JP2014184891A - Balance training system and balance training method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute optimal balance training in response to balance capacity of a user.SOLUTION: A balance training system executes the balance training of an inverted type movable body for traveling in response to the gravity center movement of an occupant while maintaining an inverted state. The balance training system comprises: setting means for executing the balance training by setting a target attitude angle of the inverted type movable body; and state amount detection means for detecting at least one state amount of the inverted type movable body and the occupant in the balance training. The setting means sets a fluctuation pattern of the target attitude angle in the balance training based on the state amount detected by the state amount detection means.

Description

  The present invention relates to a balance training system and a balance training method for performing balance training of an inverted moving body that travels in accordance with movement of the center of gravity of a passenger while maintaining an inverted state.

  In recent years, various balance training systems for improving a person's balance ability have been developed. For example, there is known a balance training apparatus that performs balance training by a user riding on a step installed on a floor so as to be tiltable and moving the center of gravity so that the user keeps the step horizontal on the step ( Patent Document 1).

JP 2008-284320 A

  However, in the balance training apparatus shown in Patent Document 1, for example, when the user's balance ability is high and the blur of the center of gravity is small, the steps are not blurred. In this case, since the user hardly performs the balance operation, there is a possibility that the optimal balance training according to the balance ability of the user is not performed.

  The present invention has been made to solve such problems, and it is a main object of the present invention to provide a balance training system and a balance training method capable of performing optimal balance training according to the balance ability of the user. Objective.

One aspect of the present invention for achieving the above object is a balance training system for performing balance training of an inverted moving body that travels according to movement of the center of gravity of a passenger while maintaining an inverted state. A setting means for executing the balance training by setting a target posture angle of the inverted moving body, and a state quantity detecting means for detecting a state quantity of at least one of the inverted moving body and the passenger during the balance training And the setting means sets the variation pattern of the target posture angle during the balance training based on the state quantity detected by the state quantity detection means. is there.
In this one aspect, the setting means evaluates a passenger's balance ability based on the state quantity detected by the state quantity detection means, and the target posture angle during the balance training according to the evaluated balance ability. The fluctuation pattern may be set.
In this aspect, the setting means evaluates the passenger's balance ability by comparing the state quantity detected by the state quantity detection means with a preset target value, and the evaluated balance ability. The target posture angle may be greatly varied as the value of the angle increases.
In this aspect, the setting means substantially includes a time a for gradually increasing the target posture angle, a time b for maintaining the maximum value e of the target posture angle, a time c for gradually decreasing the target posture angle, and the target posture angle. In other words, the balance training according to the balance ability of the occupant may be performed by changing the parameters a, b, c, d, and e, which are the time d to be maintained at 0.
In this aspect, the setting means may set the target posture angle by adding a predetermined value to the set parameters a, b, c, d, and e.
In this aspect, the setting unit may set the target posture angle so that an integrated value of the set target posture angle is substantially zero.
In this one aspect, in the balance training, a passenger moves the center of gravity according to a target posture angle of the inverted moving body set by the setting means, and maintains the balance of the inverted moving body, or It may be training that stays in place.
In this one aspect, during the balance training, the state quantity detection means includes a movement amount, a movement speed, a movement acceleration, a posture angle, a posture angular velocity, a posture angular acceleration, and biological information of the occupant of the inverted moving body, At least one of them may be detected.
One aspect of the present invention for achieving the above object is a balance training method for performing balance training of an inverted moving body that travels in accordance with movement of the center of gravity of a passenger while maintaining an inverted state. Executing the balance training by setting a target posture angle of the inverted mobile body, detecting a state quantity of at least one of the inverted mobile body and a passenger during the balance training, and the detection And a step of setting a variation pattern of the target posture angle during the balance training based on the state quantity thus determined.

  ADVANTAGE OF THE INVENTION According to this invention, the balance training system and balance training method which can perform the optimal balance training according to the user's balance ability can be provided.

