1's foot. The wheel 13 is rotatably installed on the lower side of the tread 12 and is rotated by a driving force applied from a motor 17 (see FIG. 2) described later. The handle 14 is a rod-like body extending from the front side of the robot body 11 toward the upper side of the robot body 11 and supports the grip 15 at the tip thereof. The grip 15 is gripped by the user U1. The handle 14 receives an operation input by the user U1 and sends it to the control unit 16 (see FIG. 2) described later. The operation input by the user U1 may be, for example, setting of balance training, setting of a disturbance level glv (described later), or control as an inverted motorcycle. The balance training robot 10 may include another configuration so that it can be used as an inverted motorcycle.

  The balance training robot 10 moves in the center of gravity so that the user U1 opposes the movement of the balance training robot 10 by moving at random separately from the intention of the user U1 while the user U1 is on board. The random movement of the balance training robot 10 is, for example, an operation that reduces the stability of the inverted state of the balance training robot 10 and is also referred to as a disturbance operation. This disturbance operation causes the user U1 to perform balance training. The magnitude of the disturbance action is expressed by the magnitude of the disturbance level glv.

  The apparatus main body 20 includes a control panel 21, a display 22, a frame 23, a hanger 24, a harness 25, and a three-dimensional camera 26. The control panel 21 is disposed in the vicinity of the training area At1. The display 22 is installed at a position where the user U1 who trains in the training area At1 can visually recognize, and is installed on the outer wall surface of the control panel 21, for example. The frame 23 includes two bar-shaped bodies extending in parallel, and these bar-shaped bodies extend from the upper side of the control panel 21 so as to straddle the training area At1. The frame 23 supports the hanger 24 movably above the training area At1. The hanger 24 is movable on the surface facing the training area At1. Moreover, the hanger 24 suspends the harness 25, and the harness 25 is wound around the upper body of the user U1 and attached to the upper body of the user U1. Even if the user U1 falls, the harness 25 ensures the safety of the user U1 by holding the upper body of the user U1. The three-dimensional camera 26 (see FIG. 2) is installed at a position where the training area At1 can be imaged, and is installed near the display 22, for example. The three-dimensional camera 26 is a depth sensor using infrared rays, for example, and KINET (registered trademark) can be used.

  Next, the control system of the balance training apparatus 100 will be described with reference to FIG. FIG. 2 is a block diagram of a control system of the balance training apparatus according to the first embodiment.

  The three-dimensional camera 26 sends the captured image information and the corresponding depth information to the robot position direction second calculation unit 31. The three-dimensional camera 26 and the control PC 30 perform transmission / reception with each other using wired communication or wireless communication.

  The control PC 30 includes a robot position / direction second calculation unit 31, a position / direction correction unit 32, a distance calculation unit 33, a storage unit 34, and an operation pattern selection unit 35. The control PC 30 includes, for example, an arithmetic circuit having a CPU (Central Processing Unit) and a storage device having a program memory, a data memory, other RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The control PC 30 is stored inside the control panel 21.

  The robot position / direction second calculation unit 31 calculates the position and direction of the balance training robot 10 from the image information sent from the three-dimensional camera 26 and the corresponding depth information. The robot position / direction second calculation unit 31 sends information on the position and direction of the balance training robot 10 to the position / direction correction unit 32. The three-dimensional camera 26, the control PC 30, and the balance practice robot 10 and the control PC 30 perform transmission / reception with each other using wired communication or wireless communication.

  The position / direction correction unit 32 uses the position and direction of the balance training robot 10 sent from the robot position / direction first calculation unit 19 (described later) as the position of the balance training robot 10 sent from the robot position / direction second calculation unit 31. And correct using the direction. The position / direction correction unit 32 sends the corrected position and direction information of the balance training robot 10 to the distance calculation unit 33. The position / direction correction unit 32, the robot position / direction first calculation unit 19, and the robot position / direction second calculation unit 31 estimate the position and direction of the balance training robot 10.

  The distance calculation unit 33 calculates the front distance d1 and the rear distance d2 of the balance training robot 10 in the training area At1 from the position and direction of the balance training robot 10 sent from the position / direction correction unit 32. As shown in FIG. 3, the forward distance d <b> 1 is a distance from the center of the balance training robot 10 to the outer edge of the assumed training range circle Ac <b> 1 in the forward direction of the balance training robot 10. FIG. 3 is a schematic diagram showing the front distance and the rear distance. The rear distance d2 is a distance from the center of the balance training robot 10 to the outer edge of the assumed training range circle Ac1 in the rearward direction of the balance training robot 10. The assumed training range circle Ac1 may be the same as the training area At1, or may be included in the training area At1. The distance calculation unit 33 sends information about the front distance d1 and the rear distance d2 to the operation pattern selection unit 35.

