JP2016202242A - Balance training system and display control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a balance training system that can arrange both directions when a real direction of a moving body and a direction of a virtual moving body displayed in a display device are deviated in displaying the virtual moving body in the display device and performing the balance training of a crew, and provide a display control method.SOLUTION: A balance training system 1 includes: a moving body 11 turned based on the operation of an operating handle 24; an odometry calculation part 40 for changing a direction of an inversion type virtual moving body V displayed on a display 13, on the basis of the operation of the operating handle 24; and turning instruction buttons 26A, 26B where the turning instruction for correcting the direction of the inversion type moving body 11 are input. When the turning instruction buttons 26A, 26B are pressed down, the inversion type moving body 11 is turned based on depression, but the odometry calculation part 40 does not change the direction of the inversion type virtual moving body V.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a balance training system and a display control method.

  There has been proposed an inverted moving body (hereinafter also simply referred to as a moving body) that can travel while performing an inverted control that maintains an inverted state by a user boarding and operating.

  For example, Patent Literature 1 discloses a balance training system for training a balance function of a passenger who has boarded a moving body. The occupant moves the center of gravity and operates the handle of the moving object while viewing the game screen displayed on the display device. The moving body travels while performing the inversion control by controlling the drive unit based on the movement of the center of gravity of the occupant and the steering wheel operation. In this way, the occupant can train the balance function using the moving body.

JP 2014-182318 A

  As described above, the passenger looks at the display device on which the game screen is displayed during the training of the balance function. A virtual moving body may be displayed on the game screen so that the passenger can easily train. The direction of the displayed virtual moving body changes following the change in the direction of the moving body detected by the sensor of the moving body. However, when a change in the direction of the moving body that cannot be detected by the sensor of the moving body occurs and the change is accumulated, the direction of the actual moving body and the direction of the virtual moving body shift.

  In this way, if the orientation of the actual moving body and the orientation of the virtual moving body are misaligned, the orientation of the actual moving body and the orientation of the virtual moving body can be used for smooth training. It is necessary to align. However, if the occupant operates to turn the actual moving body in an attempt to align the orientation of the actual moving body with the orientation of the virtual moving body, the orientation of the virtual moving body displayed on the display device However, it will change following the actual turning of the moving body. For this reason, there is a problem that the direction of the actual moving body cannot be aligned with the direction of the virtual moving body.

  In the balance training system and the display control method according to the present invention, when the virtual moving body is displayed on the display device to perform the balance training of the occupant, the actual moving body orientation and the virtual direction displayed on the display device are displayed. This makes it possible to align both of them when the direction of the moving body deviates.

  The balance training system according to the first aspect of the present invention includes an inverted moving body that turns based on an operation of a turning operation unit, and a virtual inversion displayed on a display device based on the operation of the turning operation unit. A display control unit that changes the direction of the movable body, and a turn instruction input unit that receives a turn instruction for correcting the direction of the inverted movable body. When the turning instruction is input to the turning instruction input unit, the inverted moving body turns based on the input, and the display control unit performs the virtual inversion in spite of the input. Do not change the direction of the moving object.

  In this balance training system, when an input is made to the turning instruction input unit, the inverted moving body turns based on the input, while the display control unit does not have a virtual inverted moving body regardless of the input. Do not change the orientation. Therefore, even when the direction of the inverted mobile body is deviated from the direction of the virtual inverted mobile body, by inputting to the turn instruction input unit and turning the inverted mobile body, The direction can be matched with the direction of the virtual inverted moving body displayed on the display device. That is, the actual orientation of the inverted moving body and the orientation of the virtual inverted moving body displayed on the display device can be aligned.

  Further, the balance training system according to the second aspect of the present invention includes an inverted moving body that turns based on the operation of the turning operation unit, and a virtual that is displayed on the display device based on the operation of the turning operation unit. A display control unit that changes the orientation of the inverted moving body, and a turning instruction input unit that receives a turning instruction for correcting the orientation of the inverted moving body. When the turning instruction is input to the turning instruction input unit, the inverted moving body turns based on the input, and the display control unit uses the input as a trigger to perform the virtual inverted moving Change the body orientation to a predetermined orientation.

  In this balance training system, when an input is made to the turning instruction input unit, the inverted moving body turns based on the input, while the display control unit is a virtual inverted moving body displayed on the display device. Change the orientation to a predetermined orientation. For this reason, even if the orientation of the inverted mobile body is deviated from the orientation of the virtual inverted mobile body, the inverted mobile body can be turned by performing input to the turn instruction input unit and turning the inverted mobile body. Can be set in a predetermined direction. That is, the actual orientation of the inverted moving body and the orientation of the virtual inverted moving body displayed on the display device can be aligned.

  In the balance training system described above, the turning instruction input unit may be able to input a turning direction. Thereby, the turning instruction input unit can input a turning direction that does not take time to align the actual direction of the inverted moving body with the direction of the virtual inverted moving body displayed on the display device. That is, the actual orientation of the inverted moving body and the orientation of the virtual inverted moving body displayed on the display device can be aligned in a short time.