(A) It is a front view which shows schematic structure of the balance training system which concerns on one embodiment of this invention. (B) It is a side view which shows schematic structure of the balance training system which concerns on one embodiment of this invention. 1 is a block diagram showing a schematic system configuration of a balance training system according to an embodiment of the present invention. It is a front view which shows the schematic structure of the inverted moving body which concerns on one embodiment of this invention. It is a figure which shows an example of the change of the target attitude | position angle of a pitch direction. It is a flowchart which shows the processing flow of the balance training method which concerns on one embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. 1A and 1B are diagrams showing a schematic configuration of a balance training system according to an embodiment of the present invention. The balance training system according to the present embodiment is a system for performing balance training of the inverted moving body 1 that travels according to the movement of the center of gravity of the passenger while maintaining the inverted state. In this balance training, for example, a target posture angle (external instruction) in the pitch direction is remotely set on the inverted mobile body 1 from the terminal device, and the inverted mobile body 1 is set according to the target posture angle. Tilt and move. On the other hand, the occupant moves the center of gravity and balances the inverted mobile body 1 or trains the balance by keeping it in the original position.

  FIG. 2 is a block diagram showing a schematic system configuration of the balance training system according to the present embodiment. FIG. 3 is a front view showing a schematic configuration of the inverted moving body according to the present embodiment.

  The balance training system 10 according to the present embodiment includes an attitude sensor 2, a rotation sensor 3, a pair of wheel drive units 4 </ b> L and 4 </ b> R, and a control device 5 that are mounted on an inverted moving body 1 as shown in FIG. 3. And a setting device 11.

  The inverted mobile body 1 is configured as a standing-type coaxial two-wheeled vehicle that can be ridden while the passenger is standing on the vehicle body 6, for example, but is not limited thereto, while maintaining an inverted state. The present invention is applicable to any inverted moving body that travels according to the movement of the center of gravity of the passenger. The inverted moving body 1 is configured such that, for example, the passenger moves forward and backward by moving the center of gravity back and forth, and the passenger can turn left and right by moving the center of gravity left and right. .

  The posture sensor 2 is a specific example of the state quantity detection means, and includes a posture angle such as a pitch angle and a roll angle in the vehicle main body 6 of the inverted mobile body 1, a posture angular velocity such as a pitch angular velocity and a roll angular velocity, a pitch angular acceleration, Attitude information such as attitude angular acceleration such as roll angular acceleration is detected. The posture sensor 2 detects, for example, the pitch angle, the pitch angular velocity, or the pitch angular acceleration of the vehicle body 6 that is generated when the passenger moves the center of gravity back and forth, and the passenger moves the center of gravity left and right. It is possible to detect the roll angle, roll angular velocity, or roll angular acceleration of the vehicle main body 6 (dividing steps 9L and 9R) generated in the above.

  The posture sensor 2 is connected to the control device 5, and outputs the detected posture information of the vehicle body 6 to the control device 5. Note that the posture sensor 2 is constituted by, for example, a gyro sensor or an acceleration sensor. Here, the pitch axis is an axis corresponding to the axle of the pair of wheels 7L and 7R. The roll axis is an axis that passes through the center of the vehicle body 6 and is parallel to the traveling direction of the inverted moving body 1.

  The rotation sensor 3 is a specific example of the state quantity detection means, and detects rotation information such as rotation angles, rotation angular velocities, and rotation angular accelerations of the wheels 7L and 7R provided on the inverted moving body 1. The rotation sensor 3 is connected to the control device 5 and outputs the detected rotation information of the wheels 7L and 7R to the control device 5. Further, the control device 5 can calculate the moving acceleration, moving speed, moving amount, and the like of the inverted moving body 1 based on the rotation information of the wheels 7L and 7R detected by the rotation sensor 3.

