JP2016150148A - Balance training system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a balance training system capable of suppressing deviation between an actual orientation of an inverted movable body, and an orientation of the inverted movable body in a training image.SOLUTION: A balance training system 1 uses rotation speed information of a wheel of an inverted movable body 2, for estimating a coordinate position and a first orientation of the inverted movable body 2 in a training area 3, uses vibration information of the inverted movable body 2 when the inverted movable body 2 moves on the training area 3, and information in which, the vibration generated on the inverted movable body 2 when the inverted movable body 2 moves on the area of the training area 3 and an orientation of the inverted movable body 2 in the training area 3 are associated, for estimating a second orientation of the inverted movable body 2 in at least the training area 3, and if an absolute value of difference between the first and second orientations is larger than a preset threshold, creates a training image using the second orientation, and if the absolute value of difference between the first and second orientations is equal to or less than the preset threshold, creates the training image using the first orientation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a balance training system, for example, a balance training system using an inverted moving body.

  In recent years, a balance training system in which a trainer who has boarded an inverted moving body operates a inverted moving body while observing a training image linked to the movement of the inverted moving body to perform balance training has been studied in a rehabilitation site or the like. .

  A general rehabilitation training system estimates and estimates the self-position of the inverted moving body (that is, the coordinate position and orientation of the inverted moving body in the training area) based on the rotational speeds of the left and right wheels of the inverted moving body. Based on the position of the inverted moving body, the training image is linked to the movement of the inverted moving body.

  Incidentally, the balance training system of Patent Document 1 detects the self-position of an inverted moving body using an area sensor or the like.

JP 2014-182318 A

  A general rehabilitation training system estimates the direction of the inverted moving body based on the rotation speed of the left and right wheels of the inverted moving body. For example, the wheel slips or the weight of the trainee is applied to the left and right wheels. Depending on how the left and right wheels are deformed, the direction of the inverted moving body cannot be accurately estimated, and the actual direction of the inverted moving body and the direction of the inverted moving body in the training image are different. There is a possibility of divergence.

  The present invention has been made in view of the above, and suppresses a deviation between the actual direction of the inverted moving body and the direction of the inverted moving body in the training image.

A balance training system according to an aspect of the present invention includes:
An inverted moving body controlled to maintain an inverted state;
A training area where a trainee boarded the inverted moving body and performs balance training; and
The orientation of the inverted moving body that is a rotation angle about an axis that passes through the coordinate position of the inverted moving body and the center of gravity of the inverted moving body in the training area and extends in the vertical direction of the inverted moving body. An image generation unit for generating a training image to be estimated and linked to the estimated coordinate position and orientation of the inverted moving body;
A display unit for displaying the training image;
A balance training system comprising:
The training area is provided with different convex portions or different convex portions for each preset region,
The inverted moving body includes a speed detection unit that detects a rotation speed of a wheel of the inverted moving body, and a vibration detection unit that detects vibration of the inverted moving body,
The image generation unit
Obtaining the rotational speed information of the wheels of the inverted moving body, using the rotational speed information, estimating the coordinate position and the first direction of the inverted moving body in the training area,
The vibration information of the inverted moving body when the inverted moving body moves in the training area, and the vibration information and the vibration generated in the inverted moving body when the inverted moving body moves in the region and the vibration Using the information associated with the orientation of the inverted moving body in the training area, to estimate at least a second direction of the inverted moving body in the training area;
When the absolute value of the difference between the first orientation and the second orientation is greater than a preset threshold, the training image is generated using the second orientation,
When the absolute value of the difference between the first direction and the second direction is equal to or less than a preset threshold value, the training image is generated using the first direction.
That is, based on the change in the magnitude of vibration when the inverted moving body moves in the training area, the second direction which is the actual direction of the inverted moving body in the training area is estimated, and the estimated inverted moving body If the error in the estimated first direction of the inverted moving body is larger than the second direction, a training image is generated using the second direction of the inverted moving body. Therefore, the deviation between the actual direction of the inverted moving body and the direction of the inverted moving body in the training image can be suppressed.

  According to the present invention, it is possible to suppress a deviation between the actual direction of the inverted moving body and the direction of the inverted moving body in the training image.

