JP6358224B2 - Inverted motorcycle - Google Patents

Description

  The present invention relates to an inverted motorcycle that travels while maintaining an inverted state.

  Vehicle body provided with a pair of steps for placing both feet of the passenger, a pair of wheels rotatably provided on the vehicle body, and detection means for detecting an operation amount and an operation direction for each step by both feet And an inverted two-wheeled vehicle that maintains the inverted state of the vehicle body and that controls the travel of the moving body based on the operation amount and operation direction of each step detected by the detection means. (See Patent Document 1).

JP 2014-184889 A

By the way, for example, when a one-legal handicapped passenger performs balance training using the inverted motorcycle as described above, in the initial stage of training, the leg of the passenger who is not handicapped is preferentially used. I want to be able to operate it. And as training progresses, there is a desire to be able to use the handicapped person's leg positively so that it can be operated.
The present invention has been made to solve such problems. In the initial stage of training, the non-free leg of the rider's legs can be preferentially used for traveling operation, and training progresses. The main purpose is to provide an inverted two-wheeled vehicle that can be operated by actively utilizing the leg of the handicapped when it comes.

One aspect of the present invention for achieving the above object is to provide a wheel provided rotatably on a vehicle body of the inverted two-wheeled vehicle, a driving means for driving the wheel, and a passenger placing each foot on the inverted two-wheeled vehicle. A pair of steps for operating the vehicle, detection means for detecting an operation amount and an operation direction for each step by each foot, control for maintaining the inverted state of the vehicle body, and for each step A multiplication result obtained by setting a first ratio and a second ratio that determine the ratio of the operation amount, and multiplying the first control command according to the operation amount and the operation direction of the one step detected by the detection means by the first ratio. And the multiplication result obtained by multiplying the second control command according to the operation amount and the operation direction of the other step by the second ratio, thereby adding the first and second control instructions in the respective steps. Control means for controlling the translation and turning of the inverted two-wheeled vehicle by controlling the driving of the driving means based on the calculated integrated control instruction, and the first and And a ratio changing means for changing at least one of the second ratios.
According to this aspect, this makes it possible to set the first and second ratios so that the traveling operation can be performed preferentially using the non-free leg of the passenger's legs at the initial stage of training, and the training progresses. The first and second ratios can be set so that the disabled leg can be actively used for traveling operation.
In this aspect, the image processing apparatus may further include a display unit that displays an operation image indicating the passenger or the inverted motorcycle on the screen, and displays the operation image by moving the operation image to the integrated control command. Thereby, the passenger can easily confirm the traveling operation by looking at the operation image on the screen of the display means.
In this aspect, the apparatus further includes a determination unit that determines whether the operation amount for each step is normal or abnormal by comparing the operation amount for each step detected by the detection unit with a predetermined threshold value. The control unit may set a first ratio and a second ratio that determine a ratio of an operation amount with respect to each step based on a determination result by the determination unit.

  According to the present invention, at the initial stage of training, it is possible to preferentially use the non-free leg of the passenger's legs, and to actively use the non-free leg when training progresses. It is possible to provide an inverted motorcycle that can be operated.

It is the schematic which shows the schematic structure of the inverted two-wheeled vehicle which concerns on Embodiment 1 of this invention. 1 is a block diagram showing a schematic system configuration of an inverted motorcycle according to Embodiment 1 of the present invention. It is a flowchart which shows an example of the determination flow which determines whether the operation amount with respect to each step which concerns on Embodiment 1 of this invention is normal or abnormal. It is a flowchart which shows an example of the determination flow which determines whether the operation amount with respect to each step is normal or abnormal. It is a flowchart which shows the setting method of the 1st and 2nd ratio of the 1st and 2nd control command with respect to the left-right step according to the determination result of the determination part. It is a flowchart which shows the schematic flow of the control processing of the inverted motorcycle which concerns on Embodiment 1 of this invention. It is a figure which shows the data flow in the control processing shown in FIG. It is a figure which shows an example of the display apparatus which displayed the operation image which concerns on Embodiment 2 of this invention. (A) It is a figure which shows an example of the operation image displayed on the display apparatus. (B) It is a figure which shows an example of the operation image displayed on the display apparatus. (C) It is a figure which shows an example of the operation image displayed on the display apparatus.

