JP2016073386A - Balance training machine - Google Patents

Balance training machine Download PDF

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JP2016073386A
JP2016073386A JP2014204945A JP2014204945A JP2016073386A JP 2016073386 A JP2016073386 A JP 2016073386A JP 2014204945 A JP2014204945 A JP 2014204945A JP 2014204945 A JP2014204945 A JP 2014204945A JP 2016073386 A JP2016073386 A JP 2016073386A
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inverted
mobile body
passenger
state
movement range
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JP6327095B2 (en
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優 佐々木
Masaru Sasaki
優 佐々木
高橋　正浩
Masahiro Takahashi
正浩 高橋
寛之 井山
Hiroyuki Iyama
寛之 井山
優人 森
Yuto Mori
優人 森
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

PROBLEM TO BE SOLVED: To provide a balance training machine which gives a training subject to an occupant based on capabilities and having/not-having disabilities of the occupant and uses an inverted two-wheel mobile body.SOLUTION: A balance training machine 80 using an inverted two-wheel mobile body 10 includes: a drive part 90 driving wheels 2R, 2L included in the inverted two wheel mobile body 10; a control part 91 controlling the drive part 90; occupant state estimate means 92 monitoring a drive state of the drive part 90 and estimating a boarding state and an improvement degree of training of an occupant based on a monitoring result; allowable movement range determination means 93 determining an allowable movement range of the inverted two wheel mobile body 10 based on the boarding state and improvement degree estimated by the occupant state estimate means 92; and obstacle detection means 94 detecting an obstacle around the inverted two wheel mobile body 10. The control part 91 changed a training subject given to the occupant based on presence/absence of the obstacle within the allowable movement range determined by the allowable movement range determination means 93.SELECTED DRAWING: Figure 2

Description

本発明は、倒立二輪型移動体を用いた搭乗者のためのバランス訓練機に関するものである。   The present invention relates to a balance training machine for passengers using an inverted two-wheeled mobile body.

例えば特許文献１には、姿勢センサから検出した自己の姿勢情報に基づいて、倒立制御を行い、自己の姿勢を維持しながら車輪をモータ駆動する倒立二輪型移動体が開示されている。このような倒立二輪型移動体は、搭乗者の重心移動により車体を傾斜させることなどにより操作される。そのため、単なる移動手段ではなく、搭乗者の身体機能やバランス機能を向上あるいは回復させるための訓練に用いることもできる。   For example, Patent Document 1 discloses an inverted two-wheeled moving body that performs an inverted control based on its own posture information detected from a posture sensor and drives a wheel with a motor while maintaining its own posture. Such an inverted two-wheeled moving body is operated by inclining the vehicle body by moving the center of gravity of the passenger. Therefore, it can be used for training to improve or restore the physical function and balance function of the occupant, not just a moving means.

特許文献１に開示された倒立二輪型移動体は、通常モードに加え、訓練モードを備えている。ここで、特許文献１では、訓練の効果を向上させるために、訓練モードにおいて倒立制御の制御ゲインを低下させ、通常モード時よりも倒立二輪型移動体を動き易くしている。   The inverted two-wheeled mobile body disclosed in Patent Document 1 has a training mode in addition to the normal mode. Here, in patent document 1, in order to improve the effect of training, the control gain of the inverted control is reduced in the training mode, and the inverted two-wheeled mobile body is made easier to move than in the normal mode.

特開２０１１−０３１６６９号公報JP 2011-031669 A

搭乗者の操作能力は、身体の状態によってばらつきがある。また、訓練時には、倒立二輪型移動体の周囲に存在する障害物や他の人物などを回避して安全性を確保する必要がある。これらのことを考慮して、特許文献１に記載されている倒立二輪型移動体をバランス訓練に用いるためには、搭乗者の身体状態および倒立二輪型移動体の周囲の人や障害物を検知して、それを搭乗者に与える訓練課題に反映させる必要がある。   The passenger's ability to operate varies depending on the physical condition. Further, during training, it is necessary to ensure safety by avoiding obstacles and other persons existing around the inverted two-wheeled mobile body. In consideration of these matters, in order to use the inverted two-wheeled moving body described in Patent Document 1 for balance training, it is possible to detect the body condition of the occupant and the people and obstacles around the inverted two-wheeled moving body. It is necessary to reflect this in the training tasks given to the passengers.