It is a top view which shows the balance training system of Embodiment 1 typically. FIG. 3 is a block diagram of a control system of the balance training system according to the first embodiment. It is a side view which shows typically the inverted moving body used with the balance training system of Embodiment 1. FIG. (A) is a top view which shows typically the training area of the balance training system of Embodiment 1, (b) is IV-IV sectional drawing of (a). 6 is a flowchart showing a flow of a training image generation method of an image generation unit according to Embodiment 1. FIG. The magnitude and time of the vibration of the inverted moving body when the left wheel of the inverted moving body enters the eighth area from the first area and the right wheel enters the fourth area from the fifth area. It is a figure which shows the relationship. It is a top view which shows typically the training area of the balance training system of Embodiment 2. FIG. It is a top view which shows typically the training area from which the balance training system of Embodiment 2 differs. (A) is a top view which shows typically the training area of the balance training system of Embodiment 3, (b) is IX-IX sectional drawing of (a). The spectral intensity and frequency of the inverted moving body when the left wheel of the inverted moving body enters the eighth area from the first area and the right wheel enters the fourth area from the fifth area. It is a figure which shows a relationship.

  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.

<Embodiment 1>
A balance training system according to the present embodiment will be described. First, the basic configuration of the balance training system of the present embodiment will be described. FIG. 1 is a plan view schematically showing the balance training system of the present embodiment. FIG. 2 is a block diagram of a control system of the balance training system of the present embodiment. FIG. 3 is a side view schematically showing the inverted moving body used in the balance training system of the present embodiment.

  The balance training system 1 of this Embodiment is provided with the inverted moving body 2, the training area 3, the image generation part 4, and the display part 5, as shown in FIG.1 and FIG.2. As shown in FIG. 3, the inverted moving body 2 includes a riding unit 21, a handle 22, left and right drive wheels 23, an attitude detection unit 24, an angle detection unit 25, a speed detection unit 26, a vibration detection unit 27, and a control unit 28. I have.

  The boarding unit 21 is a base on which a trainee is boarded. For example, the trainer rides in a standing posture with both legs on. However, the boarding unit 21 may be configured such that a trainee rides in a sitting posture.

  The handle 22 is provided at the front portion of the riding section 21 so as to be rotatable in the left-right direction of the inverted moving body 2. In the present embodiment, the trainee rotates the handle 22 in the left-right direction of the inverted moving body 2 to perform the turning operation of the inverted moving body 2 in the left-right direction. However, for example, the turning operation of the inverted moving body 2 in the left-right direction may be performed based on the rotation angle of the riding section 21 in the left-right direction.

  The left and right drive wheels 23 include wheels 23a, a speed reducer (not shown), and a motor 23b, and a turn command signal input from the control unit 28 so that the angular velocity of the motor 23b becomes a desired angular velocity, and The motor 23b operates based on the attitude command signal. The left and right drive wheels 23 are supported by the riding section 21.

  The posture detection unit 24 detects the rotation angle of the inverted moving body 2 and thus the riding unit 21 in the front-rear direction, and outputs a detection signal (operation signal) to the control unit 28. As the posture detection unit 24, a general posture detection device can be used, and for example, a gyro sensor or an acceleration sensor can be used.

  The angle detection unit 25 detects the rotation angle of the inverted moving body 2 in the left-right direction at the handle 22 and outputs a detection signal (operation signal) to the control unit 28. As the angle detection unit 25, a general angle detection device can be used, and for example, an encoder or the like can be used.

  The speed detection unit 26 detects the rotation speed of the left and right wheels 23 a and outputs a detection signal to the control unit 28 and the image generation unit 4. As the speed detection unit 26, a general speed detection device can be used, and for example, an encoder or the like can be used.

  The vibration detection unit 27 detects the vibration of the inverted moving body 2 when the inverted moving body 2 moves, and outputs a detection signal to the image generation unit 4. As the vibration detection unit 27, a general vibration detection device can be used, and for example, an acceleration sensor can be used.

  The control unit 28 generates a posture command signal based on the operation signal input from the posture detection unit 24, and based on the generated posture command signal, realizes forward / backward movement while maintaining the inverted state of the inverted moving body 2. Thus, the motor 23b of the left and right drive wheels 23 is controlled.

