JP6699180B2 - Balance training equipment - Google Patents

Description

  The present invention relates to a balance training device, for example, a balance training device using an inverted two-wheeled vehicle.

  In recent years, training devices have been developed for training balance functions. For example, Patent Document 1 discloses a balance training device including an inverted two-wheeled vehicle and a display device in its configuration. In this balance training device, the inverted two-wheeled vehicle can be operated by moving the center of gravity of the passenger. Specifically, the inverted two-wheel vehicle is drive-controlled based on the signal from the attitude sensor of the inverted two-wheel vehicle. Further, in this balance training device, a character is displayed on the screen of the display device, and the character is moved in synchronization with the signal from the posture sensor.

JP, 2011-031669, A

  In the balance training device described in Patent Document 1, the inverted two-wheeled vehicle operates according to the operation of the passenger during the balance training using the display on the display device. However, for example, a passenger who is not accustomed to operating an inverted two-wheeled vehicle has a desire to perform balance training while the movement of the inverted two-wheeled vehicle is stopped.

  The present invention has been made to solve such a problem, and not only in the case where the inverted two-wheeled vehicle is moved according to the operation to perform the balance training, but also in the state where the inverted two-wheeled vehicle is stopped regardless of the operation, the balance training is performed. Even in such a case, it is an object to provide a balance training device that allows a passenger to train while watching a display according to an operation.

A balance training device according to one aspect of the present invention, an inverted two-wheeled vehicle, a display device, an operation control means for controlling the operation of the inverted two-wheeled vehicle, an operation detection means for detecting an operation on the inverted two-wheeled vehicle by a passenger, the Display control means for controlling the movement of the object displayed on the screen of the display device according to the operation detected by the operation detection means, wherein the operation control means is an instruction signal or an input or Based on the stored passenger information, the movement of the inverted motorcycle according to the operation is prohibited.
According to such a balance training device, it is possible to provide a display according to the operation in a state where the movement of the inverted two-wheeled vehicle is stopped. Therefore, the occupant can perform balance training using an inverted two-wheeled vehicle that does not make a turn, while looking at the display that moves according to the operation. Therefore, not only when performing the balance training by moving the inverted two-wheeled vehicle according to the operation, but also when performing the balance training while the inverted two-wheeled vehicle is stopped regardless of the operation, the balance can be trained while the passenger sees the display according to the operation. A training device can be provided.

  According to the present invention, not only when performing the balance training by moving the inverted two-wheeled vehicle according to the operation, but also when performing the balance training while the inverted two-wheeled vehicle is stopped regardless of the operation, the passenger sees the display according to the operation. It is possible to provide a balance training device capable of training while being trained.

It is a schematic diagram which shows the schematic structure of the balance training apparatus which concerns on embodiment. It is a block diagram showing the schematic system configuration of the balance training device concerning an embodiment. It is a graph which shows the load ratio of a passenger's right and left, and the relationship of roll angle (tilt angle). It is a graph which shows the relationship between roll angle (tilt angle) and turning speed. FIG. 6 is a schematic diagram showing a transition of a display position of a character (target object) when a display position of a character (object) is determined by a yaw angle when the realization range of the load ratio is the range shown in FIG. It is a block diagram showing a schematic system configuration of a control device 5 and a display device 100 according to the present embodiment. FIG. 4 is a schematic diagram showing a transition of a display position of a character (object) when the display position of a character (object) is determined by an inclination angle when the load ratio is realized in the range shown in FIG. 3.

  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 a balance training device according to an embodiment. In addition, in FIG. 1, the inverted two-wheeled vehicle is shown as a front view. FIG. 2 is a block diagram showing a schematic system configuration of the balance training apparatus according to the embodiment. The balance training device 10 according to the embodiment includes an inverted two-wheeled vehicle 1 as shown in FIG. 1 and a display device 100.

  As shown in FIG. 2, the inverted two-wheeled vehicle 1 includes an attitude sensor 2, a rotation sensor 3, a pair of wheel drive units 4L and 4R, and a control device 5. The inverted two-wheeled vehicle 1 performs desired traveling while maintaining the inverted state in accordance with the movement of the center of gravity of the occupant standing on the vehicle body 6. The inverted two-wheeled vehicle 1 is configured, for example, so that an occupant moves forward and backward by moving a center of gravity forward and backward, and a passenger can turn left and right by moving a center of gravity left and right.