  The pair of wheel drive units 4L, 4R drives the inverted mobile body 1 by driving a pair of left and right wheels 7L, 7R rotatably provided on the inverted mobile body 1. Each wheel drive unit 4L, 4R can be constituted by, for example, an electric motor and a reduction gear train connected to the rotating shaft of the electric motor so as to be able to transmit power. Each wheel drive unit 4L, 4R is connected to the control device 5 via drive circuits 8L, 8R, and drives each wheel 7L, 7R according to a control signal from the control device 5.

  The control device 5 causes the inverted moving body 1 to perform desired traveling (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while performing the inverted control for maintaining the inverted state, for example. In addition, each wheel drive unit 4L, 4R is controlled to control the rotation of each wheel 7L, 7R. In addition, the control device 5 performs feedback control, robust control, and the like based on the posture information of the moving body 1 detected by the posture sensor 2 and the rotation information of the wheels 7L and 7R detected by the rotation sensor 3. Well-known control is performed.

  For example, the control device 5 controls each wheel 7L via each wheel drive unit 4L, 4R according to the pitch angle of the vehicle body 6 detected by the attitude sensor 2 when the passenger moves the center of gravity back and forth. By controlling the rotation of 7R, the inverted moving body 1 is moved forward or backward. The control device 5 controls the wheel drive units 4L and 4R according to the roll angle of the vehicle body 6 detected by the attitude sensor 2 when the occupant moves the center of gravity to the left and right. A rotation difference is generated between 7L and 7R, and the moving body 1 is turned left or right.

  Further, for example, the control device 5 multiplies the pitch angle of the vehicle body 6 detected by the attitude sensor 2 by a predetermined control gain to calculate the rotational torque of each wheel 7L, 7R. And the control apparatus 5 controls each wheel drive unit 4L and 4R so that the calculated rotational torque may arise in each wheel 7L and 7R.

  Accordingly, the control device 5 rotates the wheels 7L and 7R in the direction in which the vehicle body 6 is inclined, and returns the center of gravity of the inverted moving body 1 to the vertical line passing through the axles of the wheels 7L and 7R. Invert control like this. Further, the control device 5 adds an appropriate rotational torque to each of the wheels 7L and 7R to maintain an inverted state in which the pitch angle of the vehicle body 6 does not exceed a certain value. In accordance with the posture information from the posture sensor 2, movement control of the moving body 1 such as forward, reverse, stop, deceleration, acceleration, left turn, right turn, and the like can be performed.

  The control device 5 includes, for example, a CPU (Central Processing Unit) 5a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) 5b that stores a control program executed by the CPU 5a, an arithmetic program, processing data, and the like. The hardware configuration is centered on a microcomputer including a RAM (Random Access Memory) 5c and the like.

  With the configuration of the vehicle control as described above, the inverted mobile body 1 moves forward and backward, for example, when the occupant moves the center of gravity back and forth and tilts the vehicle body 6 back and forth, and the occupant moves the center of gravity sideways. By moving and tilting the vehicle body 6 left and right, it is possible to turn left and right.

  The setting device 11 is a specific example of setting means, and sets a target posture angle in the pitch direction of the inverted moving body 1 with respect to the control device 5. The setting device 11 is configured by, for example, a mobile terminal such as a PC (Personal Computer) or a smartphone. The setting device 11 is connected to the control device 5 by wire or wireless. The setting device 11 transmits the target posture angle of the inverted moving body 1 to the control device 5. The control device 5 controls the posture angle in the pitch direction of the inverted mobile body 1 so as to follow the target posture angle transmitted from the setting device 11. On the other hand, the control device 5 obtains the posture information (posture angle, posture angular velocity, posture angular acceleration) detected by the posture sensor 2, the wheel rotation information detected by the rotation sensor 3, the movement amount, the movement speed, and the movement acceleration. Transmit to the setting device 11.

  The setting device 11 includes an evaluation unit 111 that evaluates a passenger's balance ability, and a posture angle setting unit 112 that sets a target posture angle of the inverted mobile body 1.