  In addition, the control unit 28 generates a turn command signal based on the operation signal input from the angle detection unit 25, and realizes turning of the inverted mobile body 2 in the left-right direction based on the generated turn command signal. In addition, the motors 23b of the left and right drive wheels 23 are controlled.

  Further, the control unit 28 sends a signal indicating the state of the inverted moving body 2 (that is, whether the vehicle is in the inverted control state and whether the vehicle is traveling forward, backward, right turn, or left turn) to the image generation unit 4. Output.

  As shown in FIG. 1, the training area 3 is an area where the trainee rides on the inverted moving body 2 to perform balance training, and includes different convex portions or different convex portions for each preset region. ing. Here, Fig.4 (a) is a top view which shows typically the training area of the balance training system of this Embodiment, FIG.4 (b) is IV-IV sectional drawing of Fig.4 (a). is there.

  As shown in FIG. 4A, the training area 3 according to the present embodiment is a circular area having a predetermined radius, and is divided into a plurality of regions at a predetermined angle. Specifically, the training area 3 is divided into eight equal parts. That is, the training area 3 includes fan-shaped regions 3a, 3b, 3c, 3d, 3e, 3f, 3g, and 3h having a central angle θ of 45 °. The number of regions can be changed as appropriate according to the estimation accuracy of the direction of the inverted moving body 2.

  And the convex part 3i which differs for every predetermined area | region is provided. Specifically, the first region 3a of 0 ° ≦ θ <45 ° and the fifth region 3e of 180 ° ≦ θ <225 ° of the moving surface on which the inverted moving body 2 moves in the training area 3 include the first The convex part 3i1 of the shape is formed. A convex portion 3i2 having a second shape is formed in the second region 3b of 45 ° ≦ θ <90 ° and the sixth region 3f of 225 ° ≦ θ <270 ° on the moving surface in the training area 3. .

  A convex portion 3i3 having a third shape is formed in the third region 3c of 90 ° ≦ θ <135 ° and the seventh region 3g of 270 ° ≦ θ <315 ° of the moving surface in the training area 3. . A convex portion 3i4 having a fourth shape is formed in the fourth region 3d of 135 ° ≦ θ <180 ° and the eighth region 3h of 315 ° ≦ θ <360 ° of the moving surface in the training area 3. .

  The first shape convex portion 3 i 1, the second shape convex portion 3 i 2, the third shape convex portion 3 i 3, and the fourth shape convex portion 3 i 4 are arranged equally. Further, the first shape convex portion 3i1, the second shape convex portion 3i2, the third shape convex portion 3i3, and the fourth shape convex portion 3i4 are respectively the convex portions 3i1, 3i2, 3i3, 3i4. The inverted moving body 2 that has moved up is formed so as to generate different vibrations, and in the present embodiment, the heights of the convex portions 3i1, 3i2, 3i3, and 3i4 are different. Incidentally, FIG. 4B shows the height relationship between the convex portion 3i1 and the convex portion 3i4, and the convex portion 3i1 is higher than the convex portion 3i4.

  As will be described in detail later, the image generation unit 4 is the inverted information indicated by the rotation speed information of the wheels 23a of the inverted moving body 2 indicated by the detection signal input from the speed detection unit 26 and the detection signal input from the vibration detection unit 27. Inverted moving body 2 in training area 3 using vibration information when moving body 2 moves in training area 3 (in this embodiment, information indicating the relationship between the magnitude (amplitude) of vibration and time). The coordinate position and orientation are estimated, a training image is generated so as to be interlocked with the estimated coordinate position and orientation of the inverted moving body 2, and is output to the display unit 5.

  The training image is an image instructed by the trainee to move the inverted moving body 2 in the training area 3. The direction of the inverted moving body 2 is a rotation angle around the yaw axis that passes through the center of gravity of the inverted moving body 2 and extends in the vertical direction of the inverted moving body 2. And counterclockwise is the + direction.

  Here, the communication between the image generation unit 4 and the speed detection unit 26, the communication between the image generation unit 4 and the vibration detection unit 27, and the communication between the image generation unit 4 and the control unit 28 are wired. But it may be wireless. The image generation unit 4 may be mounted in the control unit 28 or the display unit 5, or may be provided separately from the display unit 5.