  The storage unit 34 stores a plurality of disturbance operation patterns and the movement distance Dm of the balance training robot 10 according to each disturbance operation pattern. The disturbance operation pattern is an operation that is not intended by the passenger, and when the balance training robot 10 operates according to the disturbance operation pattern, the passenger stays in the center of the training area At1, and therefore, balance the movement to prevent the robot from moving. And The disturbance operation pattern and the movement distance Dm of the balance training robot 10 based on the disturbance operation pattern are associated with each other. The storage unit 34 sends information about the disturbance operation pattern and the movement distance Dm to the operation pattern selection unit 35. In addition, the memory | storage part 34 may further memorize | store the disturbance level glv corresponding to the movement distance Dm of the balance training robot 10 by each disturbance action pattern.

The operation pattern selection unit 35 selects a disturbance operation pattern that satisfies the following relational expression 1 and relational expression 2 from among a plurality of disturbance operation patterns, and sends the selected disturbance operation pattern to the control unit 16.
d1> Dm (Relational formula 1)
d2> Dm (Relational formula 2)

  The balance training robot 10 includes a control unit 16, a motor 17, an encoder 18, and a robot position / direction first calculation unit 19.

  The control unit 16 generates a disturbance command value for driving the motor 17 based on the disturbance operation pattern sent from the operation pattern selection unit 35. The control unit 16 supplies a current based on the disturbance command value to the motor 17 via a motor driver (not shown) or the like. The disturbance command value can be expressed by a disturbance waveform curve with respect to time. As appropriate, the control unit 16 can receive an input from the handle 14 (see FIG. 1) and supply a current based on the drive command to the motor 17 in accordance with the input. Further, the control unit 16 may supply a current based on the disturbance command value and the drive command to the motor 17.

  The motor 17 drives the wheel 13 (see FIG. 1) based on the supplied current by the control unit 16.

  The encoder 18 measures the rotation angle of the wheel 13 (see FIG. 1) and the rotation angle of the handle 14 and sends the measured rotation angle information to the robot position direction first calculation unit 19.

  The robot position / direction first calculation unit 19 calculates the position and direction of the balance training robot 10 from the rotation angle sent by odometry, and sends the calculated position and direction to the position / direction correction unit 32. The control unit 16 and the robot position direction first calculation unit 19 include, for example, an arithmetic circuit having a CPU and a storage device having a program memory, a data memory, and other RAMs and ROMs. The control unit 16 and the robot position / direction first calculation unit 19 are stored in the robot body 11.

Control method 1.
Next, with reference to FIGS. 4-7, the control method 1 of the balance training apparatus 100 is demonstrated. FIG. 4 is a flowchart of the control method of the balance training apparatus according to the first embodiment. FIG. 5 is a graph showing a disturbance waveform before the change. 6 and 7 are graphs showing the disturbance waveform after the change. The control method of the balance training apparatus 100 is control during balance training.

  First, the disturbance level glv of the balance training currently being performed is acquired, and the disturbance suppression threshold distance Dglv is acquired (disturbance suppression distance acquisition step S1). There are a plurality of disturbance levels glv, and as the disturbance level glv increases, the magnitude of the operation of the balance training robot 10 by the disturbance operation pattern increases. Specifically, the amplitude of the disturbance command value waveform increases.

  Subsequently, the position and direction of the balance training robot 10 are acquired (robot position / direction acquisition step S2).

  Subsequently, the front distance d1 and the rear distance d2 are calculated (calculation step S3 of the front distance d1 and the rear distance d2).

Subsequently, it is determined whether the disturbance operation of the balance training robot 10 scheduled to operate next operates in the forward direction or the backward direction of the balance training robot 10 (forward determination step S4).
When the disturbance operation of the balance training robot 10 to be operated operates in the forward direction of the balance training robot 10 (YES: forward determination step S4), it is determined whether the forward distance d1 is smaller than the disturbance suppression threshold distance Dglv ( A magnitude determination step S51 between the forward distance d1 and the disturbance suppression threshold distance Dglv).

