JP2019139005A - Balance training device - Google Patents

Abstract

To prevent a decrease in training efficiency due to stop of inversion control.SOLUTION: A balance training device comprises: an inversion vehicle 11 which has two coaxially-placed wheels 22 and a driving motor for driving the wheels 22 and which can perform inversion control with an inversion control controller 12; a problem request controller 13 which requests a regulated operation to the inversion vehicle 11; and a determination unit 14 which determines whether or not motor output of the driving motor requested through vehicle operation of a user is regulated output or more. The difficulty of the problem requested by the problem request controller 13 is changed according to determination, made by the determination unit 14, of a state of the motor output of the driving motor.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a balance training apparatus using an inverted motorcycle.

  In recent years, occupant balance training has been performed using an inverted motorcycle in which two wheels are arranged on the same axis.

  There exists Unexamined-Japanese-Patent No. 2011-203549 as a technique of such a field | area. In the training apparatus using the inverted motorcycle described in this publication, an operation task is given to the passenger in advance, and the passenger operates the inverted motorcycle while changing the balance so as to perform the operation task. Thereby, balance training is executed.

JP 2011-203549 A

However, in the above-described training apparatus using the inverted motorcycle, when the vehicle operation is performed to accomplish the given operation task, the inverted state is detected when the output of the drive motor becomes an output close to the maximum limit output. Inverted control may be canceled due to failure to maintain. When the inverted control is stopped, the training system is reset and the training is started again, and the training efficiency is lowered.
The present invention provides a balance training apparatus that suppresses a decrease in training efficiency due to stoppage of the inverted control of an inverted motorcycle.

The balance training apparatus according to the present invention has two wheels arranged coaxially and a drive motor that drives the wheels, and an inverted vehicle that can be inverted by an inverted controller,
A task request controller for requesting a prescribed operation for the inverted vehicle, and a determination unit for determining whether or not a motor output of the driving motor requested by the vehicle operation of the passenger is greater than or equal to a prescribed output. And the difficulty level of the task requested by the task request controller is changed according to the determination of the motor output state of the drive motor by the determination unit.
As a result, the frequency at which the inverted control stops can be reduced.

  Thereby, the fall of training efficiency can be suppressed.

It is a figure which shows the state in which the inverted vehicle is drive | working. It is a figure which shows the operation | movement flow which trains while changing the difficulty of a subject. It is a figure which shows an example of the characteristic of a drive motor, and warning threshold value setting.

  Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the balance training apparatus 1 executes an prescribed operation of the inverted vehicle 11, an inverted vehicle 11 on which the passenger is boarded, an inverted control controller 12 that controls the inverted vehicle 11 to be in an inverted state, and the inverted vehicle 11. A task request controller 13 that requests to do so, and a determination unit 14 that determines the state of the motor output. In the following description, the balance training device 1 will be described as having the task request controller 13 and the determination unit 14 disposed on the inverted vehicle 11. For example, these are arithmetic devices that are not disposed on the inverted vehicle 11. Thus, information relating to calculation and determination may be transmitted to and received from the inverted vehicle 11. The inversion control controller 12 and the counter 15 will be described as being disposed in the chassis 21.

  The inverted vehicle 11 is an inverted motorcycle in which two wheels 22 arranged coaxially on the left and right of the chassis 21 are arranged. The passenger's feet are placed on the chassis 21 of the inverted vehicle 11. The chassis 21 includes a driving motor (not shown) for driving the wheels 22, a gyro sensor (not shown) for detecting the inclination of the chassis due to the movement of the center of gravity by the occupant, an inversion control controller 12, A task request controller 13, a determination unit 14, a counter 15, a speaker 16, and a timer 17 are provided.

  A support bar provided with a handle for a passenger to hold is erected on the upper surface on the front side of the chassis 21. For example, as shown in FIG. 1, the speaker 16 and the timer 17 may be disposed near the upper portion of the support bar, or may be provided on the chassis 21. For example, when the passenger holding the handle tilts the support bar forward, the chassis 21 tilts forward. Thereby, the inverted vehicle 11 will be in the state which drive | works ahead.