  The attitude sensor 2 is a specific example of an operation detection unit that detects an operation performed by the passenger on the inverted two-wheeled vehicle 1. The posture sensor 2 detects posture information such as a pitch angle, a pitch angular velocity, a pitch angular acceleration, a roll angle, a roll angular velocity, and a roll angular acceleration of the vehicle body 6 of the inverted two-wheeled vehicle 1. The attitude sensor 2 detects, for example, a pitch angle (tilt angle) of the vehicle body 6 caused by the passenger moving the center of gravity back and forth, and the vehicle caused by the passenger moving the center of gravity left and right. The roll angle (tilt angle) of the main body 6 (divided steps 9L, 9R) can be detected.

  The attitude sensor 2 is connected to the control device 5, and outputs the detected attitude information of the vehicle body 6 to the control device 5. The posture sensor 2 is composed of, for example, a gyro sensor or an acceleration sensor. 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 that is parallel to the traveling direction of the inverted two-wheeled vehicle 1.

  The rotation sensor 3 detects rotation information such as a rotation angle, a rotation speed, and a rotation acceleration of the wheels 7L and 7R provided on the inverted two-wheeled vehicle 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.

  The control device 5 includes, for example, a CPU (Central Processing Unit) 5a for performing control processing, arithmetic processing, etc., a control program executed by the CPU 5a, a ROM (Read Only Memory) 5b storing arithmetic programs, processing data, etc. The hardware configuration is centered on a microcomputer including a RAM (Random Access Memory) 5c for temporary storage.

  The pair of wheel drive units 4L, 4R drives the pair of left and right wheels 7L, 7R rotatably provided on the inverted two-wheeled vehicle 1 to drive the inverted two-wheeled vehicle 1. Each of the wheel drive units 4L and 4R can be configured by, for example, an electric motor and a reduction gear train that is connected to the rotation shaft of the electric motor so as to be able to transmit power. The wheel drive units 4L, 4R are connected to the control device 5 via drive circuits 8L, 8R, and drive the wheels 7L, 7R in response to a control signal from the control device 5.

  The control device 5 performs desired traveling (forward, reverse, acceleration, deceleration, stop, left turn, right turn, etc.) while the inverted two-wheeled vehicle 1 performs inverted control for maintaining the inverted state, for example. The wheel drive units 4L and 4R are controlled to control the rotation of the wheels 7L and 7R. Further, the control device 5 performs feedback control, robust control, etc. based on the posture information of the inverted two-wheeled vehicle 1 detected by the posture sensor 2 and the rotation information of each wheel 7L, 7R detected by the rotation sensor 3. Well-known control is performed.

  For example, the control device 5 controls the wheels 7L via the wheel drive units 4L and 4R according to the pitch angle of the vehicle body 6 detected by the attitude sensor 2 when the occupant moves the center of gravity back and forth. , 7R is controlled to move the inverted two-wheeled vehicle 1 forward or backward. Further, the control device 5 controls the wheel drive units 4L, 4R according to the roll angle (tilt angle) of the vehicle body 6 detected by the posture sensor 2 when the passenger moves the center of gravity to the left and right. Then, a rotation difference is generated between the left and right wheels 7L and 7R, and the inverted two-wheeled vehicle 1 is turned left or right.

  With the configuration of the vehicle control as described above, the inverted two-wheeled vehicle 1 moves forward and backward by moving the center of gravity forward and backward and tilting the vehicle body 6 forward and backward, and the passenger moves left and right center of gravity, for example. By tilting the vehicle body 6 to the left and right, it is possible to turn left and right. In the balance training according to the present embodiment, in order to realize the training imitating ski competition, when the passenger applies a load on the left side, the inverted two-wheeled vehicle 1 turns to the right and the passenger applies the load on the right side. When applied, the inverted two-wheeled vehicle 1 turns to the left. However, such a setting can be set arbitrarily and may be set appropriately according to the training environment. That is, the inverted two-wheeled vehicle 1 may turn left when the occupant applies a load on the left side, and the inverted two-wheeled vehicle 1 may turn right when the occupant applies a load on the right side.

  Here, when a predetermined condition described later is satisfied, the control device 5 does not perform the turning motion according to the operation regardless of the detection result of the attitude sensor 2.