Embodiment 1
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a schematic configuration of an inverted motorcycle according to Embodiment 1 of the present invention. The inverted two-wheeled vehicle 1 according to the first embodiment is configured as an inverted two-wheeled vehicle that performs a desired traveling according to the movement of the center of gravity of the occupant while maintaining the inverted state, for example. For example, when the passenger moves the center of gravity in the front-rear direction on steps 2L and 2R, the inverted motorcycle 1 moves forward and backward. When the passenger moves the center of gravity in the left-right direction on steps 2L, 2R, the inverted motorcycle 1 turns left and right. Further, the passenger can adjust the magnitude of the acceleration / deceleration of the inverted two-wheeled vehicle 1 by adjusting the magnitude of the center of gravity movement in steps 2L and 2R. For example, an occupant with reduced mobility can perform balance training and the like by boarding the inverted motorcycle and performing a traveling operation by moving the center of gravity.

  The inverted motorcycle 1 includes, for example, a vehicle main body 3, a pair of steps 2L and 2R provided on the upper surface of the vehicle main body 3 and on which both feet of the passenger ride, and a pair of wheels 4L and 4R provided rotatably on the vehicle main body 3. And. In addition, although a pair of step 2L, 2R is divided | segmented, you may form integrally. Steps 2L and 2R are provided integrally with the vehicle main body 3, and the steps 2L and 2R and the vehicle main body 3 operate integrally. Moreover, the structure of the inverted motorcycle 1 mentioned above is an example, and is not limited to this.

  FIG. 2 is a block diagram illustrating a schematic system configuration of the inverted motorcycle according to the first embodiment. The inverted motorcycle 1 according to the first embodiment includes a pair of wheel drive units 5L and 5R that drive a pair of wheels 4L and 4R, and an operation that individually detects an operation amount and an operation direction for each step 2L and 2R by each foot. The detection unit 6, the determination unit 7 that determines whether the operation amount for each of the steps 2L and 2R is normal or abnormal, and the vehicle body 3 is maintained in an inverted state, and the driving of the wheel drive units 5L and 5R is controlled. A control unit 8 that controls translational travel and turning travel of the inverted motorcycle 1 and a ratio changing unit 9 that changes the first and second ratios are provided.

  Each wheel drive unit 5L, 5R is a specific example of drive means. Each wheel drive unit 5L, 5R drives the vehicle body 3 by driving each wheel 4L, 4R. Each of the wheel drive units 5L and 5R can be constituted by, for example, an electric motor and a reduction gear train connected to a rotating shaft of the electric motor so as to be able to transmit power. Each wheel drive unit 5L, 5R is connected to the control unit 8 via a drive circuit 10. Each wheel drive unit 5L, 5R drives each wheel 4L, 4R according to a control signal from the control unit 8.

  The operation detection unit 6 is a specific example of detection means. For example, the operation detection unit 6 individually detects an operation amount and an operation direction for each step 2L, 2R by each foot based on load values of a plurality of load sensors provided in each step 2L, 2R.

For example, the operation detection unit 6 calculates the centroid position of the occupant based on the load value of each load sensor provided in the right step 2R, and calculates the centroid position and the preset centroid position (stationary and upright) Difference value between the center of gravity in the state). Then, the operation detection unit 6 multiplies the calculated difference value by a predetermined coefficient to calculate the operation amount for the right step 2R by the right foot.
The operation detection unit 6 calculates the operation direction for the right step 2R by the right foot, based on the calculated shift direction of the center of gravity position with respect to the preset center of gravity position. Similarly, the operation detection unit 6 calculates an operation amount and an operation direction for the left step 2L by the left foot based on the load value of each load sensor provided in the left step 2L. The operation amount is, for example, an amount determined according to the absolute amount of the difference value between the center of gravity positions as described above. The operation direction is a direction determined according to the direction of the calculated center of gravity position with respect to the previously set center of gravity position, for example.