本発明は、上記を鑑みなされたものであって、搭乗者の能力および障害物の有無に基づいて搭乗者に与える訓練課題を変更する、倒立二輪型移動体を用いたバランス訓練機を提供することを目的とする。   The present invention has been made in view of the above, and provides a balance training machine using an inverted two-wheeled moving body that changes a training task given to a passenger based on the ability of the passenger and the presence or absence of an obstacle. For the purpose.

本発明は、倒立二輪型移動体を用いたバランス訓練機であって、前記倒立二輪型移動体を駆動する駆動部と、前記駆動部を制御する制御部と、前記駆動部の駆動状態を監視し、監視結果に基づいて搭乗者の乗車状態および訓練の改善度を推定する搭乗者状態推定手段と、前記搭乗者状態推定手段が推定した前記乗車状態および前記改善度に基づいて前記倒立二輪型移動体の許容移動範囲を決定する制御適用領域決定手段と、前記倒立二輪型移動体周辺の障害物を検出する障害物検出手段と、を備え、前記制御部は、前記許容移動範囲決定手段が決定した前記許容移動範囲内の障害物の有無に基づいて搭乗者に与える訓練課題を変更する。   The present invention is a balance training machine that uses an inverted two-wheeled mobile body, and monitors a drive unit that drives the inverted two-wheeled mobile body, a control unit that controls the drive unit, and a drive state of the drive unit. And a passenger state estimating means for estimating the passenger's riding state and the improvement degree of training based on the monitoring result, and the inverted two-wheel type based on the riding state and the improvement degree estimated by the passenger state estimating means. A control application area determining unit that determines an allowable moving range of the moving body; and an obstacle detecting unit that detects an obstacle around the inverted two-wheeled moving body, and the control unit includes the allowable moving range determining unit. The training task given to the passenger is changed based on the presence or absence of the obstacle within the determined allowable movement range.

本発明はこのような構成により、搭乗者の身体の状態によって倒立二輪型移動体の許容移動範囲を変更することができる。さらに、本発明は倒立二輪型移動体の周辺に存在する障害物の有無を検知して搭乗者に与える訓練課題を変更することができる。   With this configuration, the present invention can change the allowable movement range of the inverted two-wheeled moving body depending on the state of the passenger's body. Furthermore, the present invention can change the training task given to the passenger by detecting the presence or absence of obstacles around the inverted two-wheeled mobile body.

本発明によれば、倒立二輪型移動体を用いたバランス訓練機において、搭乗者の能力および障害物の有無に基づいて搭乗者に与える訓練課題を変更することができる。   ADVANTAGE OF THE INVENTION According to this invention, the training subject given to a passenger can be changed based on a passenger | crew's capability and the presence or absence of an obstruction in the balance training machine using an inverted two-wheeled mobile body.

本発明の実施形態にかかるバランス訓練機を示した図である。It is the figure which showed the balance training machine concerning embodiment of this invention. バランス訓練機の内部構成を示したブロック図である。It is the block diagram which showed the internal structure of the balance training machine. バランス訓練機の処理を示したフロチャートである。It is the flowchart which showed the process of the balance training machine.

以下、本発明を適用した具体的な実施の形態について、図面を参照しながら詳細に説明する。ただし、本発明が以下の実施の形態に限定される訳ではない。また、説明を明確にするため、以下の記載及び図面は、適宜、簡略化されている。   Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

図１に示すように、バランス訓練機８０は、倒立制御により倒立状態を維持しつつ、搭乗者の重心移動に応じて、前後進、左右旋回、加減速などの走行を行うことができる倒立二輪型移動体１０を用いた搭乗者のためのバランス訓練に用いられる装置である。バランス訓練機８０は、倒立二輪型移動体１０と、倒立二輪型移動体１０を撮像するカメラ２０と、搭乗者に仮想空間や乗車状態等のデータを表示する表示部９５とを有している。   As shown in FIG. 1, the balance training machine 80 is an inverted two-wheel that can perform forward / backward, left / right turn, acceleration / deceleration and the like according to movement of the center of gravity of the occupant while maintaining the inverted state by the inverted control. It is an apparatus used for balance training for passengers using the movable body 10. The balance training machine 80 includes an inverted two-wheeled mobile body 10, a camera 20 that images the inverted two-wheeled mobile body 10, and a display unit 95 that displays data such as virtual space and riding state to the passenger. .