  As shown in FIG. 1, the inverted two-wheeled vehicle 1 includes a vehicle body 6, wheels 7L and 7R, split steps 9L and 9R, a handle 11 and the like. The pair of left and right split steps 9L and 9R is an example of a step plate on which a driver rides. The vehicle body 6 supports each of the divided steps 9L and 9R so that the posture thereof can be changed in the roll direction. The pair of left and right wheels 7L and 7R are rotatably supported by the vehicle body 6. The handle 11 is an operation lever that changes the posture of each of the divided steps 9L and 9R in the roll direction via the vehicle body 6.

  Each of the dividing steps 9L and 9R is carried by the driver with one foot on each of them, and is composed of a pair of flat plate bodies that are formed to have the same size as or slightly larger than the size of a human foot. The vehicle main body 6 is arranged parallel to each other on the vehicle body upper member 12 and the vehicle body lower member 13, and is arranged parallel to each other on the left and right, and is rotatable with respect to the vehicle body upper member 12 and the vehicle body lower member 13. It is configured as a parallel link mechanism having a pair of side surface members 14L and 14R connected to each other.

  Between the vehicle body upper member 12 and the vehicle body lower member 13 of this parallel link mechanism, the angles formed by the vehicle body upper member 12 and the vehicle body lower member 13 and the pair of side surface members 14L and 14R are maintained at right angles, respectively. A pair of coil springs 15L and 15R that generate a spring force are interposed. Wheel drive units 4L and 4R are attached to the outer surfaces of the pair of side surface members 14L and 14R, respectively. In this way, the pair of wheels 7L, 7R supported by the pair of side surface members 14L, 14R via the pair of wheel drive units 4L, 4R have their centers of rotation on the same axis when placed on a flat road surface E. It will match on the core.

  The display device 100 displays an object such as a game character according to the detection result of the attitude sensor 2. In addition, the display device 100 further displays a mark indicating the target position on the screen. The inverted two-wheeled vehicle 1 and the display device 100 are communicatively connected by wire or wirelessly. The display device 100 may be integrated with the inverted two-wheeled vehicle 1, or any of the configurations of the display device 100 described below may be realized as the configuration of the inverted two-wheeled vehicle 1.

  The display device 100 includes, for example, a microcomputer including a CPU 150a that performs control processing, arithmetic processing, and the like, a ROM 150b that stores a control program executed by the CPU 150a, an arithmetic program, and the like, a RAM 150c that temporarily stores processing data, and the like. It is mainly composed of hardware.

  For example, when the passenger tilts the vehicle body 6 to the left and right and turns the inverted two-wheeled vehicle 1 to the left and right, the display device 100 displays an object at a position according to the yaw angle of the vehicle body 6 caused by the turning. The passenger moves the center of gravity so that the display position of the object overlaps the target position.

  In this way, the passenger can control the movement of the target object on the screen by performing a traveling operation by moving the center of gravity of the inverted motorcycle 1 while looking at the screen of the display device 100. Thereby, the passenger can improve the efficiency of the training, for example, by carrying out the training while having fun as if playing a game.

  However, when a passenger such as a patient cannot move the center of gravity sufficiently, the following problems occur. That is, the occupant having an unbalanced left and right has a center of gravity that is biased in either direction, so that the occupant continues to turn to either the left or the right, which makes it difficult to continue the practice. In other words, when the occupant cannot adjust the right/left ratio to 5:5, the inverted two-wheeled vehicle 1 continues to turn, and the display of the object according to the yaw angle is biased.

  FIG. 3 is a graph showing the relationship between the left-right load ratio of the passenger and the roll angle (tilt angle). Note that, in FIG. 3, the horizontal axis represents the ratio of the load on the right foot side. FIG. 4 is a graph showing the relationship between the roll angle (tilt angle) and the turning speed. In FIG. 4, in order to imitate a ski competition, the vertical axis is set so that the left turn is positive. When the realization range of the load ratio is limited as shown in FIG. 3, that is, in the case of an occupant who cannot realize the right and left weight distribution ratio of 5:5, the inclination angle can be either positive or negative. Absent. Specifically, in the example shown in FIG. 3, the inclination angle can take only some positive values. In this case, as shown in FIG. 4, the inverted two-wheeled vehicle 1 will continue to turn in either one of the left and right directions. Specifically, in the example shown in FIG. 4, the vehicle continues to turn left. In this way, the lean angle is determined by the right/left weight ratio of the occupant, and the turning speed of the inverted two-wheeled vehicle 1 is determined from the lean angle. In such a case, the inverted two-wheeled vehicle 1 will continue to turn. Therefore, in the display of the target portion according to the yaw angle, the position of the target object is fixed to the edge on the screen, which makes balance training difficult.