  The display unit 5 displays the training image input from the image generation unit 4. As the display unit 5, a general liquid crystal display or the like can be used. Such a display unit 5 is arranged in the 0 ° direction of the training area 3 (that is, the training image is displayed in the 180 ° direction of the training area 3).

  Next, a training image generation method of the image generation unit of the present embodiment will be described. FIG. 5 is a flowchart showing a flow of a training image generation method of the image generation unit of the present embodiment. FIG. 6 shows the vibration of the inverted moving body when the left wheel of the inverted moving body enters the eighth area from the first area and the right wheel enters the fourth area from the fifth area. It is a figure which shows the relationship between a magnitude | size and time.

  The trainer gets on the riding part 21 of the inverted moving body 2 with the front side of the inverted moving body 2 facing the 0 ° direction of the training area 3 near the center of the training area 3 and starts training. For example, the trainer causes the inverted moving body 2 to move forward, backward, turn right, and turn left in the vicinity of the center of the training area 3 according to the instruction of the training image displayed on the display unit 5. In the present embodiment, the inverted moving body 2 is moved forward or backward from the center of the training area 3, and the inverted moving body 2 is moved again to the center of the training area 3. Further, the inverted moving body 2 is turned right or left so that the yaw axis of the inverted moving body 2 is arranged at the center of the training area 3.

  Then, the image generation unit 4 determines whether or not the control unit 28 of the inverted moving body 2 performs the inverted control of the inverted moving body 2 (S1). Specifically, the image generation unit 4 determines whether the inverted moving body 2 is in the inverted control state based on the state information of the inverted moving body 2 acquired from the control unit 28.

  At this time, the control unit 28 may sequentially output a signal indicating the state information of the inverted moving body 2 to the image generation unit 4, and the image generation unit 4 when the balance training system 1 starts the balance training of the trainee. However, the control unit 28 of the inverted moving body 2 may be inquired for a signal indicating the state information of the inverted moving body 2. When the image generating unit 4 determines that the control unit 28 of the inverted moving body 2 has not controlled the inverted moving body 2 (NO in S1), the process returns to the step S1.

  Next, the image generation part 4 acquires the rotational speed information of the left and right wheels 23a of the inverted moving body 2 from the speed detection part 26 (S2). And the image generation part 4 estimates the 1st direction of the inverted moving body 2 in the training area 3 using the rotational speed information of the right and left wheels 23a of the acquired inverted moving body 2 (S3). That is, the image generation unit 4 estimates the first direction of the inverted moving body 2 in the training area 3 based on the rotation angle difference between the left and right wheels 23 a of the inverted moving body 2. At this time, the image generation unit 4 estimates the coordinate position of the inverted moving body 2 in the training area 3 based on the acquired rotational speed information of the left and right wheels 23 a of the inverted moving body 2.

  On the other hand, the image generation unit 4 acquires vibration information of the inverted moving body 2 generated when the inverted moving body 2 moves in the training area 3 from the vibration detecting unit 27 (S4). The image generation unit 4 then acquires the vibration information and the vibration when the inverted moving body 2 moves in the areas 3a, 3b, 3c, 3d, 3e, 3f, 3g, and 3h and the inverted movement in the training area 3. The actual direction (second direction) of the inverted mobile body 2 in the training area 3 is estimated using the information associated with the direction of the body 2 (S5).

  For example, when the inverted moving body 2 turns to the right around the yaw axis in the vicinity of the center of the training area 3, the left wheel 23a enters the first area 3a from the second area 3b. On the other hand, the right wheel 23a enters the fifth region 3e from the sixth region 3f.

  At this time, the left wheel 23a of the inverted moving body 2 straddles the boundary between the second region 3b and the first region 3a, and the right wheel 23a crosses the boundary between the sixth region 3f and the fifth region 3e. Since the vibration changes when straddling, the image generation unit 4 can estimate that the front side of the inverted moving body 2 is in a state of facing the 315 ° direction of the training area 3.