  The inverted control controller 12 is a controller that adjusts the output of the driving motor and performs calculations for performing the inverted control of the inverted vehicle 11. Typically, the inverted controller 12 adjusts the inverted vehicle 11 so as to be in an inverted state and to travel at a speed corresponding to the inclination of the chassis 21. For example, the inversion control controller 12 controls the traveling speed to be higher as the forward inclination is larger among the inclinations of the chassis 21 acquired by the gyro sensor, and is inclined when there is a lateral inclination. Inverting control is performed while controlling to turn in the direction.

  The assignment request controller 13 is a controller that manages the assignment request level. The task request controller 13 requests the passenger to perform a prescribed vehicle operation by giving a task. Here, for example, the task is a position and an arrival time that are reached by traveling on the inverted vehicle 11, and when the difficulty level of the task is changed, the arrival position and the target arrival time are changed. The task request controller 13 changes the task request level based on the output state of the drive motor of the inverted vehicle 11 as will be described in detail later.

  The determination unit 14 includes a storage unit that stores a reference value of the motor output in advance, and a comparison unit that compares the reference value of the motor output with the current motor output. That is, the determination unit 14 determines whether or not the motor output of the drive motor that is changed by the inclination of the chassis 21 exceeds the reference value. Here, the reference value stored in the storage unit is a value in the vicinity of the output limit value of the motor current value. In the comparison unit, whether or not the current value output from the driving motor exceeds this reference value. Determine. The speaker 16 generates a warning when the determination unit 14 determines that the current value output from the drive motor is equal to or greater than the reference value. The number of times that the determination unit 14 determines that the motor output is equal to or greater than the reference value is recorded in the counter 15.

  Further, the determination unit 14 determines whether or not the number of times the motor output of the driving motor is equal to or greater than the reference value is equal to or greater than a predetermined reference number, and outputs the determination result to the problem request controller 13. As will be described in detail later, the task request controller 13 reviews the degree of difficulty when the number of times is a predetermined number or more.

  Further, the determination unit 14 determines whether or not the duration of training has reached a predetermined training end time. Thereby, in the balance training apparatus 1, training can be continued or the end of training can be determined.

  The timer 17 measures the duration of training. For example, when the duration of training measured by the timer 17 exceeds a predetermined training time, the speaker 16 may generate an end signal.

  Next, with reference to FIG. 2, the operation | movement which changes the difficulty of a task is demonstrated, performing balance training using the balance training apparatus 1. FIG.

  First, a trainee gets on board 21 and starts training (step S1). At this time, the inverted vehicle 11 starts the inversion control by performing the calculation by the inversion control controller 12.

  The assignment request controller 13 performs assignment setting (step S2). That is, the task request controller 13 sets the traveling conditions for the inverted vehicle 11 according to the set difficulty level. For example, the task request controller 13 changes the distance from the boarding position to the target position and the grace time until the inverted vehicle 11 reaches the target position according to the set difficulty level. The assignment set by the assignment request controller 13 is not limited to the assignment of the target position and the grace time.

  Next, a task is given to the trainee (step S3). That is, in step S2, assignment of a task is performed so as to perform the task set by the task request controller 13. For example, when a new assignment is set by the assignment request controller 13 after starting the training, the assignment is given so as to perform a new assignment, and no new assignment is set by the assignment request controller 13 , Keep set task settings.

  The trainee changes the center of gravity on the chassis 21. The gyro sensor acquires the tilt angle of the chassis 21 (step S4). The tilt angle of the chassis 21 acquired by the gyro sensor is input to the inversion control controller 12. And the inversion control controller 12 adjusts the motor output of the drive motor so that it travels in the direction according to the speed according to the inclination angle of the chassis 21 and the inclination angle, and the inverted vehicle 11 maintains the inverted state. Control to do.