  This will be further described with reference to FIG. FIG. 5 is a schematic diagram showing a transition of the display position of the character (target object) when the display position of the character (object) is determined by the yaw angle when the realization range of the load ratio is the range shown in FIG. In the present embodiment, display device 100 displays a character together with an image simulating a ski competition. Specifically, in the balance training device 10, the passenger moves the center of gravity so that the character passes over the plurality of task gates 90 indicating the target position. In FIG. 5, the solid line shows the transition of the ideal display position of the character (the ideal path of the character), and the broken line shows the yaw when the realization range of the load ratio is the range shown in FIG. The transition of the display position of the character when the display position of the character (object) is determined by the angle is shown. As shown by the broken line in FIG. 5, when the realization range of the load ratio is the range shown in FIG. 3, the display position of the character moves to the left end immediately after the start, and then the passenger within the realization range of the load ratio. Even if the center of gravity moves, the character display at the left end continues.

  Therefore, in the present embodiment, when the predetermined condition is satisfied, the control device 5 prohibits the turning motion according to the operation, and the display device 100 changes the display position of the target object according to the yaw angle. Instead, it is determined according to the roll angle (tilt angle). Hereinafter, a specific configuration for realizing this will be described.

  FIG. 6 is a block diagram showing a schematic system configuration of the control device 5 and the display device 100 according to this embodiment. The control device 5 is mounted on, for example, the vehicle body 6, and includes an inclination angle acquisition unit 50, a practice history storage unit 51, an occupant ability determination unit 52, a turning speed setting unit 53, and an operation control unit 54. , And a yaw angle acquisition unit 55.

  The tilt angle acquisition unit 50 acquires the roll angle (tilt angle) detected by the attitude sensor 2. The practice history storage unit 51 stores a practice history for each passenger. The practice history includes information in which the inclination angle acquired by the inclination angle acquisition unit 50 and the identification information for identifying the passenger are associated with each other. The practice history may be referred to as passenger information.

  The passenger capacity determination unit 52 determines the load transfer capacity of the passenger. Specifically, the occupant ability determination unit 52 determines whether or not the occupant can apply a uniform load to the inverted two-wheeled vehicle 1 from the practice history stored in the practice history storage unit 51. It is determined whether the center of gravity can be moved to make both turns. In other words, the passenger capacity determination unit 52 determines whether or not the passenger has a right/left weight ratio of 5:5.

  The turning speed setting unit 53 sets the turning speed of the inverted two-wheeled vehicle 1 when an operation is performed by a passenger. The turning speed setting unit 53 is acquired by the inclination angle acquisition unit 50 when the passenger ability determination unit 52 determines that the passenger can apply a uniform load to the inverted two-wheeled vehicle 1 in the left and right directions. The turning speed is set based on the tilt angle. On the other hand, when the passenger ability determination unit 52 determines that it is not possible for the passenger to apply a uniform load to the inverted two-wheeled vehicle 1, the turning speed setting unit 53 performs the operation of the passenger. Regardless of the tilt angle acquired, the turning speed is set to 0.

  Further, when the turning speed setting unit 53 receives the instruction signal from the operation mode changeover switch 17, the turning speed setting unit 53 sets the turning speed to 0 regardless of the operation of the passenger. Here, the operation mode changeover switch 17 is a switch provided in the balance training device 10, and is provided in the inverted two-wheeled vehicle 1 in the present embodiment. The operation mode changeover switch 17 is a switch for changing over the operation mode of the balance training apparatus 10. When the operation mode changeover switch 17 is set to ON, the turning speed is set to 0 as described above and will be described later. As described above, the display position of the character is determined not by the yaw angle but by the tilt angle. In addition, in the present embodiment, the configuration in which the operation mode changeover switch 17 is provided is illustrated, but the operation mode changeover switch 17 may not be provided.

  The operation control unit 54 controls the operation of the inverted two-wheeled vehicle 1 based on the detection results of the attitude sensor 2 and the rotation sensor 3. Here, the operation control unit 54 prohibits the movement of the inverted two-wheeled vehicle 1 according to the operation of the passenger based on the passenger information or the instruction signal from the operation mode changeover switch 17. Specifically, when the turning speed setting unit 53 sets the turning speed to 0 based on the passenger information or the instruction signal, the operation control unit 54 controls not to turn regardless of the operation of the passenger.

