JP6354447B2 - Training system, training method and training program - Google Patents

Description

  The present invention relates to a training system, a training method, and a training program for performing training by operating a moving body that a passenger rides and travels while maintaining an inverted state.

  A training system is known that performs a training in which a passenger travels in a predetermined manner on a moving body that is traveling while maintaining an inverted state, and the passenger performs a traveling operation of the moving body by moving the center of gravity in accordance with the predetermined motion. (For example, refer to Patent Document 1).

JP 2011-140262 A

In the training system described above, for example, when a passenger loses balance during training and the moving body moves out of the training area, there is a risk of contact with surrounding obstacles.
The present invention has been made to solve such a problem, and provides a training system, a training method, and a training program that can ensure the safety by stopping a predetermined operation of the moving body even when the moving body is out of the training area. The main purpose is to provide.

According to one aspect of the present invention for achieving the above object, a moving body that a passenger rides and travels while maintaining an inverted state performs a predetermined operation, and the passenger moves the center of gravity by moving the center of gravity according to the predetermined operation. A training system for performing training for performing a traveling operation of the vehicle, wherein when it is determined that a distance from the predetermined position of the moving body is equal to or greater than a threshold value, control means for performing control to stop the predetermined operation of the moving body A training system characterized by comprising:
In this aspect, when the control unit determines that the distance from the predetermined position of the moving body is equal to or greater than the threshold value, the control unit may gradually reduce the predetermined operation of the moving body and stop it.
In this aspect, the apparatus further includes setting means for setting an offset value of the target posture angle of the moving body for the predetermined operation, and the control means is based on the offset value of the target posture angle set by the setting means. A predetermined operation of the moving body is controlled, and the setting means is configured to increase or decrease an offset value of the target posture angle according to a predetermined waveform block, and the control means is configured to control the predetermined position of the moving body. When it is determined that the distance from the target is greater than or equal to the threshold value, the predetermined operation of the moving body may be stopped after the control by the offset value of the target posture angle according to the current predetermined waveform block is completed.
In this aspect, it further includes setting means for setting an offset value of the target posture angle of the moving body for the predetermined operation, and the control means has a distance from the predetermined position of the moving body equal to or greater than a threshold value. When the determination is made, the predetermined motion of the movable body may be stopped by gradually decreasing the offset value of the target posture angle set by the setting means.
In this one aspect, the control means determines that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, stops the predetermined operation of the moving body, and then determines the distance from the predetermined position of the moving body. When it is determined that the value is smaller than the threshold value, the predetermined operation of the moving body may be resumed after a predetermined time has elapsed.
According to one aspect of the present invention for achieving the above object, a moving body that a passenger rides and travels while maintaining an inverted state performs a predetermined operation, and the passenger moves the center of gravity by moving the center of gravity according to the predetermined operation. A training method for performing training such as performing a traveling operation of the vehicle, wherein when the distance from the predetermined position of the moving body is determined to be greater than or equal to a threshold value, control for stopping the predetermined operation of the moving body is performed. May be a training method characterized by
According to one aspect of the present invention for achieving the above object, a moving body that a passenger rides and travels while maintaining an inverted state performs a predetermined operation, and the passenger moves the center of gravity by moving the center of gravity according to the predetermined operation. A training program for performing a training for performing a traveling operation of the vehicle, wherein when it is determined that a distance from the predetermined position of the moving body is equal to or greater than a threshold value, a process for performing control to stop the predetermined operation of the moving body is performed. It may be a training program characterized in that it is executed by a computer.

  ADVANTAGE OF THE INVENTION According to this invention, even when a moving body remove | deviates from a training area, the training system, the training method, and the training program which can stop the predetermined operation | movement of a moving body and ensure safety can be provided.