  If it is determined that the forward distance d1 is smaller than the disturbance suppression threshold distance Dglv (YES: magnitude determination step S51 between the forward distance d1 and the disturbance suppression threshold distance Dglv), the disturbance operation of the balance training robot 10 to be operated next is performed. Then, the operation is changed to another disturbance operation (disturbance operation changing step S6). Specifically, the disturbance pattern that satisfies the relational expression 1 and the relational expression 2 is selected by the movement pattern selection unit 35, and the selected disturbance movement pattern is sent to the control unit 16. The amplitude of the disturbance command value waveform due to the selected disturbance operation pattern tends to be smaller than the amplitude of the disturbance command value waveform due to the next disturbance operation pattern to be operated next.

  An example of the disturbance waveform before the change is shown in FIG. 5, and an example of the disturbance waveform after the change is shown in FIG. As shown in FIG. 5, the disturbance operation changing step S6 is performed at a time of 40 to 45 seconds. At time 45 to 55 sec, the amplitude of the disturbance command value waveform according to the disturbance operation pattern after the change shown in FIG. 6 is smaller than that of the disturbance command value according to the disturbance operation pattern before the change shown in FIG.

  Furthermore, another example of the disturbance waveform after the change is shown in FIG. In the waveform of the disturbance command value shown in FIG. 7, the positive amplitude corresponds to the forward disturbance operation of the balance training robot 10, and the negative amplitude corresponds to the backward disturbance operation of the balance training robot 10. At time 45 to 90 sec, the waveform of the disturbance command value shown in FIG. 7 is the same as the waveform obtained by shifting the waveform of the disturbance command value shown in FIG. 5 in the negative direction. The positive amplitude of the disturbance command value waveform by the disturbance operation pattern after the change shown in FIG. 7 is smaller than the positive amplitude of the disturbance command value waveform by the disturbance operation pattern before the change shown in FIG. Further, the negative amplitude of the disturbance command value waveform by the disturbance operation pattern after change shown in FIG. 7 is compared with the negative amplitude of the disturbance command value waveform by the disturbance operation pattern before change shown in FIG. large. Therefore, the balance training robot 10 can easily return to the center of the assumed training range circle Ac1.

  Finally, a disturbance command value based on the changed disturbance action pattern is sent to the balance training robot 10 (disturbance action transmission step S7), and the control method 1 is ended.

  In addition, when the disturbance operation of the balance training robot 10 to be operated moves backward in the balance training robot 10 (NO: forward direction determination step S4), it is determined whether the rear distance d2 is smaller than the disturbance suppression threshold distance Dglv. Determination (size determination step S52 between the rear distance d2 and the disturbance suppression threshold distance Dglv). When it is determined that the rear distance d2 is smaller than the disturbance suppression threshold distance Dglv (YES: Step S52 for determining the magnitude of the rear distance d2 and the disturbance suppression threshold distance Dglv), the disturbance operation of the balance training robot 10 to be operated next is performed. Then, the operation is changed to another disturbance operation (disturbance operation changing step S6).

Control method 2.
Next, the control method 2 of the balance training apparatus according to the first embodiment will be described with reference to FIG. FIG. 8 is a flowchart of the control method 2 of the balance training apparatus according to the first embodiment. Description of the control steps common to the control method 1 of the balance training apparatus according to the first embodiment will be omitted, and different control steps will be described.

  The control method 2 of the balance training apparatus according to the first embodiment is similar to the control method 1 in the disturbance suppression distance acquisition step S1 to the forward direction determination step S4, the magnitude determination step S51 between the forward distance d1 and the disturbance suppression threshold distance Dglv. The same control is performed until the magnitude determination step S52 between the rear distance d2 and the disturbance suppression threshold distance Dglv.

  When it is determined that the forward distance d1 is smaller than the disturbance suppression threshold distance Dglv (YES: magnitude determination step S51 between the forward distance d1 and the disturbance suppression threshold distance Dglv), the disturbance operation pattern change count Ct1 is counted by 1, and the disturbance operation pattern is counted. The change count Ct1 is increased by 1 (disturbance operation change count count step S261). Here, the upper limit of the disturbance operation pattern change count Ct1 is set to 4.