倒立二輪型移動体１０は、車両本体１と、車両本体１に回転自在に連結された左右一対の車輪２Ｒ，２Ｌと、車両本体１に設けられた搭乗者の操作のための操作ハンドル４と、車両本体１に設けられ搭乗者が搭乗可能な左右一対のステップ部６Ｒ，６Ｌと、を備えている。車両本体１の下部には、一対の車輪２Ｒ，２Ｌが設けられている。車輪２Ｒ，２Ｌは、車両本体１の走行方向と直交する方向の両側において同軸上に配置されると共に当該車両本体１に回転自在に支持されている。   The inverted two-wheeled mobile body 10 includes a vehicle main body 1, a pair of left and right wheels 2R and 2L that are rotatably connected to the vehicle main body 1, and an operation handle 4 provided on the vehicle main body 1 for operating a passenger. And a pair of left and right step portions 6R, 6L that are provided in the vehicle body 1 and on which a passenger can board. A pair of wheels 2 </ b> R and 2 </ b> L are provided at the lower part of the vehicle body 1. The wheels 2 </ b> R and 2 </ b> L are coaxially arranged on both sides in a direction orthogonal to the traveling direction of the vehicle main body 1 and are rotatably supported by the vehicle main body 1.

車両本体１の上部には、操作ハンドル４が起立状態で前後左右方向に回動自在に支持されている。操作ハンドル４は、前後方向に傾けられることによって、倒立二輪型移動体１０の前進又は後退操作が実行さる。そして、操作ハンドル４は、ロール方向（左右方向）へ傾けることによって、倒立二輪型移動体１０の旋回操作が実行される。   An operation handle 4 is supported on the upper portion of the vehicle body 1 so as to be rotatable in the front-rear and left-right directions while standing. The operation handle 4 is tilted in the front-rear direction, so that the inverted two-wheeled moving body 10 is moved forward or backward. Then, when the operation handle 4 is tilted in the roll direction (left-right direction), the turning operation of the inverted two-wheeled moving body 10 is executed.

操作ハンドル４の左右両側には、一対のステップ部６Ｒ，６Ｌが設けられている。各ステップ部６Ｒ，６Ｌには、搭乗者の片足がそれぞれ乗せられる。つまり、ステップ部６Ｒ，６Ｌは搭乗者が搭乗するためのステップである。   On the left and right sides of the operation handle 4, a pair of step portions 6R and 6L are provided. One foot of the passenger is placed on each step part 6R, 6L. That is, the step units 6R and 6L are steps for the passenger to board.

車両本体１は、互いに平行に上下に配置された車体上部材及び車体下部材と、互いに平行に左右に配置されると共に車体上部材及び車体下部材と回動可能に連結された一対の側面部材と、を有する平行リンク機構として構成されている。なお、上述した倒立二輪型移動体１０の構成は一例であり、これに限らず、例えば、操作ハンドル４を有しない構成でもよく、倒立状態を維持しつつ搭乗者の重心移動に応じて走行する任意の移動体に適用可能である。   The vehicle body 1 includes a vehicle body upper member and a vehicle body lower member that are arranged vertically in parallel with each other, and a pair of side members that are arranged on the left and right in parallel with each other and are rotatably connected to the vehicle body upper member and the vehicle body lower member. And a parallel link mechanism. The above-described configuration of the inverted two-wheeled mobile body 10 is merely an example, and is not limited thereto. For example, a configuration without the operation handle 4 may be used, and the vehicle travels according to the center of gravity movement of the occupant while maintaining the inverted state. It can be applied to any moving body.