(A) It is the schematic which shows the structure of the training system which concerns on Embodiment 1 of this invention. (B) It is the schematic which shows the structure of the training system which concerns on Embodiment 1 of this invention. It is a block diagram which shows the schematic system configuration | structure of the training system which concerns on Embodiment 1 of this invention. It is a front view which shows the schematic structure of the inverted moving body which concerns on Embodiment 1 of this invention. It is a block diagram which shows the calculation method of a translational angular velocity command value. It is a block diagram which shows the calculation method of turning angular velocity command value. It is a figure which shows an example of the waveform block of a target attitude angle offset value. It is a flowchart which shows the training method by the training system which concerns on Embodiment 1 of this invention. It is a flowchart which shows the flow of the training method by the training system which concerns on Embodiment 2 of this invention.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1A and 1B are diagrams showing a schematic configuration of a training system according to Embodiment 1 of the present invention. The training system 10 according to the first embodiment is a system for performing balance training of the inverted moving body 1 that travels according to the movement of the center of gravity of the passenger while maintaining the inverted state. In this balance training, for example, an offset value (disturbance instruction) of a target posture angle in the pitch direction or roll direction is set remotely on the inverted moving body 1, and an inverted type movement is performed according to the offset value of the target posture angle. The body 1 tilts and moves (predetermined operation). On the other hand, the occupant moves the center of gravity and balances the inverted mobile body 1 or trains the balance by keeping it in the original position.

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

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

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

  The posture sensor 2 detects posture information such as a pitch angle, a yaw angle, a roll angle, a pitch angular velocity, a yaw angular velocity, a roll angular velocity, a pitch angular acceleration, a yaw angular acceleration, and a roll angular acceleration in the vehicle body 6 of the inverted moving body 1. To do. The posture sensor 2 can detect, for example, a pitch angle, a pitch angular velocity, or a pitch angular acceleration of the vehicle main body 6 that is generated when the passenger moves the center of gravity back and forth.

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

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

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

  The control device 5 is a specific example of the control means, and the inverted mobile body 1 performs, for example, the desired traveling (forward, reverse, acceleration, deceleration, stop, left turn) while performing the inverted control to maintain the inverted state. The wheel drive units 4L and 4R are controlled to perform rotation of the wheels 7L and 7R. Further, the control device 5 performs feedback control and robust control based on the posture information of the inverted moving body 1 detected by the posture sensor 2 and the rotation information of the wheels 7L and 7R detected by the rotation sensor 3. Well-known control is performed.

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

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

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

  Based on the rotation information of the wheels 7L and 7R detected by the rotation sensor 3, the control device 5 calculates the distance from the predetermined position (for example, the initial position for starting the balance training) of the inverted mobile body 1. Based on the rotation information of the wheels 7L and 7R detected by the rotation sensor 3, the control device 5 calculates the distance from the predetermined position using the following equation. The predetermined position may be configured such that the user can arbitrarily change the setting via the setting device 11 or the like.

OdmX (t) = OdmX (t−1) + ∫ {X (t) cosγ (d) dt}
OdmY (t) = OdmY (t−1) + ∫ {Y (t) sinγ (d) dt}
However, in the above formula, the odometry X position of the inverted mobile body 1 at time t is OdmX (t), the odometry Y position OdmY (t) at time t, the turning angle γ (t) of the vehicle body 6 at time t, and The center speed X (t) of the vehicle body 6 at time t is assumed.

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

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

  The setting device 11 is a specific example of setting means, and sets an offset value (hereinafter referred to as a target posture angle offset value) of a target posture angle in the pitch direction and roll direction of the inverted moving body 1 to the control device 5. To do. The setting device 11 is configured by, for example, a mobile terminal such as a PC (Personal Computer) or a smartphone. The setting device 11 is connected to the control device 5 by wire or wireless. The setting device 11 transmits the target posture angle offset value of the inverted moving body 1 to the control device 5.

  The control device 5 controls the posture angle of the inverted moving body 1 based on the target posture angle offset value transmitted from the setting device 11. For example, the control device 5 outputs the target posture angle offset value output from the setting device 11, the target posture angle, the posture angle in the pitch direction output from the posture sensor 2, the target posture angular velocity, and the posture sensor 2. Based on the posture angular velocity in the pitch direction and the target velocity suppression amount, an angular velocity command value in the translation direction of the inverted mobile body 1 (hereinafter referred to as a translation angular velocity command value) is calculated. The control device 5 outputs a control signal corresponding to the calculated translational angular velocity command value to each wheel drive unit 4L, 4R.