  In addition, the detection method of the operation amount and operation direction with respect to each step 2L, 2R by each leg mentioned above is an example, and is not limited to this. For example, each step 2L, 2R may have an inclined structure that is independently inclined in the roll direction and the pitch direction of the inverted motorcycle 1 via a spring mechanism. In this inclined structure, for example, each step 2L, 2R is independently inclined in the load direction of each foot in the roll direction and the pitch direction, and is elastically returned to the neutral position (horizontal position) without being loaded. Mechanism. In this case, the operation detection unit 6 detects an inclination angle in the roll direction and the pitch direction from the neutral position of each step 2L, 2R using an angle sensor provided in each step 2L, 2R. And the operation detection part 6 detects the quantity according to the detected roll direction and the inclination angle of a pitch direction as an operation quantity with respect to each step 2L, 2R by each leg | foot. The operation detection unit 6 detects the direction of the detected roll direction and the inclination angle of the pitch direction as the operation direction for each step 2L, 2R by each foot.

  The determination unit 7 is a specific example of determination means. The determination unit 7 compares the operation amount for each step 2L, 2R detected by the operation detection unit 6 with a predetermined threshold value, and determines whether the operation amount for each step 2L, 2R is normal or abnormal. To do.

FIG. 3 is a flowchart illustrating an example of a determination flow for determining whether the operation amount for each step according to the present embodiment is normal or abnormal.
The operation detection unit 6 individually detects the operation amount and the operation direction with respect to each step 2L, 2R by each foot, and outputs them to the determination unit 7 (step S101).

  The determination unit 7 compares the operation amount for each step 2L, 2R detected by the operation detection unit 6 with a preset operation impossibility determination threshold A, and the operation amount for each step 2L, 2R is normal or It is determined whether it is abnormal (step S102).

  For example, the determination unit 7 determines that the operation amount for steps 2L and 2R is abnormal when the operation amount for each step 2L and 2R is the operation impossible determination threshold (A = 0) (YES in step S102). It is determined that the foot is away from steps 2L and 2R (operation not possible) (step S103). The determination unit 7 determines that the operation amount for the steps 2L and 2R is abnormal when the operation amount for each of the steps 2L and 2R is equal to or greater than the operation impossibility determination threshold A (YES in step S102). It is determined that the state cannot be moved on 2L and 2R (operation is impossible) (step S103).

  Furthermore, the determination unit 7 determines whether or not the average value of the operation amount for each of the steps 2L and 2R detected by the operation detection unit 6 is equal to or greater than a predetermined time and equal to or less than the threshold value B, thereby It is determined whether or not the operation amount is abnormal (step S104). The determination unit 7 determines that the operation amount with respect to steps 2L and 2R is abnormal when the average value of the operation amount with respect to each step 2L and 2R detected by the operation detection unit 6 is equal to or longer than a predetermined time and equal to or less than the threshold value B. (YES in step S104), it is determined that the amount of operation for each step 2L, 2R by each foot is hardened in an unnatural state (non-operation) (step S105). On the other hand, the determination unit 7 determines that the operation amount for the steps 2L and 2R is normal when the average value of the operation amount for each of the steps 2L and 2R detected by the operation detection unit 6 is not longer than the predetermined time and not more than the threshold value B. It judges (NO of step S104) and judges that it is operating normally (step S106).

  The determination unit 7 determines that the operation amount with respect to steps 2L and 2R is abnormal when the variance value of the operation amount with respect to each step 2L and 2R detected by the operation detection unit 6 is not less than a certain time and not more than a threshold value. However (YES in step S104), it may be determined that the amount of operation with respect to each step 2L, 2R by each foot is set in an unnatural state (non-operation) (step S105). The flow for determining whether the operation amount for each of the steps 2L and 2R is normal or abnormal is an example, and the present invention is not limited to this.

For example, a determination flow as shown in FIG. 4 may be used to determine whether the operation amount for each step is normal or abnormal.
The operation detection unit 6 detects the initial operation amount X and the operation direction for each step 2L, 2R by each foot in the initial stage, and outputs them to the determination unit 7 (step S201).

  Thereafter, the operation detection unit 6 detects the operation amount Y and the operation direction with respect to each step 2L, 2R by each foot, and outputs them to the determination unit 7 (step S202).