倒立二輪型移動体１０の上部には、倒立二輪型移動体１０とその周辺を撮像するためのカメラ２０が床面に固定されたフレーム６０によって取り付けられている。カメラ２０は、例えば天井や壁などに固定されていてもよい。バランス訓練機８０は、カメラ２０によって取得した画像に基づいて、人や物などの障害物を検出する。障害物が検出されると、後述する処理によって倒立二輪型移動体１０の稼働範囲が制限される。倒立二輪型移動体１０は、この稼動範囲を自由に拡大もしくは縮小することができる。   A camera 20 for imaging the inverted two-wheeled mobile body 10 and its periphery is attached to the upper part of the inverted two-wheeled mobile body 10 by a frame 60 fixed to the floor surface. The camera 20 may be fixed to a ceiling or a wall, for example. The balance training machine 80 detects an obstacle such as a person or an object based on the image acquired by the camera 20. When an obstacle is detected, the operating range of the inverted two-wheeled mobile body 10 is limited by the processing described later. The inverted two-wheeled mobile body 10 can freely expand or contract this operating range.

図２には、バランス訓練機８０の概略的なシステム構成がブロック図で示されている。倒立二輪型移動体１０には、車両本体１に設けられた車輪２Ｒ，２Ｌを駆動する駆動部９０と、駆動部を制御する制御部９１と、駆動部９０の駆動状態を監視し、監視結果に基づいて搭乗者の乗車状態および訓練の改善度を推定する搭乗者状態推定手段９２と、搭乗者の乗車状態および改善度に基づいて倒立二輪型移動体１０の許容移動範囲を決定する許容移動範囲決定手段９３とを有している。倒立二輪型移動体１０の外部には、倒立二輪型移動体１０周辺の障害物を検出する障害物検出手段９４が設けられている。   FIG. 2 is a block diagram showing a schematic system configuration of the balance training machine 80. The inverted two-wheeled mobile body 10 monitors a driving unit 90 for driving wheels 2R and 2L provided on the vehicle body 1, a control unit 91 for controlling the driving unit, and a driving state of the driving unit 90, and a monitoring result. The passenger state estimating means 92 for estimating the passenger's riding state and the degree of improvement of the training based on the vehicle, and the allowable movement for determining the allowable movement range of the inverted two-wheeled mobile body 10 based on the passenger's boarding state and the degree of improvement of the passenger And a range determining means 93. Outside the inverted two-wheeled mobile body 10, an obstacle detection means 94 for detecting an obstacle around the inverted two-wheeled mobile body 10 is provided.

駆動部９０は、車輪２Ｒ，２Ｌがそれぞれ接続された２つのモータ９０Ｒ，９０Ｌを有し、車輪２Ｒ，２Ｌをそれぞれ独立に駆動する。駆動部９０には、搭乗者状態推定手段９２が接続されている。搭乗者状態推定手段９２には、モータ９０Ｒ，９０Ｌの状態を電流や回転数で検出する検出部９２ａが設けられている。搭乗者状態推定手段９２には、さらに、検出部９２ａの検出結果から搭乗者の動きや操作などの乗車状態を推定すると共に、一連の搭乗者の乗車状態のデータを比較して、搭乗者の身体がどれだけ回復したかどうかを判定するための改善度を推定する推定部９２ｂが設けられている。また、搭乗者状態推定手段９２には、搭乗者毎に乗車状態のデータが記憶された記憶部９２ｃが設けられている。   The drive unit 90 includes two motors 90R and 90L to which the wheels 2R and 2L are connected, respectively, and drives the wheels 2R and 2L independently. Passenger state estimation means 92 is connected to the drive unit 90. The occupant state estimation means 92 is provided with a detection unit 92a that detects the states of the motors 90R and 90L with current and rotation speed. The occupant state estimating means 92 further estimates the passenger state such as the movement and operation of the occupant from the detection result of the detection unit 92a, and compares the passenger state data of a series of passengers, An estimation unit 92b that estimates the degree of improvement for determining how much the body has recovered is provided. The occupant state estimation means 92 is provided with a storage unit 92c that stores data on the state of occupancy for each occupant.