FIG. 4 is a block diagram showing a method for calculating a translational angular velocity command value.
For example, the control device 5 adds the target posture angle offset value output from the setting device 11 and the target posture angle. Then, the control device 5 calculates a deviation between the added value and the posture angle in the pitch direction output from the posture sensor 2, and multiplies the calculated deviation by a gain. The control device 5 calculates a deviation between the target posture angular velocity and the posture angular velocity in the pitch direction output from the posture sensor 2, and multiplies the calculated deviation by a gain. The control device 5 adds the multiplication value to the multiplication value and inverts the sign. The control device 5 calculates a translational angular velocity command value by adding a multiplication value obtained by multiplying the target velocity suppression amount by a gain to the calculated value.

  Further, the control device 5, for example, based on the target posture angle offset value output from the setting device 11 and the posture angle in the roll direction output from the posture sensor 2, determines the turning direction of the inverted mobile body 1. An angular velocity command value (hereinafter, turning angular velocity command value) is calculated. The control device 5 outputs a control signal corresponding to the calculated turning angular velocity command value to each wheel drive unit 4L, 4R.

FIG. 5 is a block diagram showing a method of calculating the turning angular velocity command value.
For example, the control device 5 multiplies the target posture angle offset value output from the setting device 11 by a gain. The controller 5 multiplies the posture angle in the roll direction output from the posture sensor 2 by a gain, and adds the multiplication value to the multiplied value to calculate the turning angular velocity command value.

  The setting device 11 sets a target posture angle offset value of the inverted moving body 1 and outputs it to the control device 5. Here, a method for setting the target posture angle offset value will be described. The setting device 11 sets a variation pattern of the target posture angle offset value of the inverted mobile body 1 during balance training. For example, the setting device 11 continuously generates a predetermined waveform block as shown in FIG. The setting device 11 increases / decreases the target posture angle offset value according to the generated predetermined waveform block, and outputs it to the control device 5.

  The predetermined waveform block is configured based on the period t4, the vibration time t3, the disturbance a, the rise time t1, and the fall time t2. The standby time (interval between waveform blocks) is a value obtained by subtracting the vibration time from the period (t4-t3). In addition, since vibration time fluctuates for each waveform block (cycle ≧ vibration time), there may be a case where there is no standby time.

  By the way, for example, when an occupant loses balance during training and the inverted moving body moves out of the training area, there is a risk of contact with surrounding obstacles. On the other hand, when the training system 10 according to the first embodiment determines that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold value, the training system 10 performs control to stop the predetermined operation of the inverted mobile body 1. . As a result, even when the inverted mobile body 1 is out of the training area, the predetermined motion of the inverted mobile body 1 can be stopped to reliably prevent contact with surrounding obstacles and ensure safety. it can.

  For example, when the control device 5 determines that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold value and is out of the training area, the control device 5 is inverted with the target posture angle offset output from the setting device 11 as 0. Control for stopping a predetermined operation of the mold moving body 1 is performed. The threshold value is set in advance in the ROM 5b or RAM 5c according to, for example, an area where balance training of the inverted mobile body 1 is performed.

  Here, when the control device 5 determines that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold value, and immediately sets the target posture angle offset to 0, the posture of the inverted mobile body 1 changes rapidly. There is a risk of becoming unstable. Therefore, the control device 5 maintains the target posture angle offset at 0 when the control by the target posture angle offset value according to the current predetermined waveform block is completed (standby time), and the predetermined position of the inverted mobile body 1 is determined. It is preferable to stop the operation. As a result, it is possible to stabilize the posture of the inverted moving body 1 and stop the predetermined operation of the inverted moving body 1 without greatly changing the target posture angle offset value.

  Furthermore, when it is determined that the distance from the predetermined position of the inverted moving body 1 is equal to or greater than the threshold value, the predetermined operation of the inverted moving body 1 may be gradually reduced and stopped. When the control device 5 determines that the distance from the predetermined position of the inverted moving body 1 is equal to or greater than the threshold value, the target posture angle offset value is gradually decreased (for example, gradually or stepwise decreased) using a filter or the like. The predetermined operation of the inverted mobile body 1 may be stopped. As a result, the posture of the inverted mobile body 1 is gradually changed and stopped, so that safety is further improved.