  Subsequently, the disturbance operation of the balance training robot 10 scheduled to operate next is changed to another disturbance operation corresponding to the disturbance operation pattern change count Ct1 (disturbance operation changing step S271). Specifically, the operation pattern selection unit 35 selects the disturbance operation pattern satisfying the relational expression 1 and the relational expression 2 according to the disturbance operation pattern change count Ct1, and controls the selected disturbance operation pattern. Send to part 16. For example, a disturbance action pattern having a smaller amplitude may be selected from the disturbance action patterns that satisfy the relational expressions 1 and 2 as the disturbance action pattern change count Ct1 increases. Specifically, when the disturbance operation pattern change count Ct1 = 0 and the amplitude is 10 deg, the amplitude is 7.5 deg when the disturbance operation pattern change count Ct1 = 1. When the disturbance operation pattern change count Ct1 = 2, the amplitude is 5.0 deg. When the disturbance operation pattern change count Ct1 = 3, the amplitude is 2.5 deg. Further, when the disturbance operation pattern change count Ct1 = 4, the amplitude is 0.0 deg.

  Finally, a disturbance command value based on the changed disturbance action pattern is sent to the balance training robot 10 (disturbance action transmission step S28), and the control method 2 is terminated.

  When it is determined that the forward distance d1 is greater than the disturbance suppression threshold distance Dglv (NO: Step S51 for determining the magnitude of the forward distance d1 and the disturbance suppression threshold distance Dglv), the disturbance operation pattern change count Ct1 is decreased by 1 (disturbance operation). Change count counting step S272), the control method 2 is terminated. Here, the lower limit of the disturbance operation pattern change count Ct1 is set to 0 (zero).

  On the other hand, when it is determined that the rear distance d2 is smaller than the disturbance suppression threshold distance Dglv (YES: magnitude determination step S52 between the rear distance d2 and the disturbance suppression threshold distance Dglv), the disturbance operation pattern change count Ct1 is counted by one, and the disturbance The operation pattern change count Ct1 is increased by 1 (disturbance operation change count count step S262). Subsequently, the disturbance operation of the balance training robot 10 scheduled to operate next is changed to another disturbance operation (disturbance operation changing step S271). Finally, the process proceeds to the disturbance operation transmission step S28, and the control method 2 is terminated.

  When it is determined that the forward distance d1 is greater than the disturbance suppression threshold distance Dglv (NO: Step S51 for determining the magnitude of the forward distance d1 and the disturbance suppression threshold distance Dglv), the disturbance operation pattern change count Ct1 is decreased by 1 (disturbance operation). Change count counting step S272), the control method 2 is terminated.

  As described above, according to the first embodiment, even if the user approaches the vicinity of the outer edge of the assumed training range circle, the disturbance operation pattern is changed to a disturbance waveform having a small amplitude so as not to go out of the assumed training range circle. Therefore, since the training is not interrupted, there is no possibility of reducing the efficiency, and the training can be continued.

  Further, according to the first embodiment, the disturbance operation pattern is changed to a disturbance waveform having a smaller amplitude according to the number of times the disturbance operation is suppressed. Therefore, the magnitude of the motion of the disturbance motion pattern can be changed according to the user's training level.

Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 100 Balance training apparatus 10 Balance training robot 33 Distance calculation part 34 Memory | storage part 35 Operation | movement pattern selection part Ac1 Assumed training range circle d1 Front distance d2 Back distance Dm Movement distance At1 Training area

Claims (1)

A balance training device comprising an inverted motorcycle that can move at least in a training range,
A storage unit that stores a disturbance operation pattern that reduces the stability of the inverted two-wheeled vehicle in an inverted state and a movement distance Dm of the inverted two-wheeled vehicle according to the disturbance operation pattern in association with each other;
An operation pattern selection unit for selecting a disturbance operation pattern to be sent to the inverted motorcycle as a command;
An inverted two-wheeled vehicle position / direction estimating unit that estimates the position and direction of the two-wheeled inverted vehicle;
A distance for calculating a front distance d1 from the inverted motorcycle to the outer edge of the training range in front of the inverted motorcycle, and a rear distance d2 from the inverted motorcycle to the outer edge of the training range in the rear of the inverted motorcycle. A calculation unit,
The operation pattern selection unit has a relationship between a front distance d1, a rear distance d2, and a movement distance Dm.
d1> Dm (... Relational expression 1)
d2> Dm (.. relational expression 2)
Balance training device that selects disturbance action patterns that satisfy

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