  In addition, the display control method according to the third aspect of the present invention is directed to the orientation of the virtual inverted moving body displayed on the display device in the balance training system including the inverted moving body that rotates based on the turning operation. This is a display control method for controlling. In this display control method, when the inverted moving body is swung for normal motion, the orientation of the virtual inverted moving body displayed on the display device is changed and displayed on the display device. When the inverted moving body is swung to correct the orientation of the virtual inverted moving body to correct the deviation of the actual inverted moving body, the inverted moving body also turns. Regardless, the orientation of the virtual inverted moving body displayed on the display device is not changed.

  In this balance training system, when the inverted moving body is turned in order to correct the deviation in the direction of the actual inverted moving body, the inverted moving body turns, while the virtual inverted moving body The orientation is not changed. Therefore, even if the orientation of the inverted mobile object is deviated from the direction of the virtual inverted mobile object, the actual orientation of the inverted mobile object is displayed by correcting the deviation of the orientation of the inverted mobile object. The direction of the virtual inverted moving body displayed on the apparatus can be aligned.

  In addition, the display control method according to the fourth aspect of the present invention provides a balance training system having an inverted moving body that turns based on a turning operation, wherein the orientation of the virtual inverted moving body displayed on the display device is This is a display control method for controlling. In this display control method, when the inverted moving body is swung for normal motion, the orientation of the virtual inverted moving body displayed on the display device is changed and displayed on the display device. When the inverted moving body is swung to correct the orientation of the virtual inverted moving body to correct the deviation of the actual inverted moving body, the inverted moving body also turns. Regardless, the direction of the virtual inverted moving body displayed on the display device is changed to a predetermined direction.

  In this balance training system, when the inverted moving body is turned in order to correct the deviation in the direction of the actual inverted moving body, the inverted moving body turns, while the virtual inverted moving body The direction is changed to a predetermined direction. Therefore, even when the orientation of the inverted moving body is deviated from the direction of the virtual inverted moving body, the actual inversion is achieved by correcting the deviation of the orientation of the inverted moving body and adjusting it to a predetermined direction. The direction of the mold moving body and the direction of the virtual inverted moving body displayed on the display device can be aligned.

  According to the present invention, when the virtual moving body is displayed on the display device to perform the balance training for the passenger, the orientation of the actual moving body and the direction of the virtual moving body displayed on the display device are shifted. In some cases, both can be aligned.

1 is a schematic diagram of a balance training system according to Embodiment 1. FIG. It is a side view of a moving body. It is a rear view of a moving body. It is a top view of the step part of a moving body. It is a top view of the turning instruction | indication panel of a moving body. It is a block diagram which shows the internal structure of a moving body. It is a figure which shows a moving body and a robot coordinate system before an operation handle is operated. It is a figure which shows the virtual moving body displayed on the display before the operation handle is operated. It is a figure which shows a moving body and a robot coordinate system after the operation handle is operated. It is a figure which shows the virtual moving body displayed on the display after the operation handle was operated. It is a figure which shows a mobile body and a robot coordinate system before a rotation instruction | indication button is pressed down. It is a figure which shows the virtual moving body displayed on the display before a turning instruction | indication button is pressed down. It is a figure which shows a moving body and a robot coordinate system after the rotation instruction | indication button is pressed down. It is a figure which shows the virtual mobile body displayed on the display after the rotation instruction | indication button was pressed down. It is a flowchart which shows the process of the moving body based on pressing of a rotation instruction | indication button. It is a figure which shows a mobile body and a robot coordinate system before the turn instruction | indication button is pressed based on Embodiment 2. FIG. It is a figure which shows the virtual moving body displayed on the display before a turning instruction | indication button is pressed down. It is a figure which shows a moving body and a robot coordinate system after the rotation instruction | indication button is pressed down. It is a figure which shows the virtual mobile body displayed on the display after the rotation instruction | indication button was pressed down. It is a flowchart which shows the process of the moving body based on pressing of a rotation instruction | indication button.

[Embodiment 1]
Embodiment 1 of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the balance training system 1 roughly includes a moving body 11, a screen generation device 12, and a display 13.

  The passenger P controls the movement of the moving body 11 by boarding the moving body 11 and moving the center of gravity or operating the handle while viewing the game screen for training displayed on the display 13. The moving body 11 is a two-wheeled robot that travels by driving wheels with a motor while maintaining an inverted state by the inversion control. The screen generation device 12 generates a game screen on which a virtual moving body (hereinafter also referred to as a virtual moving body) is displayed. Note that the screen generation device 12 may display the shape of the entire moving object as a virtual moving object, or may display the shape of a part of the moving object as a virtual moving object. The display 13 is a display device that displays a game screen based on the control of the screen generation device 12. The assistant S is in the vicinity of the passenger P and operates the moving body 11 as necessary.

  Hereinafter, the configuration of the moving body 11 will be described in detail. As shown in FIGS. 2 and 3, the moving body 11 includes, in an external configuration, a vehicle main body portion 21, wheels 22 </ b> R and 22 </ b> L, step portions 23 </ b> R and 23 </ b> L, an operation handle 24, a passenger grip 25, A turning instruction panel 26 and an assistant grip 27 are provided.

  The wheel 22R is rotatably supported on the right side surface of the vehicle main body 21 (lower right of the moving body 11), and the wheel 22L is rotatable on the left side surface of the vehicle main body 21 (lower left of the moving body 11). It is supported by. The pair of wheels 22 </ b> R and 22 </ b> L is a grounding module that is coaxially disposed in the left-right direction of the vehicle main body 21. 2 and 3, the X-axis is the front-rear direction, the Y-axis is the left-right direction, and the Z-axis is the up-down direction.