  FIG. 7 is a flowchart showing a training method by the training system according to the first embodiment. The control device 5 performs normal inversion control (step S101). And the control apparatus 5 will set the present position of the inverted mobile body 1 as a predetermined position, if it switches from this state to the training mode for starting the said balance training according to a user instruction | indication (step S102). (Step S103).

  The setting device 11 sets a target posture angle offset value of the inverted moving body 1 and outputs it to the control device 5 (step S104). The control device 5 generates the translational angular velocity command value and / or the turning angular velocity command value according to the target posture angle offset value output from the setting device 11, thereby causing the inverted moving body 1 to perform a predetermined operation (step S105).

  The control device 5 determines whether or not the distance from the predetermined position of the inverted moving body 1 is greater than or equal to the threshold value (step S106). When the control device 5 determines that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold (YES in Step S106), the target posture angle offset is maintained at 0, and the predetermined operation of the inverted mobile body 1 is performed. The control for stopping is performed (step S107). Thereby, the control apparatus 5 is performing normal inversion control (step S108).

  As described above, when the training system 10 according to the present embodiment determines that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold value, the training system 10 performs control to stop the predetermined operation of the inverted mobile body 1. Thereby, even when the inverted mobile body 1 is out of the training area, the predetermined operation of the inverted mobile body 1 can be stopped to ensure safety.

Embodiment 2. FIG.
The training system 10 which concerns on the said Embodiment 1 is performing control which stops a predetermined operation | movement when the inverted mobile body 1 remove | deviates from a training area. On the other hand, the training system 10 according to the second embodiment performs control for resuming the predetermined operation when the inverted mobile body 1 once deviates from the training area and stops the predetermined operation and then returns to the training area. Yes.

  FIG. 8 is a flowchart showing a flow of a training method by the training system according to the second embodiment. The control device 5 performs normal inversion control (step S201). And the control apparatus 5 will set the present position of the inverted mobile body 1 as a predetermined position, if it switches from this state to the training mode for starting the said balance training according to a user instruction | indication (step S202). (Step S203).

  The setting device 11 sets a target posture angle offset value of the inverted moving body 1 and outputs it to the control device 5 (step S204). The control device 5 generates the translational angular velocity command value and / or the turning angular velocity command value according to the target posture angle offset value output from the setting device 11, thereby causing the inverted moving body 1 to perform a predetermined operation (step S205).

  The control device 5 determines whether or not the distance from the predetermined position of the inverted moving body 1 is greater than or equal to the threshold (step S206). When the control device 5 determines that the distance from the predetermined position of the inverted moving body 1 is equal to or greater than the threshold (YES in Step S206), the target posture angle offset is maintained at 0, and the predetermined operation of the inverted moving body 1 is performed. Control to stop is performed (step S207). Thereby, the control apparatus 5 performs normal inversion control (step S208).

  Here, when the inverted moving body 1 is returned to the training area by, for example, an assistant (step S209), the control device 5 determines that the distance from the predetermined position of the inverted moving body 1 is smaller than the threshold value. It is determined that the inverted mobile body 1 has returned to the training area (NO in step S210).

  The control device 5 generates the translational angular velocity command value and / or the turning angular velocity command value according to the target posture angle offset value output from the setting device 11, thereby resuming the predetermined operation of the inverted moving body 1 (step S211). .

  In addition, when it is determined that the distance from the predetermined position of the inverted mobile body 1 is smaller than the threshold, the control device 5 preferably restarts the predetermined operation of the inverted mobile body 1 after a predetermined time has elapsed. This is because, when the inverted mobile body 1 returns to the training area, if the predetermined motion is immediately started, the inverted mobile body 1 may come into contact with a nearby assistant or the like. Therefore, after the inverted mobile body 1 returns to the training area, by waiting for a certain time, an assistant or the like can surely evacuate from the training area, leading to an improvement in safety.

  As described above, according to the training system 10 according to the second embodiment, when the inverted mobile body 1 returns to the training area again even after the predetermined motion of the inverted mobile body 1 is stopped, the inverted mobile body is returned. 1 predetermined operation can be resumed and balance training can be resumed.