  The yaw angle acquisition unit 55 acquires the yaw angle detected by the attitude sensor 2. Specifically, when the turning speed setting unit 53 sets the turning speed based on the tilt angle acquired by the tilt angle acquiring unit 50, the yaw angle acquiring unit 55 acquires the yaw angle generated by the turning.

  The tilt angle acquisition unit 50, the occupant ability determination unit 52, the turning speed setting unit 53, the operation control unit 54, and the yaw angle acquisition unit 55 can be realized by executing a program under the control of the CPU 5a, for example. More specifically, it is realized by executing the program stored in the ROM 5b under the control of the CPU 5a. Further, each component is not limited to being realized by software by a program, and may be realized by any combination of hardware, firmware, and software. The practice history storage unit 51 is realized by a memory such as the ROM 5b or the RAM 5c, or a storage device such as a hard disk.

  The display device 100 includes a display unit 101 and a display control unit 102. The display unit 101 is composed of, for example, a liquid crystal display, an organic EL display, or the like, and displays on the display screen under the control of the display control unit 102. In the present embodiment, display unit 101 displays a mark indicating a target position and a character (object).

  The display control unit 102 controls the movement of the target object displayed on the screen of the display unit 101 according to the operation detected by the attitude sensor 2. The display control unit 102 also determines the display position of the mark indicating the target position. Specifically, the display control unit 102 includes a character position calculation unit 103 and a target position calculation unit 104. The character position calculation unit 103 and the target position calculation unit 104 can be realized by executing a program under the control of the CPU 150a, for example. More specifically, it is realized by executing the program stored in the ROM 150b under the control of the CPU 150a. Further, each component is not limited to being realized by software by a program, and may be realized by any combination of hardware, firmware, and software. However, any or all of the configurations of the display control unit 102 may be included in the inverted motorcycle 1.

  With such a configuration, the display control unit 102 controls the movement of the character based on the yaw angle of the inverted motorcycle 1 when the movement of the inverted motorcycle 1 is not prohibited, and when the movement of the inverted motorcycle 1 is prohibited, the display control unit 102 is inverted. The movement of the character is controlled based on the inclination angle of the motorcycle 1.

  The character position calculation unit 103 determines the display position of the character displayed on the display unit 101 according to the operation by the passenger. Specifically, the character position calculation unit 103 determines that the passenger ability determination unit 52 determines that the occupant can apply a uniform load to the inverted two-wheeled vehicle 1 on the left and right sides. The display position is determined based on the yaw angle acquired by 55. On the other hand, when the occupant ability determination unit 52 determines that the occupant cannot apply a uniform load to the inverted two-wheeled vehicle 1, the character position calculation unit 103 determines the inclination angle acquisition unit 50. The display position is determined based on the tilt angle acquired by. Further, when the character position calculation unit 103 receives the instruction signal from the operation mode changeover switch 17, the character position calculation unit 103 determines the display position based on the tilt angle acquired by the tilt angle acquisition unit 50.

  When determining the display position based on the tilt angle acquired by the tilt angle acquisition unit 50, the character position calculation unit 103 specifically determines the display position as follows, for example. That is, the character position calculation unit 103 can display the maximum value of the tilt angle detected by the posture sensor 2 (the maximum value of the tilt angle detected when a passenger who can move his/her weight normally boarded). The minimum value of the tilt angle detected by the posture sensor 2 (the minimum value of the tilt angle detected when a passenger who can move normally is boarded) is made to correspond to one end (for example, the left end) of the range of the character. The display position of the character is set to a position proportional to the other end (for example, the right end) of the displayable range and proportionally divided according to the actual inclination angle detected by the posture sensor 2.

  The target position calculation unit 104 calculates the display position of the mark (task gate 90) indicating the target position on the screen. For example, when the character position is determined according to the tilt angle, the target position calculation unit 104 sets the target position suitable for the movement of the character according to the tilt angle, and when the character position is determined according to the yaw angle, the yaw angle is determined. A target position suitable for moving the character is set.