搭乗者状態推定手段９２には、許容移動範囲決定手段９３が接続されている。許容移動範囲決定手段９３は、推定部９２ｂから出力された搭乗者の乗車状態および改善度のデータに基づいて倒立二輪型移動体１０の許容移動範囲を決定する。即ち、搭乗者の身体の状態によって倒立二輪型移動体１０の許容移動範囲を決定する。搭乗者状態推定手段９２には、制御部９１が接続されている。制御部９１は、モータ９０Ｒ，９０Ｌをそれぞれ独立に制御し、倒立二輪型移動体１０の倒立および移動を制御する。制御部９１には、倒立二輪型移動体１０の外部に設けられた障害物検出手段９４が接続されている。障害物検出手段９４は、カメラ２０を有し、カメラ２０の撮像データから倒立二輪型移動体１０の周囲に存在する人や物などの障害物を検出する。障害物検出手段９４にはさらに、検出された障害物の位置を判定して制御部９１に出力する障害物検出部９４ａが設けられている。   The occupant state estimating means 92 is connected with an allowable movement range determining means 93. The permissible movement range determining means 93 determines the permissible movement range of the inverted two-wheeled mobile body 10 based on the passenger's boarding state and improvement degree data output from the estimation unit 92b. That is, the allowable movement range of the inverted two-wheeled mobile body 10 is determined according to the state of the passenger's body. A control unit 91 is connected to the passenger state estimation unit 92. The controller 91 controls the motors 90 </ b> R and 90 </ b> L independently to control the inversion and movement of the inverted two-wheeled moving body 10. The controller 91 is connected to obstacle detecting means 94 provided outside the inverted two-wheeled mobile body 10. The obstacle detection means 94 has a camera 20 and detects obstacles such as people and objects existing around the inverted two-wheeled mobile body 10 from the image data of the camera 20. The obstacle detection means 94 is further provided with an obstacle detection unit 94a that determines the position of the detected obstacle and outputs it to the control unit 91.

制御部９１は、また、障害物検出部９４ａから出力された障害物の位置が、許容移動範囲決定手段９３によって決定された許容移動範囲内に存在するかどうかを判定する。制御部９１は、障害物の位置が、許容移動範囲内にあると判定した場合、倒立二輪型移動体１０および搭乗者が障害物に触れないように駆動部９０を制御して倒立二輪型移動体１０の稼動範囲を狭める。そして、制御部９１は障害物を検知すると、安全な動作範囲すなわち少ない動きでこなせる訓練課題を搭乗者に与えて後述する表示部９５に表示させる。それに対して制御部９１は、障害物の位置が、許容移動範囲内にないと判定した場合、駆動部９０を制御して倒立二輪型移動体１０の稼動範囲を許容移動範囲内に収める。制御部９１は障害物がないこととを検知すると、広い動作範囲すなわち大きな動きでこなせる訓練課題をを搭乗者に与えて後述する表示部９５に表示させる。   The control unit 91 also determines whether the position of the obstacle output from the obstacle detection unit 94a is within the allowable movement range determined by the allowable movement range determination unit 93. When the control unit 91 determines that the position of the obstacle is within the allowable movement range, the control unit 91 controls the driving unit 90 so that the inverted two-wheeled mobile body 10 and the passenger do not touch the obstacle. Narrow the operating range of the body 10. When the control unit 91 detects an obstacle, the control unit 91 gives a safe exercise range, that is, a training task that can be performed with a small amount of movement, to be displayed on the display unit 95 described later. On the other hand, when the control unit 91 determines that the position of the obstacle is not within the allowable movement range, the control unit 91 controls the drive unit 90 so that the operating range of the inverted two-wheeled moving body 10 is within the allowable movement range. When the control unit 91 detects that there is no obstacle, the control unit 91 gives a training task that can be performed with a wide movement range, that is, a large movement, to be displayed on the display unit 95 described later.

制御部９０は、例えばＣＰＵ（Ｃｅｎｔｒａｌ Ｐｒｏｃｅｓｓｉｎｇ Ｕｎｉｔ）などの演算回路と、各種制御プログラムやデータなどが格納されたＲＡＭ（Ｒａｎｄｏｍ Ａｃｃｅｓｓ Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ Ｏｎｌｙ Ｍｅｍｏｒｙ）などの記憶部（不図示）と、を備えている。上記の構成要素の他、駆動部９０等を駆動するための電源装置（不図示）が倒立二輪型移動体１０に設けられている。   The control unit 90 includes an arithmetic circuit such as a CPU (Central Processing Unit), a storage unit (not shown) such as a RAM (Random Access Memory) and a ROM (Read Only Memory) in which various control programs and data are stored, and the like. It is equipped with. In addition to the above components, a power supply device (not shown) for driving the drive unit 90 and the like is provided in the inverted two-wheeled moving body 10.