  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-described embodiment, the control device 5 performs control to stop the predetermined operation of the inverted mobile body 1 when determining that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than a threshold during balance training. Yes, but not limited to this. When it is determined that the distance from the predetermined position of the inverted mobile body 1 is equal to or greater than the threshold value, the control device 5 may perform control to stop the predetermined operation of the inverted mobile body 1 at an arbitrary timing.

  In the above embodiment, the control device 5 calculates the distance from the predetermined position of the inverted mobile body 1 based on the rotation information of the wheels 7L and 7R detected by the rotation sensor 3, and the distance is equal to or greater than the threshold value. Whether or not it is determined is not limited to this.

For example, the control device 5 calculates a distance from a predetermined position of the inverted mobile body 1 using a sensor (a distance sensor such as a camera, an ultrasonic sensor, or a millimeter wave sensor) installed in the environment, and the distance It may be determined whether or not is greater than or equal to a threshold value. Furthermore, an external module such as the setting device 11 calculates a distance from the predetermined position of the inverted mobile body 1 using a sensor installed in the environment or a sensor of the inverted mobile body 1, and the distance is equal to or greater than a threshold value. It may be determined whether or not. In this case, when the external module determines that the distance from the predetermined position of the inverted moving body 1 is equal to or greater than the threshold value, the external module causes the control device 5 to stop the predetermined operation of the inverted moving body 1. Send.
In the above embodiment, the control device 5 may include the setting device 11.

  Further, the present invention can be realized by causing the CPU 5a to execute a computer program, for example, the processes shown in FIGS.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

  DESCRIPTION OF SYMBOLS 1 Inverted type mobile body, 2 Posture sensor, 3 Rotation sensor, 4L, 4R Wheel drive unit, 5 Control apparatus, 10 Training system, 11 Setting apparatus

Claims (7)

A training system for performing a training in which a passenger travels in a predetermined manner while riding and maintains an inverted state, and the passenger performs a traveling operation of the movable body by moving the center of gravity according to the predetermined motion. There,
When it is determined that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, control means is provided for performing control to stop the predetermined operation of the moving body in a state where the traveling operation is possible. Training system to do. The training system according to claim 1,
When the control means determines that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, the control means gradually stops the predetermined movement of the moving body by decreasing it. The training system according to claim 1 ,
Further comprising setting means for setting an offset value of a target posture angle of the moving body for the predetermined operation;
The control means controls a predetermined operation of the moving body based on an offset value of the target posture angle set by the setting means,
The setting means is configured to increase or decrease the offset value of the target posture angle according to a predetermined waveform block,
When the control unit determines that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, the control unit finishes the control by the offset value of the target posture angle according to the current predetermined waveform block, and then A training system characterized by stopping a predetermined operation of the training system. The training system according to claim 3,
When the control unit determines that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, the control unit finishes the control by the offset value of the target posture angle according to the current predetermined waveform block, and then Instead of stopping the predetermined movement, the training system is characterized in that the predetermined movement of the movable body is stopped by gradually decreasing the offset value of the target posture angle set by the setting means. The training system according to any one of claims 1 to 4,
The control means determines that the distance from the predetermined position of the moving body is greater than or equal to a threshold value, stops the predetermined operation of the moving body, and then determines that the distance from the predetermined position of the moving body is smaller than the threshold value. Then, after a predetermined time has elapsed, the predetermined motion of the moving body is resumed. A training method for performing a training in which a rider carries out a predetermined operation on a moving body that is traveling while maintaining an inverted state, and the passenger performs a traveling operation of the moving body by moving the center of gravity according to the predetermined operation. There,
When it is determined that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, control is performed to stop the predetermined operation of the moving body in a state where the traveling operation is possible. A training program for performing a training in which a rider makes a predetermined operation on a moving body that travels while maintaining an inverted state, and the passenger performs a traveling operation of the moving body by moving the center of gravity according to the predetermined operation. There,
When it is determined that the distance from the predetermined position of the moving body is equal to or greater than a threshold value, the computer is caused to execute a process for performing a control for stopping the predetermined operation of the moving body in a state where the traveling operation is possible. A characteristic training program.

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