  The determination unit 14 determines whether or not the current value Iout of the motor output of the drive motor that is changed by the passenger's vehicle operation is equal to or greater than a warning threshold current I1 that is a predetermined reference value (step S5). . Here, when the limit value of the motor output current of the drive motor is Ilim, the warning threshold current I1 is set as I1 = Ilim × n (where n <1). That is, the determination unit 14 determines whether or not the current value Iout of the motor output ≧ the warning threshold current I1. If Iout is smaller than I1 (No in step S5), the process proceeds to step S6. If the current value Iout is greater than or equal to the warning threshold current I1 (Yes in step S5), the process proceeds to step S7.

  Here, FIG. 3 shows an example of the characteristics of the driving motor and the warning threshold value setting. In FIG. 3, the motor output limit characteristic Ilim is indicated by a solid line, and a warning threshold line calculated by multiplying the motor output limit characteristic Ilim by n (where n <1) is indicated by a dotted line. The value indicated by the warning threshold line can be the warning threshold current I1.

  The determination unit 14 determines whether or not the training duration T has reached a predetermined training end time T1 (step S6). If the training duration time T has not reached the predetermined training end time T1 (Yes in step S6), it is determined that the training has not ended, the process returns to step S3, and the training is continued. In this case, since a new assignment setting is not made, the already set assignment setting is maintained. If the training duration time T has reached the predetermined training end time T1 (No in step S6), the training is ended assuming that the training time has ended.

  If the motor output current value Iout is greater than or equal to the warning threshold current I1 in step S5, the speaker 16 generates a warning (step S7). Then, the counter 15 counts the number of warnings (step S8).

  The determination unit 14 determines whether or not the number of warnings X counted by the counter 15 is equal to or greater than a predetermined warning threshold number X1 (step S9). If the number of warnings X has not reached the warning threshold number of times X1 (No in step S9), it is determined that there is no need to review the difficulty level, and the process returns to step S3 to continue training. In this case, since a new assignment setting is not made, the already set assignment setting is maintained.

  On the other hand, if the warning count X is equal to or greater than the warning threshold count X1 (Yes in step S9), the difficulty level is reviewed (step S10), and the process returns to step S2. That is, the task request controller 13 can change the difficulty level according to the determination of the motor output state of the driving motor in the determination unit 14. In this case, the task request controller 13 sets a new task so that the difficulty level is lowered, and then continues the training. That is, a new problem is set so that it can be easily achieved without excessively increasing the motor output of the drive motor when the trainee operates the inverted vehicle 11.

  In this way, it is possible to review the difficulty level of the task based on the number of times that the motor output reaches the predetermined threshold while determining whether the trainee is training in a state where the motor output is maintained appropriately. it can. Furthermore, it is possible to continuously carry out the determination for reviewing the difficulty level from the motor output until the training end time. As a result, when the vehicle operation by the trainee is large and the frequency of performing the operation that brings the motor output close to the limit becomes high, the difficulty of the required task is reduced, so that the motor output approaches the limit. Operation can be suppressed. Therefore, it becomes difficult to generate a state in which the inversion control is stopped when the output of the drive motor is close to the limit, and the training is easily continued until the scheduled training end time, so that it is possible to suppress a decrease in training efficiency.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in the above description, the current value of the motor output of the drive motor is measured, and the difficulty level change is determined based on whether or not the current value exceeds a predetermined threshold value and the number of times the current value exceeds the threshold value. Not limited to this. For example, the rotational speed of the driving motor, the inclination angle of the chassis 21, the inclination angle of the support bar, the traveling speed of the inverted vehicle 11, and the like may be used.

DESCRIPTION OF SYMBOLS 1 Balance training apparatus 11 Inverted vehicle 12 Inverted control controller 13 Assignment request controller 14 Determination part 15 Counter 16 Speaker 17 Timer 21 Chassis 22 Wheel

Claims (1)

An inverted vehicle having two wheels arranged coaxially and a drive motor for driving the wheels, and capable of being inverted by an inverted controller;
A task request controller for requesting a prescribed operation for the inverted vehicle;
A determination unit that determines whether or not a motor output of the drive motor required by a passenger's vehicle operation is greater than or equal to a predetermined output;
The balance training device that changes the difficulty level of the task requested by the task request controller according to the determination of the motor output state of the drive motor by the determination unit.

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