  The determination unit 7 compares the initial operation amount X and the operation amount Y, and determines whether or not the difference between the initial operation amount X and the operation amount Y is a predetermined value A or more is a predetermined number B or more. Thus, it is determined whether the operation amount for each step 2L, 2R is normal or abnormal (step S203). When the difference between the initial operation amount X and the operation amount Y is not greater than or equal to the predetermined value A, the determination unit 7 determines that the operation amount for steps 2L and 2R is abnormal (step S203). NO), a state in which the foot is separated from steps 2L and 2R, or a state in which the foot cannot be moved on steps 2L and 2R (operation not possible) is determined (step S204).

  The determination unit 7 determines whether or not the difference between the initial manipulated variable X and the variance or average value of the manipulated variable Y is greater than or equal to a predetermined value A by a predetermined number of times B or more. It may be determined whether the operation amount for steps 2L and 2R is normal or abnormal (step S203).

  Subsequently, the determination unit 7 determines whether or not the operation amount Y is not less than a certain time and not more than the threshold value C (step S205). When the determination unit 7 determines that the operation amount Y is equal to or greater than a certain time and equal to or less than the threshold value C, the determination unit 7 determines that the operation amount with respect to Steps 2L and 2R is abnormal (YES in Step S205). It is determined that the operation amount is set in an unnatural state (non-operation) (step S206). On the other hand, when the determination unit 7 determines that the operation amount Y is not longer than the predetermined time and the threshold value C, the determination unit 7 determines that the operation amount for steps 2L and 2R is normal (NO in step S205), and each step by each foot. It is determined that the operation amounts for 2L and 2R are set in an unnatural state (non-operation) (step S207).

As described above, the determination unit 7 determines whether the operation amount for each of the steps 2L and 2R is normal or abnormal, and outputs the determination result to the control unit 8.
The control unit 8 is a specific example of the control means. The control unit 8, the operation detection unit 6, and the determination unit 7 include, for example, a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read Only Memory) that stores arithmetic programs executed by the CPU, and the like. The hardware configuration is centered on a memory comprising a RAM (Random Access Memory) and a microcomputer comprising an interface unit (I / F) for inputting / outputting signals to / from the outside. The CPU, memory, and interface unit are connected to each other via a data bus or the like.

The controller 8 controls the driving of the wheel drive units 5L and 5R so as to maintain the vehicle body 3 in an inverted state.
Further, the control unit 8 sets the first and second ratios that determine the ratio of the operation amount with respect to each step 2L, 2R based on the determination result by the determination unit 7. The control unit 8 calculates the first control command for the left step 2L according to the operation amount and the operation direction for the one (left) step 2L detected by the operation detection unit 6. The control unit 8 calculates the second control command for the right step 2R according to the operation amount and the operation direction for the other (right) step 2R detected by the operation detection unit 6. Then, the control unit 8 adds the multiplication result obtained by multiplying the first control command by the first ratio and the multiplication result obtained by multiplying the second control command by the second ratio, whereby the first and second steps 2L and 2R An integrated control command obtained by integrating the first and second control commands is calculated. Based on the calculated integrated control command, the control unit 8 controls the driving of the wheel drive units 5L and 5R to control the translational traveling and the turning traveling of the inverted motorcycle 1.

  In the first embodiment, as described above, the operation amount and the operation direction for each step 2L, 2R are individually detected, and the first and second control commands are individually calculated. For this reason, even when one leg stops functioning and the operation amount and the operation direction for one step 2L, 2R are not detected, the operation amount and the operation direction for the other step 2L, 2R are detected, and the control command is transmitted. By calculating, the traveling operation can be performed by the other leg. Therefore, even when one leg cannot be used, the inverted motorcycle 1 can be safely operated and stopped.

Next, a method for setting the first and second ratios of the first and second control commands for the left and right steps will be described in detail with an example. FIG. 5 is a flowchart illustrating a method of setting the first and second ratios of the first and second control commands for the left and right steps according to the determination result of the determination unit.
As shown in FIG. 5, the control unit 8 follows the determination result determined by the determination unit 7 (the operation amount and operation direction of the left and right steps 2L and 2R are abnormal or normal), The first and second ratios of the first and second control commands for 2L and 2R are set.