  The step portion 23R is provided on the right side surface of the vehicle main body portion 21 and above the wheel 22R, and the step portion 23L is provided on the left side surface of the vehicle main body portion 21 and above the wheel 22L. Step portions 23R and 23L are steps in which the passenger P gets on the right foot and the left foot, respectively (see FIG. 4).

  The operation handle 24 is connected to the front portion of the vehicle main body 21 and protrudes above the vehicle main body 21. Here, the vehicle main body 21 supports the operation handle 24 so as to be rotatable in the roll direction (left-right direction). A passenger grip 25 is connected to the upper portion of the operation handle 24. The passenger P can turn the moving body 11 left and right by holding the passenger grip 25 and tilting the operation handle 24 in the left-right direction via the passenger grip 25. As described above, the operation handle 24 functions as a turning operation unit that turns the moving body 11. The operation handle 24 may be rotatable in the pitch direction (front-rear direction).

  The operation handle 24 is provided with a turning instruction panel 26. As shown in FIG. 5, the turn instruction panel 26 includes turn instruction buttons 26A and 26B (turn instruction input interface). The turn instruction buttons 26A and 26B are buttons pressed by the assistant S, and while the turn instruction button 26A is pressed, the mobile body 11 continues to perform a right turn and moves while the turn instruction button 26B is pressed. The body 11 continues to perform a left turn. Accordingly, the longer the time for which the turn instruction buttons 26A and 26B are pressed, the greater the turn amount of the mobile body 11. In this way, the turn instruction buttons 26A and 26B function as a turn instruction input unit to which a turn instruction for correcting the direction of the moving body 11 is input. The turning instruction panel 26 is provided with an assistant grip 27 as a grip for the assistant S to grip the moving body 11.

  Next, the system configuration of the moving body 11 will be described. As shown in FIG. 6, the mobile body 11 includes turn instruction buttons 26 </ b> A and 26 </ b> B, a right motor encoder 31 </ b> A, a left motor encoder 31 </ b> B, a speed calculation unit 32, an attitude angle sensor 33, and a translation command calculation unit 34. A lean angle sensor 35, a turning correction input determination unit 36, a turning command calculation unit 37, a motor control command calculation unit 38, a right motor drive unit 39A, a left motor drive unit 39B, and an odometry calculation unit 40. And a communication unit 41. Hereinafter, each part will be described.

  The right motor encoder 31 </ b> A detects a rotation angle and a rotation angular velocity of a motor (hereinafter referred to as a right motor) that drives the wheel 22 </ b> R, and outputs the detection results to the speed calculation unit 32. Similarly, the left motor encoder 31B detects a rotation angle and a rotation angular velocity of a motor that drives the wheel 22L (hereinafter referred to as a left motor), and outputs the detection results to the speed calculation unit 32.

  The speed calculation unit 32 calculates the current speed of the moving body 11 based on the detection results output from the right motor encoder 31A and the left motor encoder 31B. The calculated current speed information includes information on the absolute value of the speed and information on the direction of the speed. The speed calculation unit 32 outputs the calculated current speed of the moving body 11 to the translation command calculation unit 34 and the odometry calculation unit 40.

  The attitude angle sensor 33 includes a gyro sensor, an acceleration sensor, and the like, detects attitude information such as the tilt angle, tilt angular velocity, and tilt angle acceleration of the movable body 11 in the pitch direction, and outputs the detection result to the translation command calculation unit 34. To do. Further, the posture angle sensor 33 may detect posture information in the roll direction.

  The translation command calculation unit 34 includes the current speed of the moving body 11 output from the speed calculation unit 32, the pitch direction inclination angle of the moving body 11 output from the attitude angle sensor 33, and a target stored in a memory (not shown). Get posture angle. Note that the target posture angle is an inclination angle in the pitch direction that is a target when the inversion control is performed, and is based on an angle perpendicular to the ground. Based on these pieces of information, the translation command calculation unit 34 determines the pitch axis angle target value of the mobile body 11, the pitch axis angular velocity target value of the mobile body 11, and the mobile body 11. The target brake amount and the translation speed of the moving body 11 are calculated. The angle target value is set as an angle between the current posture angle and the target posture angle. The translation command calculation unit 34 calculates these values and outputs them to the motor control command calculation unit 38 to control the current posture angle to be close to the target angle.

  For example, when the moving body 11 is tilted in the pitch direction (that is, tilted back and forth), the attitude angle sensor 33 detects the tilt angle, and the translation command calculation unit 34 responds to the detected tilt angle. The target angle value, the target angular velocity value, the target brake amount, and the translation speed are calculated so that the movable body 11 moves in the tilt direction of the movable body 11. Thus, the passenger P can move the moving body 11 back and forth by inclining the step portions 23R and 23L back and forth by moving the center of gravity. As described above, the detection information of the posture angle sensor 33 is used for the inversion control of the moving body 11.

  The lean angle sensor 35 detects an inclination angle of the operation handle 24. For example, a potentiometer, a sensor having a variable condenser structure, or the like is used as the lean angle sensor 35. The lean angle sensor 35 outputs the detected inclination angle of the operation handle 24 to the turning correction input determination unit 36.