  During the balance training, the evaluation unit 111 evaluates the passenger's balance ability based on the posture information, rotation information, movement amount, movement speed, movement acceleration, and the like of the inverted mobile body 1 transmitted from the control device 5. . The evaluation unit 111 compares the posture information, the rotation information, the movement amount, the movement speed, and the movement acceleration of the inverted moving body 1 transmitted from the control device 5 with a preset target value, thereby comparing the passenger's Evaluate balance ability.

  For example, during the balance training, the evaluation unit 111 includes the posture information, the rotation information, the movement amount, the movement speed, and the movement acceleration of the inverted moving body 1 transmitted from the control device 5 within each preset target range. Each of the target follow-up times at the time is accumulated. And the evaluation part 111 evaluates that the passenger | crew's balance ability is so high that the integration time is long. More specifically, the evaluation unit 111 evaluates as level 1 when the accumulated time is equal to or longer than the first predetermined time, level 2 when the accumulated time is equal to or longer than the second predetermined time,..., Level n when equal to or longer than the nth predetermined time. To do. Here, although the evaluation unit 111 evaluates the balance ability of the passenger as a level, it may be expressed using an index such as an improvement degree, and an arbitrary index can be used.

  The posture angle setting unit 112 sets a variation pattern of the target posture angle of the inverted mobile body 1 during balance training according to the passenger's balance ability evaluated by the evaluation unit 111. The posture angle setting unit 112 greatly varies the target posture angle as the balance ability of the passenger evaluated by the evaluation unit 111 increases. Since the control device 5 greatly tilts the inverted mobile body 1 in accordance with the large target posture angle set in the posture angle setting unit 112 of the setting device 11, it is necessary for the passenger to operate more greatly to return it to the original position. There is. For this reason, a higher passenger balancing ability is required.

  On the other hand, the posture angle setting unit 112 of the setting device 11 changes the target posture angle to be small when the evaluation unit 111 evaluates that the passenger's balance ability is low. Since the control device 5 tilts the inverted mobile body 1 according to the small target posture angle set in the posture angle setting unit 112 of the setting device 11, the passenger needs to operate too much to return it to the original position. There is no. For this reason, even a passenger with a low balance ability can appropriately perform a balance operation and perform training. Thus, the optimal training according to the passenger's balance ability can be performed.

  Next, a balance training method using the balance training system will be described in detail using a specific example.

  The posture angle setting unit 112 of the setting device 11 changes the target posture angle in the pitch direction with time, for example, as shown in FIG. The posture angle setting unit 112 gradually increases the target posture angle at time a, sets the target posture angle (pitch angle) to a constant value e at time b, gradually decreases the target posture angle at time c, and at time d. The target posture angle is substantially zero. The control device 5 controls the posture angle of the inverted mobile body 1 so as to follow the target posture angle set by the posture angle setting unit 112 of the setting device 11 as described above. Thereby, the balance of the inverted mobile body 1 is intentionally broken. On the other hand, the passenger boarding the inverted mobile body 1 maintains its balance by moving the center of gravity back and forth.

  At this time, the evaluation unit 111 of the setting device 11 sets in advance the posture information, the rotation information, the movement amount, the movement speed, and the movement acceleration of the inverted moving body 1 transmitted from the control device 5 during the balance training. The balance ability of the occupant is evaluated by accumulating the target follow-up time when each is within each target range.

  Here, the posture angle setting unit 112 sets the parameters a, b, c, d, and e according to the passenger's balance ability evaluated by the evaluation unit 111, and sets a target posture angle.

  For example, when the times of the parameters a and c are shortened, the change in the target posture angle becomes abrupt, which makes it difficult for the passenger to achieve a balance. When the time of the parameter b is increased, the state of a large target posture angle continues for a long time, so that it becomes difficult for the passenger to achieve a balance. When the maximum value of the target posture angle of the parameter e is increased, the inverted mobile body 1 is greatly inclined, so that it is difficult for the passenger to achieve a balance. On the other hand, when the time of the parameter d is increased, the horizontal state becomes longer, so that it becomes easy for the passenger to balance.