制御部９１には、表示部９５が接続されている。制御部９１は、乗車状態等の各種データを表示部９５に出力する。さらに、表示部９５には搭乗者がリハビリ等に用いるための訓練課題となる仮想空間および各種データが表示される。表示部９５に表示される仮想空間は、操作者の操作に連動して動作する。訓練課題は例えば、表示部９５に表示される仮想テストコースや操作指示などである。   A display unit 95 is connected to the control unit 91. The control unit 91 outputs various data such as the boarding state to the display unit 95. Further, the display unit 95 displays a virtual space and various data that are training tasks for the passenger to use for rehabilitation and the like. The virtual space displayed on the display unit 95 operates in conjunction with the operation of the operator. The training task is, for example, a virtual test course displayed on the display unit 95 or an operation instruction.

次に、バランス訓練機８０の動作の流れについて簡単に説明する。   Next, the operation flow of the balance training machine 80 will be briefly described.

図３に示すように、バランス訓練機８０において、搭乗者状態推定手段９２は、駆動部９０のモータ９０Ｒ，９０Ｌの駆動状態を電流や回転数で検出する（Ｓ１００）。搭乗者状態推定手段９２は、搭乗者の動きや操作などの乗車状態を推定すると共に、一連の搭乗者の乗車状態のデータを比較して、搭乗者の身体がどれだけ回復したかどうかを判定するための改善度を推定する（Ｓ１０１）。許容移動範囲決定手段９３は、搭乗者の乗車状態および改善度に基づいて倒立二輪型移動体１０の許容移動範囲を決定する（Ｓ１０２）。障害物検出手段９４は、倒立二輪型移動体１０の周囲に存在する障害物を検出する（Ｓ１０３）。障害物が検出された場合（Ｓ１０４：Ｎｏ）、制御部９１は、倒立二輪型移動体１０と障害物との距離が十分にあるかどうかを判定する（Ｓ１０５）。   As shown in FIG. 3, in the balance training machine 80, the occupant state estimation means 92 detects the drive state of the motors 90R and 90L of the drive unit 90 by current and rotation speed (S100). The occupant state estimation means 92 estimates the occupant state such as movement and operation of the occupant and compares the occupant state data of a series of occupants to determine how much the occupant's body has recovered. The degree of improvement is estimated (S101). The permissible movement range determining means 93 determines the permissible movement range of the inverted two-wheeled mobile body 10 based on the passenger's boarding state and improvement level (S102). The obstacle detection means 94 detects an obstacle existing around the inverted two-wheeled mobile body 10 (S103). When an obstacle is detected (S104: No), the controller 91 determines whether or not there is a sufficient distance between the inverted two-wheeled mobile body 10 and the obstacle (S105).

倒立二輪型移動体１０と障害物との距離が十分にあると判断された場合（Ｓ１０５：Ｙｅｓ）、制御部９１は、駆動部９０を制御して倒立二輪型移動体１０の稼動範囲を許容移動範囲内に収めると共に、広い動作範囲すなわち大きな動きでこなせる課題をを搭乗者に与える（Ｓ１０６）。倒立二輪型移動体１０と障害物との距離が十分にないと判断された場合（Ｓ１０５：Ｎｏ）、制御部９１は、倒立二輪型移動体１０および搭乗者が障害物に触れないように駆動部９０を制御して倒立二輪型移動体１０の稼動範囲を狭める共に、安全な動作範囲すなわち少ない動きでこなせる課題を搭乗者に与える（Ｓ１０７）。倒立二輪型移動体１０の周囲に障害物が検出されない場合（Ｓ１０４：Ｙｅｓ）、ステップＳ１００に戻って処理を実行する。   When it is determined that the distance between the inverted two-wheeled mobile body 10 and the obstacle is sufficient (S105: Yes), the control unit 91 controls the drive unit 90 to allow the operating range of the inverted two-wheeled mobile body 10 The passenger is given a task that can be accommodated within the movement range and can be handled with a wide movement range, that is, a large movement (S106). When it is determined that the distance between the inverted two-wheeled mobile body 10 and the obstacle is not sufficient (S105: No), the control unit 91 drives so that the inverted two-wheeled mobile body 10 and the passenger do not touch the obstacle. The operation of the inverted two-wheeled mobile body 10 is narrowed by controlling the unit 90, and a problem that can be handled with a safe operation range, that is, a small amount of movement is given to the passenger (S107). When an obstacle is not detected around the inverted two-wheeled mobile body 10 (S104: Yes), the process returns to step S100 to execute the process.