  The turning instruction buttons 26 </ b> A and 26 </ b> B output a right or left turning instruction to the turning correction input determination unit 36 while being pressed.

  The turning correction input determination unit 36 receives the tilt angle in the roll direction of the operation handle 24 detected by the lean angle sensor 35 and the turning instruction output by the turning instruction buttons 26A and 26B. The turning correction input determination unit 36 determines whether or not a turning instruction is output from the turning instruction buttons 26A and 26B, and changes the output based on the determination result.

  When the turning instruction is not output from the turning instruction buttons 26 </ b> A and 26 </ b> B, the turning correction input determination unit 36 outputs the tilt angle in the roll direction of the operation handle 24 to the turning command calculation unit 37 as it is. When the turning instruction is output from the turning instruction buttons 26A and 26B, the turning correction input determination unit 36 outputs the turning instruction output from the turning instruction buttons 26A and 26B to the turning instruction calculation unit 37, and the odometry calculation unit. In 40, an instruction to maintain the current value without outputting the position coordinates of the moving body 11 is output.

  The turning command calculation unit 37 calculates the target turning angular velocity of the moving body 11 based on the tilt angle of the operation handle 24 in the roll direction or the turning instruction from the turning instruction buttons 26A and 26B. The turning command calculation unit 37 outputs the calculated target turning angular velocity to the motor control command calculation unit 38.

  The motor control command calculation unit 38 receives from the translation command calculation unit 34 an angle target value of the pitch axis of the moving body 11, an angular velocity target value of the pitch axis of the moving body 11, a target brake amount of the moving body 11, The translation speed is output. Further, the turning command calculation unit 37 outputs the target turning angular velocity of the moving body 11. Based on the target state information of the moving body 11 shown above, the motor control command calculation unit 38 calculates the angular velocity target values of the left and right motors, and outputs the angular velocity target value of the right motor to the right motor driving unit 39A. Then, the angular velocity target value of the left motor is output to the left motor drive unit 39B.

  For example, the motor control command calculation unit 38 calculates the angular velocity target value of the left motor larger than the angular velocity target value of the right motor when turning the moving body 11 to the right, and turns the right motor when turning the moving body 11 to the left. Is calculated to be larger than the angular velocity target value of the left motor.

  The right motor drive unit 39A drives the right motor based on the target angular velocity value of the right motor output from the motor control command calculation unit 38. The left motor drive unit 39B drives the left motor based on the target angular velocity value of the left motor output from the motor control command calculation unit 38.

  The current speed of the moving body 11 is output from the speed calculation unit 32 to the odometry calculation unit 40. In addition, the turning correction input determination unit 36 outputs an instruction to hold the current value of the position coordinates when the turning instruction is output from the turn instruction buttons 26A and 26B.

  The odometry calculation unit 40 calculates the current position coordinates of the moving body 11 by the odometry method based on the current speed of the moving body 11. The calculated position coordinates include the position on the two-dimensional plane and the turning angle (yaw angle) to the left and right. Further, when an instruction to hold the current value of the position coordinate is output from the turning correction input determination unit 36, the odometry calculation unit 40 does not change the position coordinate and holds it as it is.

  The communication unit 41 outputs the position coordinates calculated by the odometry calculation unit 40 to the screen generation device 12 wirelessly or by wire. The screen generation device 12 generates a game screen on which the virtual moving body is displayed based on the position coordinates output from the communication unit 41 and outputs the game screen to the display 13. Here, the screen generation device 12 determines the orientation of the displayed virtual moving body based on the position coordinates output from the communication unit 41. Therefore, the odometry calculation unit 40 functions as a display control unit that changes the orientation of the virtual moving body displayed on the display 13 based on the operation of the operation handle 24.

  The speed calculation unit 32, translation command calculation unit 34, turn correction input determination unit 36, turn command calculation unit 37, motor control command calculation unit 38, and odometry calculation unit 40 are an ECU (Engine Control Unit) of the moving body 11. Realized. Specifically, the configuration of each unit described above can be realized by a control unit such as a CPU (Central Processing Unit) in the ECU reading a program from the memory and performing a control calculation. In addition to the components shown in the figure, the mobile body 11 appropriately includes components (for example, a power source) that enable inversion control and traveling.

  Hereinafter, processing performed by the moving body 11 when the moving body 11 turns will be described with reference to FIGS. 7 to 10. For simplification, in the following drawings, the moving body 11 and the virtual moving body show only the step portions 23R and 23L, and the entire illustration is omitted.

  First, processing of the moving body 11 when the operation handle 24 is operated will be described.

  FIG. 7 shows the moving body 11 and the coordinate system (robot coordinate system) of the moving body 11 before the operation handle 24 is operated. Hereinafter, the yaw angle of the position coordinates calculated by the odometry calculation unit 40 is expressed in this robot coordinate system. At this time, the yaw angle in the position coordinates is 0 °, and the Rx axis and Ry axis of the robot coordinate system shown in FIG. 7 coincide with the X axis and the Y axis, respectively. The moving body 11 faces the positive direction of the X axis, and a display 13 is provided on the front surface of the moving body 11.