  The parameters a, b, c, d, and e may be set in the posture angle setting unit 112 of the setting device 11 in advance for each balance ability (level value or improvement level) of the passenger. In this case, the posture angle setting unit 112 of the setting device 11 automatically sets the parameters a, b, c, d, e based on the input balance ability value, and sets the target posture angle according to the parameters. Output to the control device 5. The control device 5 performs control for causing the posture angle of the inverted mobile body 1 to follow the target posture angle output from the posture angle setting unit 112 of the setting device 11.

  As described above, the parameters a, b, c, d, and e are set according to the passenger's balance ability to vary the target posture angle. Thereby, the optimal balance training according to a passenger's balance ability can be performed. In addition, when performing the balance training which repeated the fluctuation | variation of the target attitude | position angle as mentioned above, since a passenger | crew will estimate the fluctuation | variation, it is assumed that appropriate balance training cannot be performed. Therefore, the posture angle setting unit 112 of the setting device 11 may set a target posture angle by adding a certain random value to the parameters a, b, c, d, and e.

  Furthermore, if the inverted mobile body 1 continues to advance in one direction during the balance training, it is assumed that the vehicle deviates from a predetermined training area. Therefore, the posture angle setting unit 112 of the setting device 11 may change the target posture angle so that the integrated value of the target posture angle set during balance training is substantially zero.

  FIG. 5 is a flowchart showing a processing flow of the balance training method according to the present embodiment. The setting device 11 enters the balance training mode according to the user's start operation (step S101).

  The attitude angle setting unit 112 of the setting device 11 sets parameters a, b, c, and d based on the initially inputted balance ability value (step S102), and the set parameters a, b, c, and According to d, the target posture angle is output to the control device 5 (step S103).

  The control device 5 controls the wheel drive units 4L and 4R so that the posture angle of the inverted mobile body 1 follows the target posture angle output from the posture angle setting unit 112 of the setting device 11. On the other hand, the passenger performs an operation of maintaining the balance of the inverted moving body 1 by moving the center of gravity (step S104). In addition, for example, in one balance training, the variation of the target posture angle by the parameters a, b, c, d may be repeated a plurality of times, or may be repeated for a predetermined time.

  During this balance training, the posture sensor 2 detects the posture information of the inverted moving body 1, the rotation sensor 3 detects the rotation information of the wheels 7L and 7R of the inverted moving body 1, and the control device 5 detects the inverted type moving body 1. The moving amount, moving speed, and moving acceleration of the moving body 1 are calculated (step S105). The control device 5 transmits the detected posture information, rotation information, calculated movement amount, movement speed, and movement acceleration of the inverted moving body 1 to the setting device 11.

  The evaluation unit 111 of the setting device 11 has the posture information, the rotation information, the movement amount, the movement speed, and the movement acceleration transmitted from the control device 5 within the preset target ranges. Each of the target tracking times is integrated, a value of the passenger's balance ability is calculated based on the integrated value, and output to the attitude angle setting unit 112 (step S106).

  For example, when performing the next balance training, the posture angle setting unit 112 of the setting device 11 sets the parameters a, b, c, d, e based on the value of the balance ability from the evaluation unit 111, The target posture angle is output to the control device 5 according to the set parameters (step S107).

  Thereby, the fluctuation | variation of the optimal target attitude | position angle according to the balance ability evaluated by the last balance training is performed. Therefore, the optimal balance training according to a user's balance ability can be performed. In addition, for example, when the variation of the parameters a, b, c, d, and e is repeated a plurality of times in one balance training, the evaluation unit 111 may evaluate the passenger's balance ability for each cycle. . In this case, the posture angle setting unit 112 sets the parameters a, b, c, d, e based on the value of the balance ability evaluated last time in the next cycle, and the target posture angle according to the set parameters. Is output to the control device 5. Furthermore, the configuration may be such that the user can arbitrarily change the values of the parameters a, b, c, d or balance ability of the setting device 11.