上述したように、バランス訓練機８０によると、倒立二輪型移動体１０を用いて搭乗者のリハビリ等の訓練をすることができる。そして、バランス訓練機８０は、倒立二輪型移動体１０の周辺に位置する障害物を検知して、障害物の有無に従って搭乗者に与える訓練課題を変更することができる。   As described above, according to the balance training machine 80, it is possible to train a passenger such as rehabilitation using the inverted two-wheeled mobile body 10. And the balance training machine 80 can detect the obstacle located in the circumference | surroundings of the inverted two-wheeled mobile body 10, and can change the training subject given to a passenger according to the presence or absence of an obstacle.

１…車両本体 ２Ｒ…車輪 ２Ｒ，２Ｌ…車輪 ４…操作ハンドル ６Ｒ，６Ｌ…ステップ部 １０…倒立二輪型移動体 ２０…カメラ ６０…フレーム ８０…バランス訓練機 ９０…駆動部 ９０…制御部 ９０…駆動部 ９０Ｒ，９０Ｌ…モータ ９１…制御部 ９２…搭乗者状態推定手段 ９２ａ…検出部 ９２ｂ…推定部 ９２ｃ…記憶部 ９３…許容移動範囲決定手段 ９４…障害物検出手段 ９４ａ…障害物検出部 ９５…表示部 DESCRIPTION OF SYMBOLS 1 ... Vehicle main body 2R ... Wheel 2R, 2L ... Wheel 4 ... Operation handle 6R, 6L ... Step part 10 ... Inverted two-wheeled moving body 20 ... Camera 60 ... Frame 80 ... Balance training machine 90 ... Drive part 90 ... Control part 90 ... Drive unit 90R, 90L ... Motor 91 ... Control unit 92 ... Passenger state estimation means 92a ... Detection part 92b ... Estimation part 92c ... Storage part 93 ... Allowable movement range determination means 94 ... Obstacle detection means 94a ... Obstacle detection part 95 ... Display section

Claims (1)

倒立二輪型移動体を用いたバランス訓練機であって、
前記倒立二輪型移動体が有する車輪を駆動する駆動部と、
前記駆動部を制御する制御部と、
前記駆動部の駆動状態を監視し、監視結果に基づいて搭乗者の乗車状態および訓練の改善度を推定する搭乗者状態推定手段と、
前記搭乗者状態推定手段が推定した前記乗車状態および前記改善度に基づいて前記倒立二輪型移動体の許容移動範囲を決定する許容移動範囲決定手段と、
前記倒立二輪型移動体周辺の障害物を検出する障害物検出手段と、
を備え、
前記制御部は、前記許容移動範囲決定手段が決定した前記許容移動範囲内の障害物の有無に基づいて搭乗者に与える訓練課題を変更する、
バランス訓練機。 A balance training machine using an inverted two-wheeled vehicle,
A drive unit for driving wheels of the inverted two-wheeled moving body;
A control unit for controlling the driving unit;
A passenger state estimating means for monitoring a driving state of the driving unit and estimating a passenger's riding state and training improvement level based on the monitoring result;
An allowable movement range determining means for determining an allowable movement range of the inverted two-wheeled mobile body based on the riding state and the improvement degree estimated by the passenger state estimating means;
Obstacle detection means for detecting obstacles around the inverted two-wheeled vehicle;
With
The control unit changes a training task to be given to a passenger based on the presence or absence of an obstacle within the allowable movement range determined by the allowable movement range determination means.
Balance training machine.
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