  FIG. 8 shows the virtual mobile object V displayed on the display 13 when the mobile object 11 is in the state shown in FIG. The display screen of the display 13 is shown. The X ′ axis and Y ′ axis in FIG. 8 correspond to the X axis and Y axis in FIG. 7 respectively, the X ′ axis is the vertical axis of the display screen, and the Y ′ axis is the horizontal axis of the display screen. It is. The screen generation device 12 determines the orientation of the virtual moving body V displayed on the display 13 based on the yaw angle of the position coordinates generated by the odometry calculation unit 40. Here, as shown in FIG. 8, the virtual moving object V displayed on the display 13 faces the positive direction of the X ′ axis. Since the moving body 11 shown in FIG. 7 faces the positive direction of the X axis, the orientation of the virtual moving body V displayed on the display 13 corresponds to the orientation of the moving body 11 shown in FIG. Thus, it is defined that the direction of the moving body 11 and the direction of the virtual moving body V correspond to each other.

  From the state shown in FIG. 7, the passenger P tilts the operation handle 24 to the right. The lean angle sensor 35 detects the inclination angle of the operation handle 24, and the turning correction input determination unit 36 outputs information on the inclination angle to the turning command calculation unit 37. At this time, the turn instruction buttons 26A and 26B are not pressed. The turning command calculation unit 37 calculates the target turning angular velocity of the moving body 11 as described above, and the motor control command calculation unit 38 calculates the angular velocity target values of the left and right motors based on the target turning angular velocity. . When the left and right motors are driven according to the target angular velocity value, the moving body 11 turns to the right. This right turn is shown as Ryaw in FIG. Further, the odometry calculation unit 40 detects the right turn of the moving body 11 based on the current speed of the moving body 11 and changes the yaw angle of the position coordinates.

  FIG. 9 shows a state after the mobile body 11 is turned. In FIG. 9, the moving body 11 turns to the right by θ1 (90 °> θ1> 0 °) from the state shown in FIG. 7. Further, the yaw angle of the position coordinates calculated by the odometry calculation unit 40 is changed by θ1. This state is represented by the fact that the robot coordinate system shown in FIG. 9 is rotated to the right by θ1 from the robot coordinate system shown in FIG. The robot coordinate system after this rotation is shown as Rx 'and Ry' in FIG. In this way, when the operation handle 24 is tilted, the moving body 11 is turned and the position coordinates are changed.

  FIG. 10 shows the virtual moving object V displayed on the display 13 when the moving object 11 is in the state shown in FIG. The screen generation device 12 changes the orientation of the virtual moving object V displayed on the display 13 based on the position coordinates changed by the odometry calculation unit 40. Therefore, as shown in FIG. 10, the orientation of the virtual moving object V displayed on the display 13 is changed from the orientation of the virtual moving object V shown in FIG. 8, and the moving object 11 shown in FIG. It is aligned with the direction.

  Next, processing of the moving body 11 when the turn instruction button 26A is pressed will be described.

  FIG. 11 shows the mobile object 11 and the robot coordinate system before the turn instruction button 26A is pressed. The center axis C1 in the front-rear direction of the moving body 11 does not coincide with the X axis, and is rotated from the X axis by an angle θ2 (90 °> θ2> 0 °). That is, the moving body 11 does not face the positive direction of the X axis. On the other hand, the yaw angle at the position coordinates of the moving body 11 remains 0 °. For this reason, the Rx axis and the Ry axis of the robot coordinate system shown in FIG. 11 coincide with the X axis and the Y axis, respectively.

  FIG. 12 shows the virtual moving object V displayed on the display 13 when the moving object 11 is in the state shown in FIG. The orientation of the virtual moving object V shown in FIG. 12 is an orientation corresponding to the robot coordinate system shown in FIG. That is, the virtual moving body V faces the positive direction of the X ′ axis. Therefore, the orientation of the virtual moving body V displayed on the display 13 is not aligned with the orientation of the moving body 11 shown in FIG.

  In the above case, the assistant S presses the turn instruction button 26A in order to align the direction of the moving body 11 shown in FIG. 11 with the direction of the virtual moving body V shown in FIG. Then, the turning command calculation unit 37 calculates the target turning angular velocity of the moving body 11 based on the turning instruction from the turning instruction button 26A. The motor control command calculation unit 38 generates the angular velocity target values of the left and right motors based on the target turning angular velocity, thereby turning the moving body 11 to the right.

  At this time, since the instruction to hold the current value of the position coordinate is output from the turning correction input determination unit 36, the odometry calculation unit 40 does not change the position coordinate and holds it as it is.

  FIG. 13 shows a state after the mobile object 11 is turned. In FIG. 13, the moving body 11 turns to the right by θ2 from the state shown in FIG. 11. Therefore, the new center axis C2 in the front-rear direction of the moving body 11 coincides with the X axis, and the moving body 11 faces the positive direction of the X axis. However, as described above, since the position coordinates are not changed, the robot coordinate system is the same as in FIG.

  FIG. 14 shows the virtual moving object V displayed on the display 13 when the moving object 11 is in the state shown in FIG. Since the screen generation device 12 does not change the orientation of the virtual moving object displayed on the display 13, the orientation of the virtual moving object V displayed on the display 13 in FIG. 14 is the same as that shown in FIG. Therefore, the direction of the virtual moving body V displayed on the display 13 is aligned with the direction of the moving body 11 shown in FIG.