(Case 1)
When it is determined that the operation amount and the operation direction in the left and right steps 2L and 2R are normal, the control unit 8 sets the first and second ratios of the first and second control commands in the left and right steps 2L and 2R to a. . The ratio a is a ratio set in normal operation, and is set to 0.5 (50%) (a ratio in which the first and second control commands are equal), for example.
In this case, the integrated control command obtained by integrating the first and second control commands becomes a control command in which the first and second control commands are reflected evenly.

(Case 2)
When it is determined that the operation amount and operation direction of the left step 2L are normal and the operation amount and operation direction of the right step 2R are abnormal, the control unit 8 sets the first ratio of the first control command by the left step 2L to b. The second ratio of the second control command in the right step 2R is set to c. The ratio b is set to a value larger than the ratio a (normal operation ratio) so that a traveling operation with one leg is possible. On the other hand, the ratio c is determined to be inoperable or non-operating (fixed state), and thus a value smaller than the ratio a (normal operation ratio) is set.
In this case, the ratio of the first control command by the left step 2L determined to be normal increases, and the ratio of the second control command by the right step 2R determined to be abnormal decreases. Therefore, the integrated control command obtained by integrating the first and second control commands is a control command that reflects the first control command more greatly than the second control command.

(Case 3)
When determining that the operation amount and the operation direction of the left step 2L are abnormal and the operation amount and the operation direction of the right step 2R are normal, the control unit 8 sets the first ratio of the first control command by the left step 2L to c. The first ratio of the first control command in the right step 2R is set to b.
In this case, the ratio of the first control command by the left step 2L determined to be abnormal decreases, and the ratio of the second control command by the right step 2R determined to be normal increases. Therefore, the integrated control command obtained by integrating the first and second control commands becomes a control command that reflects the second control command more largely than the first control command.

(Case 4)
When it is determined that the operation amount and the operation direction of the left and right steps 2L and 2R are abnormal, the control unit 8 sets the first and second ratios of the first and second control commands in the left and right steps 2L and 2R to d. . The ratio d is set to a value smaller than the ratio a, substantially the same value as the ratio c, or a value smaller than c, assuming that the passenger has no intention to operate.
(Ratio b> ratio a> ratio c≈or> ratio d) Note that the ratio d may be set substantially the same as the ratio b. The values of the ratios a, b, c, and d are stored in advance in a memory or the like.
As described above, in the present embodiment, the abnormality and normality are determined from the operation amount of the left and right steps, and the first and second control commands of the first and second control commands in the left and right steps 2L and 2R are determined according to the determination result. Set the ratio. Thus, a passenger whose original leg does not function well and the left and right operation amounts are different can perform a traveling operation mainly using the normally functioning one leg.

  For example, the ratio a = 0.5 (50%), the ratio b = 1 (100%), the ratio c = 0 (0%), the ratio d = 0.1 (10%) or 1 (100%) is set. .

(Case 1)
Healthy person with normal left and right legs An integrated control command is generated by the first ratio 50% of the first control command by the left step 2L and the second ratio 50% of the second control command by the right step 2R.

(Case 2)
An abnormal person who cannot use the right leg An integrated control command is generated based on the first ratio 100% of the first control command in the left step 2L and the second ratio 0% of the second control command in the right step 2R.

(Case 3)
An abnormal person who cannot use the left leg An integrated control command is generated based on the first ratio 0% of the first control command in the left step 2L and the second ratio 100% of the second control command in the right step 2R.

(Case 4)
An abnormal person who does not intend to use both legs An integrated control command is generated by a first ratio of 10% of the first control command by the left step 2L and a second ratio of 10% of the second control command by the right step 2R.
(In this case, the ratio of the first and second control commands is reduced to prevent abrupt operation. In this case, the size of the integrated control command is reduced to 20%, and the operation sensitivity is reduced to 20% in the normal state. )
An abnormal person who cannot use both legs An integrated control command is generated based on the first ratio 100% of the first control command in the left step 2L and the second ratio 100% of the second control command in the right step 2R.
(In this case, the size of the integrated control command is doubled and the operation sensitivity is increased to double that of normal operation so that the legs can be moved even if they move even slightly)

FIG. 6 is a flowchart showing a schematic flow of the control process of the inverted motorcycle according to the first embodiment described above. FIG. 7 is a diagram showing a data flow in the control process shown in FIG.
In (left operation amount detection process), the operation detection unit 6 detects an operation amount and an operation direction for the left step 2L by the left foot (step S301).