  Similarly, although detailed description is omitted, the image generation unit 4 is configured such that the front side of the inverted moving body 2 is 270 ° direction, 225 ° direction, 180 ° direction, 135 ° direction, 90 ° direction, 45 ° of the training area 3. It can be estimated that it is in the direction and the 0 ° direction. Incidentally, when the left wheel 23a of the inverted moving body 2 enters the eighth area 3h from the first area 3a, and the right wheel 23a enters the fourth area 3d from the fifth area 3e. The relationship between the magnitude of vibration of the moving body 2 and time can be expressed as a graph shown in FIG.

  As described above, the image generation unit 4 changes the magnitude of the vibration generated in the inverted moving body 2 when the inverted moving body 2 moves in the area and the magnitude of the vibration when the inverted moving body 2 straddles the boundary of the area. Based on this, the actual orientation of the inverted moving body 2 in the training area 3 can be estimated. The first shape convex portion 3i1 is disposed in the first region 3a and the fifth region 3e, and the second shape convex portion 3i2 is disposed in the second region 3b and the sixth region 3f. The third shape convex portion 3i3 is disposed in the third region 3c and the seventh region 3g, and the fourth shape convex portion 3i4 is disposed in the fourth region 3d and the eighth region 3h. , Different protrusions may be arranged in each of the regions 3a, 3b, 3c, 3d, 3e, 3f, 3g, and 3h.

  By the way, when the inverted moving body 2 moves in the areas 3a, 3b, 3c, 3d, 3e, 3f, 3g and 3h, the vibration generated in the inverted moving body 2 and the direction of the inverted moving body 2 in the training area 3 Is previously set by experiments or the like, and is stored in a storage unit (not shown).

  Next, the image generation unit 4 determines whether or not the absolute value of the difference between the first direction and the second direction of the inverted moving body 2 is greater than a preset threshold value (S6). That is, the rotation angle of the inverted moving body 2 in the training area 3 estimated using the rotation speed information of the left and right wheels 23a which is the first direction of the inverted moving body 2 and the second direction of the inverted moving body 2 It is determined whether or not the absolute value of the difference between the rotation angle of the inverted moving body 2 in the training area 3 estimated using the vibration information of a certain inverted moving body 2 is greater than a threshold value. Here, the threshold value of the present embodiment is set to 45 °, which is the central angle θ of the regions 3a, 3b, 3c, 3d, 3e, 3f, 3g, and 3h.

  When the absolute value of the difference between the first direction and the second direction of the inverted moving body 2 is equal to or smaller than the threshold (NO in S6), the image generating unit 4 determines the coordinate position of the inverted moving body 2 in the training area 3 And a training image is produced | generated so that it may interlock | cooperate with a 1st direction (S7).

  On the other hand, when the absolute value of the difference between the first direction and the second direction of the inverted moving body 2 is larger than the threshold (YES in S6), the image generating unit 4 coordinates the inverted moving body 2 in the training area 3 A training image is generated so as to be linked to the position and the second direction (S8).

  As described above, in the present embodiment, when the inverted moving body 2 moves in the training area 3, the actual size of the inverted moving body 2 in the training area 3 is determined based on the magnitude of vibration generated in the inverted moving body 2. The second direction of the inverted moving body 2 is estimated when the second direction which is the direction is estimated and the error of the estimated first direction of the inverted moving body 2 is larger than the estimated second direction of the inverted moving body 2. A training image is generated using the orientation of. Therefore, deviation between the actual direction of the inverted moving body 2 and the direction of the inverted moving body 2 in the training image can be suppressed.

  In addition, in the present embodiment, the direction of the inverted moving body 2 is estimated based on the vibration of the inverted moving body 2 without using an expensive device such as an area sensor. Can be estimated.

<Embodiment 2>
In the first embodiment, the training area 3 is divided into a plurality of regions at a predetermined angle, but this is not restrictive. Here, FIG. 7 is a plan view schematically showing a training area of the balance training system of the present embodiment. FIG. 8 is a plan view schematically showing different training areas of the balance training system of the present embodiment.