  Hereinafter, processing of the moving body 11 based on pressing of the turn instruction buttons 26A and 26B will be described with reference to FIG. Note that the details of the following processing are the same as described above, and thus description thereof is omitted.

  First, the turning correction input determination unit 36 determines whether or not a turning instruction is output from the turning instruction buttons 26A and 26B (step S1).

  When a turn instruction is output from the turn instruction buttons 26A and 26B (Yes in step S1), the odometry calculation unit 40 does not change the position coordinates and fixes the current value as it is. Therefore, the direction of the virtual moving object V is not changed (step S2). Then, the motor control command calculation unit 38 of the moving body 11 generates the angular velocity target values of the left and right motors based on the turning instruction, thereby turning the moving body 11 left or right (step S3).

  After step S3, the turning correction input determination unit 36 returns to step S1 and continues the determination. When a turn instruction is output from the turn instruction buttons 26A and 26B (Yes in Step S1), the odometry calculation unit 40 still keeps the position coordinates at the current values. Therefore, while the turn instruction buttons 26A and 26B are pressed, the position coordinates remain at the current values and do not move.

  In Step S1, when the turn instruction is not output from the turn instruction buttons 26A and 26B (No in Step S1), the mobile body 11 does not turn based on the turn instruction from the turn instruction buttons 26A and 26B (Step S4). ). The odometry calculation unit 40 updates the current position coordinates of the moving body 11 based on the tilt angle of the operation handle 24 and the current speed of the moving body 11. Therefore, the direction of the virtual moving body V is changed with turning (step S5).

  In the balance training, the display 13 on which the game screen is displayed displays the direction of the virtual moving body V based on the position coordinates of the moving body 11. Therefore, the orientation of the actual moving body 11 and the orientation of the virtual moving body V on the game screen should be aligned. However, when the direction of the moving body 11 changes slightly, the change may not be detected by the right motor encoder 31A and the left motor encoder 31B. When this minute change in orientation is accumulated, the actual orientation of the mobile body 11 and the orientation of the mobile body 11 indicated by the position coordinates (that is, the orientation of the virtual mobile body V on the display) are shifted. In such a case, if the moving body 11 is turned by operating the operation handle 24, the orientation of the virtual moving body V displayed on the display 13 also changes following the turning of the moving body 11. The direction of the actual moving body 11 and the direction of the virtual moving body V cannot be aligned.

  However, when the turn instruction buttons 26A and 26B are pressed, the moving body 11 turns based on the press of the turn instruction buttons 26A and 26B, while the odometry calculation unit 40 does not change the position coordinates. That is, the odometry calculation unit 40 does not change the direction of the virtual moving object V. In other words, when the moving body 11 is turned for normal motion (for example, when the operation handle 24 is operated), the orientation of the virtual moving body V displayed on the display 13 changes. On the other hand, the direction of the virtual moving body V displayed on the display 13 is turned when the moving body 11 is turned in order to correct a deviation in the direction of the actual moving body 11 (for example, the turn instruction buttons 26A and 26B are pressed). When the mobile object 11 turns, the orientation of the virtual mobile object displayed on the display 13 is not changed.

  Therefore, by pressing the turn instruction buttons 26 </ b> A and 26 </ b> B, the actual direction of the mobile body 11 and the direction of the virtual mobile body V displayed on the display 13 can be aligned with the turning of the mobile body 11.

  Further, the turning instruction buttons 26A and 26B can input the turning directions of the right turn and the left turn, respectively. Thereby, it is possible to input a turning direction that does not take time to align the actual direction of the moving body 11 with the direction of the virtual moving body V displayed on the display 13. For example, when the moving body 11 is in the orientation shown in FIG. 11, the time taken to make the moving body 11 in the orientation shown in FIG. It is thought that there are few. This is because the angle that needs to be moved to change the orientation of the moving body 11 from the orientation shown in FIG. 11 to the orientation shown in FIG. 13 is the angle θ2 in the right turn, but the angle (360 ° in the left turn). −θ2), and the right turn requires a smaller angle of movement than the left turn. Therefore, by pressing the turn instruction button 26A and turning the moving body 11 to the right, the direction of the moving body 11 and the direction of the virtual moving body V displayed on the display 13 can be aligned in a short time.

[Embodiment 2]
The second embodiment of the present invention will be described below with reference to the drawings. In the first embodiment, when the turn instruction buttons 26A and 26B are operated, the direction of the virtual moving body V displayed on the display 13 is not changed. On the other hand, in the second embodiment, when the turn instruction buttons 26A and 26B are operated, the orientation of the virtual moving body V displayed on the display 13 is initialized by resetting the position coordinates to the initial position. Return to the direction.

  About the external structure of the mobile body 11 which concerns on Embodiment 2, since it is the same as that of FIGS. 2-5, description is abbreviate | omitted.

  The internal structure of the moving body 11 according to Embodiment 2 is the same as that shown in FIG. Here, the second embodiment is different from the first embodiment in the following points. When the turning instruction is output from the turning instruction buttons 26A and 26B, the turning correction input determination unit 36 outputs the turning instruction output from the turning instruction buttons 26A and 26B to the turning instruction calculation unit 37. In addition, the turning correction input determination unit 36 outputs an instruction to reset the position coordinates to the initial position to the odometry calculation unit 40. When the instruction for resetting the position coordinates to the initial position is output from the turning correction input determination section 36, the odometry calculation section 40 resets the position coordinates to the initial position.