In (right operation amount detection process), the operation detection unit 6 detects an operation amount and an operation direction for the right step 2R by the right foot (step S302).
In the (left operation determination process), the determination unit 7 determines whether the operation amount for the left step 2L is normal or abnormal (step S303).

The determination unit 7 determines whether the operation amount for the right step 2R is normal or abnormal in (right operation determination process) (step S304).
In the (operation amount ratio adjustment process), the control unit 8 outputs the first and second control commands of the left and right steps 2L and 2R corresponding to the operation amount and the operation direction for the left and right steps 2L and 2R detected by the operation detection unit 6. calculate. Based on the determination result by the determination unit 7, the control unit 8 adds the multiplication result obtained by multiplying the first control command by the first ratio and the multiplication result obtained by multiplying the second control command by the second ratio. Then, an integrated control command obtained by integrating the first and second control commands in the left and right steps 2L and 2R is calculated (step S305).

  In the (translation / turning command calculation process), the control unit 8 generates a translation / turning command value for causing the inverted two-wheeled vehicle 1 to travel in a translational manner and turn based on the calculated integrated control command (step S306). In the processing flow shown in FIG. 5, (left operation amount detection processing), (left operation determination processing), (right operation amount detection processing), (right operation determination processing), (operation amount ratio adjustment processing), (translation) -You may perform each process in order of a turning command calculation process.

  By the way, for example, when a passenger with a single leg is performing balance training using an inverted two-wheeled vehicle, in the initial stage of training, the non-free leg of the passenger's leg is used preferentially. I want to be able to And as training progresses, there is a desire to be able to use the handicapped person's leg positively so that it can be operated.

  On the other hand, in the present embodiment, the control unit 8 performs the multiplication result obtained by multiplying the first control command corresponding to the operation amount and operation direction of one step by the first ratio, and the operation amount and operation of the other step. By adding a multiplication result obtained by multiplying the second control command corresponding to the direction by the second ratio, an integrated control command in which the first and second control commands in each step are integrated is calculated, and the calculated integrated control By controlling the driving of the wheel drive unit based on the command, translational traveling and turning traveling of the inverted motorcycle are controlled. Then, at least one of the first and second ratios is changed by the ratio changing unit.

  As a result, the first and second ratios can be set at the initial stage of training so that the non-injured leg of the passenger's legs can be preferentially used for running operation. The first and second ratios can be set so that the legs can be actively utilized and operated.

  The ratio changing unit 9 is a specific example of the ratio changing unit. The ratio changing unit 9 changes at least one of the first and second ratios stored in the memory in accordance with a user changing operation (input operation from the terminal, key operation, mouse operation, etc.).

In the inverted motorcycle 1 according to the present embodiment, the ratio change unit 9 changes the first and second ratios of the first and second control commands, so that the control commands by the normally functioning legs and the functions normally function. It is possible to adjust the ratio with the control command by the leg that does not. For example, in rehabilitation training, it is preferable to increase the ratio of control commands by normally functioning legs in the initial stage of training, and as the training progresses, increase the ratio of control commands by legs that do not function normally. As a result, at the beginning of training, it is possible to preferentially use the non-injured (normally functioning) leg of the passenger's both legs, and when the training progresses, the incapacitated (normally functioning) (Not) Legs can be used actively to drive. In other words, by setting the ratio of the control command, from the initial training to the late training, from the driving operation mainly using the leg that functions normally, to the driving operation using the leg that does not function normally, Training to switch gradually can be performed, which leads to improvement of the training effect.
For example, in the case of an abnormal person who cannot use the right leg as in (Case 2), the first and second ratios of the first and second control commands in the left and right steps 2L and 2R are set as follows.

(1) Initial training In order for the passenger to perform a traveling operation with a normally functioning left leg and get a sense of the operation, the first ratio b = 100% of the first control command by the left step 2L, the right step The second ratio of the second control command by 2R is set to c = 0%.

(2) Mid-training period The first ratio b of the first control command in the left step 2L is set so that the passenger can perform the traveling operation from the left leg that functions normally to the right leg that does not function normally little by little. 70%, the second ratio c of the second control command by the right step 2R is set to 30%.