  As shown in FIG. 7, the training area 31 may be divided into a plurality of regions 31a, 31b, 31c, 31d, and 31e at predetermined intervals in the 0 ° and 180 ° directions of the training area 31. Here, the 1st convex part 3i1 is formed in the 1st area | region 31a. And the 2nd convex part 3i2 is formed in the 2nd area | region 31b and the 3rd area | region 31c. In addition, a third protrusion 3i3 is formed in the fourth region 31d and the fifth region 31e. These 1st convex part 3i1, 2nd convex part 3i2, and 3rd convex part 3i3 are arrange | positioned equally.

  In this case, for example, the inverted moving body 2 moves forward and moves in the first area 31a, and then the inverted moving body 2 turns right and crosses the boundary between the first area 31a and the second area 31b. When moving to, the magnitude of vibration of the inverted moving body 2 changes. Therefore, the image generating unit 4 uses the inverted moving body 2 based on the change in the magnitude of the vibration and the state information of the inverted moving body 2 (that is, information that the inverted moving body 2 is turning right). It can be estimated that the front side is oriented in the 270 ° direction of the training area 31.

  As described above, even when the training area 31 of FIG. 7 is used, the second direction of the inverted moving body 2 is estimated based on the change in the magnitude of vibration when the inverted moving body 2 moves in the training area 3. Can do. Moreover, when the inverted moving body 2 straddles the region, the coordinate positions in the 0 ° and 180 ° directions in the training area 3 in the inverted moving body 2 can be corrected based on the boundary position of the region.

  Further, as shown in FIG. 8, the training area 32 may be divided into a plurality of regions 32a, 32b, 32c, 32d, and 32e at predetermined intervals in the 90 ° and 270 ° directions of the training area 32. Here, the 1st convex part 3i1 is formed in the 1st area | region 32a. And the 2nd convex part 3i2 is formed in the 2nd area | region 32b and the 3rd area | region 32c. In addition, a third protrusion 3i3 is formed in the fourth region 32d and the fifth region 32e. These 1st convex part 3i1, 2nd convex part 3i2, and 3rd convex part 3i3 are arrange | positioned equally.

  In this case, for example, if the inverted moving body 2 moves to the right while turning over the first area 32a and the second area 32b, the inverted moving body 2 enters the second area 32b and the inverted movement is performed. The magnitude of the vibration of the body 2 changes. Therefore, based on the change in the magnitude of the vibration and the state information of the inverted moving body 2, the image generation unit 4 estimates that the front side of the inverted moving body 2 is in the state of 270 ° in the training area 3. can do.

  As described above, even when the training area 32 of FIG. 8 is used, the second direction of the inverted moving body 2 is estimated based on the change in the magnitude of vibration when the inverted moving body 2 moves in the training area 3. Can do. Moreover, when the inverted moving body 2 straddles the region, the coordinate positions in the 90 ° and 270 ° directions in the training area 3 in the inverted moving body 2 can be corrected based on the boundary position of the region.

  That is, as shown in FIGS. 7 and 8, if the respective regions are arranged in parallel, the coordinate position in the training area 3 in the inverted moving body 2 can be corrected.

<Embodiment 3>
In the first embodiment, the different projections 3i are provided for each predetermined region, but this is not restrictive. Here, Fig.9 (a) is a top view which shows typically the training area of the balance training system of this Embodiment, (b) is IX-IX sectional drawing of Fig.9 (a). FIG. 10 shows the spectral intensity of the inverted moving body when the left wheel of the inverted moving body enters the eighth area from the first area and the right wheel enters the fourth area from the fifth area. It is a figure which shows the relationship between and frequency.

  Training area 3 may be provided with convex portions 3j having the same shape for each preset region in different arrangements. For example, as shown in FIGS. 9A and 9B, convex portions 3j are formed in the first arrangement in the first region 3a and the fifth region 3e. Convex portions 3j are formed in the second arrangement in the second region 3b and the sixth region 3f. Convex portions 3j are formed in the third arrangement in the third region 3c and the seventh region 3g. Convex portions 3j are formed in the fourth arrangement in the fourth region 3d and the eighth region 3h.

  In the first arrangement, the second arrangement, the third arrangement, and the fourth arrangement, the regions 3a and 3e in which the convex portions 3j are arranged in the first arrangement, and the convex portions 3j are arranged in the second arrangement. When the inverted moving body 2 moves in the regions 3b and 3f, the regions 3c and 3g in which the convex portions 3j are arranged in the third arrangement, and the regions 3d and 3h in which the convex portions 3j are arranged in the fourth arrangement, respectively. The arrangement of the projections 3j is different so that the inverted moving body 2 generates different vibrations. In the present embodiment, the arrangement density of the projections 3j is different.