  The communication unit 41 outputs the current position coordinates set by the odometry calculation unit 40 to the screen generation device 12 wirelessly or by wire. The screen generation device 12 generates a game screen on which the virtual moving body is displayed based on the position coordinate information output from the communication unit 41, and outputs the game screen to the display 13. Therefore, when the odometry calculation unit 40 resets the position coordinates to the initial position, the screen generation device 12 returns the orientation of the displayed virtual moving body to the initial orientation.

  Hereinafter, the moving body 11 will be described as an example. FIG. 16 shows the mobile object 11 and the robot coordinate system before the turn instruction button 26A is pressed. The center axis C3 in the front-rear direction of the moving body 11 does not coincide with the X axis and is shifted counterclockwise from the X axis by an angle θ3 (90 °> θ2> 0 °). On the other hand, the yaw angle in the position coordinates of the moving body 11 has a value of an angle θ4 (90 °> θ2> 0 °) clockwise from the X axis. This state is represented by the fact that the Rx axis of the robot coordinate system is shifted clockwise from the X axis by an angle θ4 in FIG.

  FIG. 17 shows the virtual moving body V displayed on the display 13 when the moving body 11 is in the state shown in FIG. The virtual moving body V shown in FIG. 17 has a direction corresponding to the robot coordinate system shown in FIG. Therefore, the orientation of the virtual moving body V displayed on the display 13 is not aligned with the orientation of the moving body 11 shown in FIG.

  In the above case, the assistant S presses the turn instruction button 26 </ b> A in order to align the direction of the moving body 11 with the direction of the virtual moving body V displayed on the display 13. Then, the turning command calculation unit 37 calculates the target turning angular velocity of the moving body 11 based on the turning instruction from the turning instruction button 26A. The motor control command calculation unit 38 generates the angular velocity target values of the left and right motors based on the target turning angular velocity, thereby turning the moving body 11 to the right.

  At this time, since the instruction to reset the position coordinates to the initial position is output from the turning correction input determination section 36, the odometry calculation section 40 resets the position coordinates to the initial position. Here, at the initial position coordinates, the yaw angle is set to 0 °. That is, the Rx axis and Ry axis of the robot coordinate system are set to coincide with the X axis and the Y axis, respectively.

  FIG. 18 shows a state after the mobile object 11 is turned. In FIG. 18, the moving body 11 is turned to the right by θ3 from the state shown in FIG. Accordingly, the new center axis C4 in the front-rear direction of the moving body 11 coincides with the X axis, and the moving body 11 faces the positive direction of the X axis.

  FIG. 19 shows the virtual moving body V displayed on the display 13 when the moving body 11 is in the state shown in FIG. As described above, since the position coordinates are reset to the initial position, the virtual moving body V displayed on the display 13 in FIG. 19 is set to face the positive direction of the X ′ axis. Therefore, the direction of the virtual moving body V displayed on the display 13 is aligned with the direction of the moving body 11 shown in FIG.

  Hereinafter, processing of the moving body 11 according to the second embodiment based on pressing of the turn instruction buttons 26A and 26B will be described with reference to FIG. Note that the description of the details of the processing described in Embodiment 1 is omitted.

  First, the turning correction input determination unit 36 determines whether or not a turning instruction is output from the turning instruction buttons 26A and 26B (step S1).

  When a turn instruction is output from the turn instruction buttons 26A and 26B (Yes in step S1), the odometry calculation unit 40 resets the position coordinates to the initial position. Therefore, the direction of the virtual moving body V is changed to the initial direction (step S6). Then, the motor control command calculation unit 38 of the moving body 11 generates the angular velocity target values of the left and right motors based on the turning instruction, thereby turning the moving body 11 left or right (step S3).

  After step S3, the turning correction input determination unit 36 returns to step S1 and continues the determination. When a turn instruction is output from the turn instruction buttons 26A and 26B (Yes in step S1), the odometry calculation unit 40 resets the position coordinates to the initial position. For this reason, while the turn instruction buttons 26A and 26B are pressed, the position coordinates remain unchanged from the initial settings.

  In Step S1, when the turn instruction is not output from the turn instruction buttons 26A and 26B (No in Step S1), the mobile body 11 does not turn based on the turn instruction from the turn instruction buttons 26A and 26B (Step S4). ). The odometry calculation unit 40 updates the current position coordinates of the moving body 11 based on the tilt angle of the operation handle 24 and the current speed of the moving body 11. Therefore, the direction of the virtual moving body V is changed with turning (step S5).

  In the second embodiment, when the turn instruction buttons 26A and 26B are pressed, the moving body 11 turns based on the press of the turn instruction buttons 26A and 26B, while the odometry calculation unit 40 uses the turn instruction buttons 26A and 26B. Using the press as a trigger, the orientation of the moving body 11 in the position coordinates is changed to the initial orientation. That is, the odometry calculation unit 40 changes the orientation of the virtual moving object V to the initial orientation. In other words, when the moving body 11 is turned for normal motion (for example, when the operation handle 24 is operated), the orientation of the virtual moving body V displayed on the display 13 changes. On the other hand, the direction of the virtual moving body V displayed on the display 13 is turned when the moving body 11 is turned in order to correct a deviation in the direction of the actual moving body 11 (for example, the turn instruction buttons 26A and 26B are pressed). ), The direction of the virtual moving body displayed on the display 13 is changed to the initial setting direction even though the moving body 11 turns.