  FIG. 7 is a schematic diagram showing the transition of the display position of the character (target object) when the display position of the character (object) is determined by the tilt angle when the load ratio is realized in the range shown in FIG. In FIG. 7, the solid line shows the transition of the ideal display position of the character (the ideal path of the character), and the broken line shows the inclination when the realization range of the load ratio is the range shown in FIG. The transition of the display position of the character when the display position of the character (object) is determined by the angle is shown. As shown by the broken line in FIG. 7, even if the realization range of the load ratio is the range shown in FIG. 3, the display position of the character is determined based on the tilt angle acquired by the tilt angle acquisition unit 50 as described above. Therefore, the display can be changed according to the moving width of the character according to the realization range of the load ratio.

  As described above, according to the balance training apparatus 10 according to the present embodiment, even when the occupant cannot adjust the left/right load ratio to 5:5, the balance training can be performed while watching the display. That is, for example, even a patient who can realize only the range of 0:10 to 4:6 as the left-right load ratio can start the practice. Therefore, the occupant should practice in order to bring the left/right load ratio close to 5:5, or to give sufficient load to the left/right who is difficult to apply a sufficient load. It can be carried out. Then, after the occupant becomes able to adjust the left and right load ratios to 5:5 by the training, the occupant may switch to the training accompanied by the turning motion. That is, thereafter, the turning speed setting unit 53 sets the turning speed based on the tilt angle acquired by the tilt angle acquisition unit 50, and the character position calculation unit 103 determines the yaw angle acquired by the yaw angle acquisition unit 55. The display position is determined based on. In this way, by switching between practice after turning motion is stopped and practice including turning motion, even a passenger whose left-right load ratio is biased at the beginning of training can improve balance ability through a series of exercises. Can be increased.

  The present invention is not limited to the above-mentioned embodiments, but can be modified as appropriate without departing from the spirit of the present invention. For example, in the above embodiment, the information stored in the practice history storage unit 51 is used as the passenger information, but the passenger information may be input from an external device.

1 Inverted Two-wheeled Vehicle 2 Attitude Sensor 3 Rotation Sensor 4L, 4R Wheel Drive Unit 5 Control Device 6 Vehicle Main Body 7L, 7R Wheel 8L, 8R Drive Circuit 9L, 9R Dividing Step 10 Balance Training Device 11 Handle 12 Vehicle Body Upper Member 13 Vehicle Body Lower Member 14L , 14R Side member 17 Operation mode changeover switch 50 Inclination angle acquisition unit 51 Practice history storage unit 52 Passenger ability determination unit 53 Turning speed setting unit 54 Operation control unit 55 Yaw angle acquisition unit 90 Task gate 100 Display device 101 Display unit 102 Display Control unit 103 Character position calculation unit 104 Target position calculation unit

Claims (3)

An inverted two-wheeled vehicle having a pair of wheels ;
A display device,
Operation control means for controlling the operation of the inverted two-wheeled vehicle,
Operation detecting means for detecting an operation performed on the inverted two-wheeled vehicle by a passenger,
Display control means for controlling the movement of the object displayed on the screen of the display device according to the operation detected by the operation detection means,
The operation control means prohibits the movement of the inverted two-wheeled vehicle in accordance with the operation, based on an instruction signal, or input or stored passenger information,
When the movement of the inverted two-wheeled vehicle is not prohibited, the display control means controls the movement of the object based on a yaw angle with the first axis of the inverted two-wheeled vehicle as a rotation axis, and the movement of the inverted two-wheeled vehicle is prohibited. When it is done, the movement of the object is controlled based on the roll angle with the second axis of the inverted two-wheeled vehicle as the axis of rotation ,
The second shaft is a shaft that intersects with a third shaft corresponding to the axles of the pair of wheels, passes through the center of the inverted two-wheeled vehicle, and is an axis that is parallel to the traveling direction of the inverted two-wheeled vehicle,
The balance training device, wherein the first axis is an axis that passes through an intersection of the second axis and the third axis and is orthogonal to the second axis and the third axis . The display control means associates the maximum value of the roll angle detected when a passenger who can normally move the weight is on board with one end of the displayable range of the object, and can move the weight normally. A minimum value of the roll angle detected when a passenger is boarding the vehicle is made to correspond to the other end of the displayable range of the target object, and the target object is placed at a position corresponding to the detected roll angle. The balance training device according to claim 1. The operation control means, based on the passenger information, prohibits the movement of the inverted two-wheeled vehicle according to the operation,
The balance training device according to claim 1, wherein the passenger information is a practice history for each passenger, and is information including the roll angle detected for each passenger.

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