  For example, FIG. 9B shows an arrangement relationship between the convex portions 3j of the first region 3a and the convex portions 3j of the eighth region 3h, and the eighth region 3h is compared with the first region 3a. In this case, the convex portions 3j are arranged in a dotted manner.

  At this time, the left wheel 23a of the inverted moving body 2 enters the eighth region 3h from the first region 3a, and the right wheel 23a enters the fourth region 3d from the fifth region 3e. The relationship between the spectrum intensity and the frequency of the inverted moving body 2 can be expressed as a graph shown in FIG.

  As shown in FIG. 10, the left side wheel 23a of the inverted moving body 2 moves in the first region 3a, and the frequency at which the spectral intensity increases when the right side wheel 23a moves in the fifth region 3e is inverted. This is different from the frequency at which the spectral intensity increases when the left wheel 23a of the moving body 2 moves in the eighth region 3h and the right wheel 23a moves in the fourth region 3d. Therefore, the image generation unit 4 can estimate that the front side of the inverted moving body 2 is directed to the 270 ° direction of the training area 3 using the change in frequency at which the spectrum intensity increases.

  Thus, the direction of the inverted moving body 2 can be estimated using the frequency at which the spectrum intensity when the inverted moving body 2 moves in each region increases.

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, the coordinate position and orientation of the inverted moving body in the training area can be estimated by changing the arrangement of the convex portions and the shape of the convex portions throughout the training area.
For example, the image generation unit 4 may estimate whether the inverted moving body 2 is generally facing the left side or the right side based on the state information of the inverted moving body 2.

DESCRIPTION OF SYMBOLS 1 Balance training system 2 Inverted moving body 3 Training area, 3a 1st area | region, 3b 2nd area | region, 3c 3rd area | region, 3d 4th area | region, 3e 5th area | region, 3f 6th area | region, 3g 7th area | region 3h 8th region 3i convex part, 3i1 first convex part, 3i2 second convex part, 3i3 third convex part, 3i4 fourth convex part 3j convex part 4 image generation part 5 display part 21 riding part 22 Handle 23 Drive wheel, 23a wheel, 23b Motor 24 Attitude detection unit 25 Angle detection unit 26 Speed detection unit 27 Vibration detection unit 28 Control unit 31 Training area, 31a First region, 31b Second region, 31c Third region , 31d 4th area, 31e 5th area 32 Training area, 32a 1st area, 32b 2nd area, 32c 3rd area, 32d 4th area, 32e 5th area

Claims (1)

An inverted moving body controlled to maintain an inverted state;
A training area where a trainee boarded the inverted moving body and performs balance training; and
The orientation of the inverted moving body that is a rotation angle about an axis that passes through the coordinate position of the inverted moving body and the center of gravity of the inverted moving body in the training area and extends in the vertical direction of the inverted moving body. An image generation unit for generating a training image to be estimated and linked to the estimated coordinate position and orientation of the inverted moving body;
A display unit for displaying the training image;
A balance training system comprising:
The training area is provided with different convex portions or different convex portions for each preset region,
The inverted moving body includes a speed detection unit that detects a rotation speed of a wheel of the inverted moving body, and a vibration detection unit that detects vibration of the inverted moving body,
The image generation unit
Obtaining the rotational speed information of the wheels of the inverted moving body, using the rotational speed information, estimating the coordinate position and the first direction of the inverted moving body in the training area,
The vibration information of the inverted moving body when the inverted moving body moves in the training area, and the vibration information and the vibration generated in the inverted moving body when the inverted moving body moves in the region and the vibration Using the information associated with the orientation of the inverted moving body in the training area, to estimate at least a second direction of the inverted moving body in the training area;
When the absolute value of the difference between the first orientation and the second orientation is greater than a preset threshold, the training image is generated using the second orientation,
The balance training system which produces | generates the said training image using the said 1st direction when the absolute value of the difference of the said 1st direction and the said 2nd direction is below a preset threshold value.

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