  Therefore, by pressing the turn instruction buttons 26 </ b> A and 26 </ b> B, the actual direction of the mobile body 11 and the direction of the virtual mobile body V displayed on the display 13 can be aligned with the turning of the mobile body 11. it can.

  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, the display 13 may not display the virtual moving object V itself, but may display information indicating only the orientation of the virtual moving object V.

  The operation handle 24 for the passenger P to turn the moving body 11 may be substituted with a button, a touch panel, or the like. Similarly, the turn instruction buttons 26A and 26B may be substituted with a handle, a touch panel, or the like.

  Further, the turn instruction buttons 26A and 26B may be capable of inputting a turn instruction on either the left or right instead of turning instructions on both the left and right. Even in this case, the actual direction of the moving body 11 and the direction of the virtual moving body V can be aligned.

  Further, the turn instruction buttons 26A and 26B may be capable of inputting the left and right turning angles of the moving body 11 numerically. The turning instruction buttons 26 </ b> A and 26 </ b> B output the inputted turning angle to the turning correction input determination unit 36 together with the turning instruction. The turning correction input determination unit 36 outputs the turning instruction and the turning angle to the turning command calculation unit 37. The turning command calculation unit 37 calculates the target turning angular velocity of the moving body 11 based on the turning instruction and the turning angle from the turning instruction buttons 26A and 26B. The motor control command calculation unit 38 of the moving body 11 generates the angular velocity target values of the left and right motors based on the calculated target turning angular speed, thereby turning the moving body 11 by the input turning angle.

  In the first embodiment, the odometry calculation unit 40 may not change only the yaw angle of the position coordinates when the turn instruction buttons 26A and 26B are pressed. In the second embodiment, the odometry calculation unit 40 may return only the yaw angle at the position coordinates to the initial setting when the turning instruction is output from the turning instruction buttons 26A and 26B. That is, the odometry calculation unit 40 may perform control such that only the direction of the virtual moving object V is returned to the initial setting. Further, the odometry calculation unit 40 may set the position coordinates not only to the initial position coordinates but also to the predetermined position coordinates when a turn instruction is output from the turn instruction buttons 26A and 26B.

  In FIG. 15, the process of step S2 and step S3 may be executed first. In addition, either of the processes of step S4 and step S5 may be executed first. Similarly, in FIG. 20, either of the processes of step S6 and step S3 may be executed first.

DESCRIPTION OF SYMBOLS 1 Balance training system 11 Inverted type mobile body 12 Screen generation apparatus 13 Display 21 Vehicle body part 22R, 22L Wheel 23R, 23L Step part 24 Operation handle 25 Passenger grip 26 Turn instruction panel 26A, 26B Turn instruction button 27 For assistant Grip 31A Right motor encoder 31B Left motor encoder 32 Speed calculation unit 33 Attitude angle sensor 34 Translation command calculation unit 35 Lean angle sensor 36 Turn correction input determination unit 37 Turn command calculation unit 38 Motor control command calculation unit 39A Right motor drive unit 39B Left Motor drive unit 40 Odometry calculation unit 41 Communication unit

Claims (5)

An inverted moving body that turns based on the operation of the turning operation unit;
A display control unit that changes the orientation of the virtual inverted moving body displayed on the display device based on the operation of the turning operation unit;
A turning instruction input unit for inputting a turning instruction for correcting the direction of the inverted moving body,
When the turning instruction is input to the turning instruction input unit,
The inverted moving body turns based on the input,
The display control unit does not change the orientation of the virtual inverted moving body despite the input,
Balance training system. An inverted moving body that turns based on the operation of the turning operation unit;
A display control unit that changes the orientation of the virtual inverted moving body displayed on the display device based on the operation of the turning operation unit;
A turning instruction input unit for inputting a turning instruction for correcting the direction of the inverted moving body,
When the turning instruction is input to the turning instruction input unit,
The inverted moving body turns based on the input,
The display control unit changes the direction of the virtual inverted moving body to a predetermined direction using the input as a trigger,
Balance training system. The balance training system according to claim 1, wherein the turning instruction input unit can input a turning direction. In a balance training system including an inverted moving body that turns based on a turning operation, a display control method for controlling the orientation of a virtual inverted moving body displayed on a display device,
When turning the inverted moving body for normal exercise, change the direction of the virtual inverted moving body displayed on the display device,
When turning the inverted moving body to correct the orientation of the virtual inverted moving body displayed on the display device in order to correct the deviation of the actual inverted moving body, the inverted moving body is used. Despite the body turning, the orientation of the virtual inverted moving body displayed on the display device is not changed.
Display control method. A balance training system having an inverted moving body that turns based on a turning operation is a display control method for controlling the orientation of a virtual inverted moving body displayed on a display device,
When turning the inverted moving body for normal exercise, change the direction of the virtual inverted moving body displayed on the display device,
When turning the inverted moving body to correct the orientation of the virtual inverted moving body displayed on the display device in order to correct the deviation of the actual inverted moving body, the inverted moving body is used. Despite the body turning, the orientation of the virtual inverted moving body displayed on the display device is changed to a predetermined orientation.
Display control method.

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