(3) Late training period The first ratio b = 50% of the first control command by the left step 2L and the first step by the right step 2R so that the passenger can perform a driving operation assuming that both legs function normally. 2 The second ratio c of the control command is set to 50%.
In addition, as intensive rehabilitation training, you may set the 1st and 2nd ratio of the 1st and 2nd control command by right-and-left step 2L, 2R as follows.

(4) Intensive rehabilitation training
When the driving operation is performed mainly on the right leg that does not function normally and the right leg that does not function normally is to be trained intensively, the first ratio b of the first control command by the left step 2L is 30%, and the first step by the right step 2R. 2 Set the second ratio c of the control command to 70%.
In the same manner, also in the cases (Case 3) and (Case 4), the first and second ratios of the first and second control commands in the left and right steps 2L and 2R can be set and rehabilitation training can be performed. it can.
As described above, in the inverted motorcycle 1 according to the present embodiment, by changing the first and second ratios of the first and second control commands by the ratio changing unit 9, the control commands by the legs functioning normally, It is possible to adjust the ratio of control commands by legs that do not function properly. Thereby, at the initial stage of the training, it is possible to preferentially use the leg that functions normally among both legs of the rider, and to actively operate the leg that does not function normally when training progresses. Further, it is possible to perform a more effective rehabilitation training by gradually switching from a running operation mainly using legs that function normally to a running operation using legs that do not function normally.

Embodiment 2
In Embodiment 2 of the present invention, an operation image indicating a passenger or an inverted motorcycle is displayed on the screen 111 of the display device 11, and the passenger sees the operation image displayed on the display device 11 and travels the inverted motorcycle 1. An operation may be performed (FIG. 8). The passenger can easily check the driving operation by looking at the operation image on the display screen.

  The display device 11 is a specific example of display means. The display device 11 is connected to the control unit 8 by wire or wirelessly. The control unit 8 transmits the calculated integrated control command (forward, reverse, right turn, left turn, etc.) to the display device 11. The display device 11 displays an operation image showing the passenger or the inverted motorcycle 1 on the screen according to the integrated control command. In addition, the display device 11 may display an image (an arrow in the front-rear direction, an arrow in the left-right direction, etc.) indicated by the integrated control command on the screen together with the operation image indicating the passenger or the inverted motorcycle 1. The operation image may be an image having an arbitrary shape as long as it shows the passenger or the inverted motorcycle 1.

  The display device 11 is, for example, a liquid crystal display device or an organic EL display device. The display device 11 displays, for example, a two-dimensional or three-dimensional operation image on the screen. For example, as illustrated in FIG. 9A, the display device 11 moves the operation image in the vertical direction and the horizontal direction on the screen 111 in accordance with the integration command. As shown in FIG. 9B, the display device 11 moves the operation image only in the left-right direction on the screen 111 according to the integration command. As shown in FIG. 9C, the display device 11 moves the operation image only in the front-rear direction on the screen 111 according to the integration command.

  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.

  DESCRIPTION OF SYMBOLS 1 Inverted motorcycle, 2L, 2R step, 3 Vehicle main body, 4L, 4R wheel, 5L, 5R Wheel drive unit, 6 Operation detection part, 7 Judgment part 7, 8 Control part, 9 Ratio change part, 10 Drive circuit, 11 Display apparatus

Claims (1)

Wheels provided rotatably on the vehicle body of the inverted motorcycle,
Driving means for driving the wheels;
A pair of steps for the rider to place each foot and operate the inverted motorcycle;
Detecting means for detecting an operation amount and an operation direction for each step by each foot;
The control for maintaining the inverted state of the vehicle body is performed, and first and second ratios that determine the ratio of the operation amount to each step are set, and the operation amount and operation of the one step detected by the detection means A multiplication result obtained by multiplying the first control command according to the direction by the first ratio, and a multiplication result obtained by multiplying the second control command according to the operation amount and the operation direction of the other step by the second ratio. By adding, an integrated control command that integrates the first and second control commands in the respective steps is calculated, and the drive of the driving means is controlled based on the calculated integrated control command, so that the inverted motorcycle Control means for controlling translation and turning;
Ratio changing means for changing at least one of the first and second ratios;
An inverted motorcycle characterized by comprising:

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