  As described above, in the balance training system 10 according to the present embodiment, the variation pattern of the target posture angle is set based on the state quantity of the inverted moving body 1 detected during the balance training. Thereby, the optimal balance training according to a user's balance ability can be performed.

  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. For example, in the above embodiment, during balance training, the state amount of the inverted mobile body 1 such as posture information, rotation information, movement amount, movement speed, and movement acceleration of the inverted mobile body 1 is detected, and the state quantity However, the present invention is not limited to this, and the biological information of the passenger may be detected by the biological sensor 12, and the passenger's balance ability may be evaluated based on the biological information. . The biological information of the passenger includes, for example, the passenger's body temperature, blood pressure, heart rate, and the like.

DESCRIPTION OF SYMBOLS 1 Inverted type mobile body 2 Attitude sensor 3 Rotation sensor 4L, 4R Wheel drive unit 5 Control apparatus 6 Vehicle main body 7L, 7R Wheel 8L, 8R Drive circuit 9L, 9R Division | segmentation step 10 Training system 11 Setting apparatus 12 Biosensor

Claims (9)

A balance training system for performing balance training of an inverted moving body that travels in accordance with movement of the center of gravity of a passenger while maintaining an inverted state,
Setting means for executing the balance training by setting a target posture angle of the inverted moving body;
A state quantity detecting means for detecting a state quantity of at least one of the inverted moving body and the passenger during the balance training, and
The balance training system, wherein the setting means sets a variation pattern of the target posture angle during the balance training based on the state quantity detected by the state quantity detection means. The balance training system according to claim 1,
The setting means evaluates a passenger's balance ability based on the state quantity detected by the state quantity detection means, and sets the variation pattern of the target posture angle during the balance training according to the evaluated balance ability. A balance training system characterized by that. The balance training system according to claim 2,
The setting means evaluates a passenger's balance ability by comparing the state quantity detected by the state quantity detection means with a preset target value, and as the evaluated balance ability becomes higher, A balance training system, wherein the target posture angle is greatly varied. The balance training system according to any one of claims 1 to 3,
The setting means maintains the target posture angle substantially at 0, the time a for gradually increasing the target posture angle, the time b for maintaining the maximum value e of the target posture angle, the time c for gradually decreasing the target posture angle, and the target posture angle. A balance training system that performs balance training in accordance with a passenger's balance ability by changing parameters a, b, c, d, and e to be time d. The balance training system according to claim 4,
The balance training system, wherein the setting means sets the target posture angle by adding a predetermined value to the set parameters a, b, c, d, and e. A balance training system according to any one of claims 1 to 5,
The balance training system, wherein the setting means sets the target posture angle so that an integrated value of the set target posture angle is substantially zero. The balance training system according to any one of claims 1 to 6,
In the balance training, the occupant moves the center of gravity according to the target posture angle of the inverted moving body set by the setting means, and maintains the balance of the inverted moving body or remains in the original position. Balance training system characterized by being training. A balance training system according to any one of claims 1 to 7,
During the balance training, the state quantity detection means includes at least one of a movement amount, a movement speed, a movement acceleration, a posture angle, a posture angular velocity, a posture angular acceleration, and a passenger's biological information of the inverted moving body. A balance training system characterized by detecting. A balance training method for performing balance training of an inverted moving body that travels in accordance with movement of the center of gravity of a passenger while maintaining an inverted state,
Executing the balance training by setting a target posture angle of the inverted moving body;
Detecting a state quantity of at least one of the inverted mobile body and a passenger during the balance training; and
And setting a variation pattern of the target posture angle during the balance training based on the detected state quantity.

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