JP7300162B2 - Operation device with center of gravity measurement function and operation system - Google Patents

Description

TECHNICAL FIELD The present invention relates to an operating device and an operating system, and more particularly to an operating device with a center-of-gravity measuring function and an operating system with a center-of-gravity measuring function for manipulating an operation target based on the movement of the center of gravity of an operator.

Balance ability is one of the important abilities in human daily activities. When a person's ability to balance declines, it becomes difficult to support one's own body, and the person becomes more likely to fall. Also, in the field of sports, balance ability is considered to be one of the important abilities for agile movements and the same form every time.

Therefore, various methods have been proposed to quantitatively evaluate balance ability. For example, as a simple evaluation method, there is a method of measuring the time required to maintain one leg standing with both eyes closed. As a more detailed evaluation method, for example, an evaluation method using an apparatus as described in Patent Document 1 below has been proposed.

JP 2016-195650 A

As mentioned above, balance ability is one of the most important abilities for humans. Especially in the field of rehabilitation, it is necessary to enable elderly people and people with serious injuries to live their daily lives without any inconvenience, and to improve sports skills. In the field, in order to improve performance, methods and devices for recovering, maintaining, and improving balance ability, as well as developing motor ability in infants, growing children, and the like are expected.

Balance ability not only supports the body, but also the ability to straighten the body when stumbled and to stand up stably from a sitting position. be done. Therefore, as a method for recovering, maintaining, and improving balance ability, muscle strength training for strengthening muscles that affect balance ability, flexibility exercises for softening joints, and the like have been proposed.

However, strength training and calisthenics do not immediately show changes in the body, and unless they are performed regularly over a long period of time, the effect is not readily apparent. Exercises that place a burden on the body, such as strength training and calisthenics, and exercises that cause pain to the body are also mentally taxing, and are difficult to continue for a long period of time. In addition, it is difficult to train the trunk and nervous system only by strength training and calisthenics because there is little awareness of agile movements and the center of gravity.

In view of the above problems, the present invention provides an operating device with a center-of-gravity measuring function and an operating system with a center-of-gravity measuring function that can quantitatively evaluate balance ability and recover, maintain, and improve balance ability while having fun. for the purpose.

The operating device with a center-of-gravity measuring function of the present invention includes:
a load-bearing surface on which the operator stands in a standing position;
The barycentric coordinates, which are the coordinates of the point of application of the load of the operator riding on the load-bearing surface, on a measurement surface parallel to the load-bearing surface, and the barycentric coordinates with respect to the coordinates of a reference point on the measurement surface. a calculation unit that calculates a center-of-gravity vector representing a relative position;
a signal generation unit that generates a control signal indicating that a direction determined based on the direction in which the center of gravity vector is directed is set as a movement direction of the operation target on a plane;
and a communication unit that transmits the control signal to the operation object.

The above device is intended for an object to be manipulated, such as a robot, a drone, a radio-controlled car, etc., which moves on a plane in response to a specific control signal by the operator getting on the load-bearing surface and moving his/her own center of gravity. can move in any direction. The coordinates of the reference point on the measurement plane can be the center point of the load-bearing surface of the device, or the center of gravity of the operator when the operator is standing still, which is measured before the start of the operation.

The operator riding on the load-bearing surface adjusts the balance of the weight of the entire body on the load-bearing surface and maintains his/her center of gravity so that the robot, drone, or radio-controlled car moves as intended. or move with agility. By continuing such motions, the operator can train the muscle strength to support the entire body, the muscle strength to move the body quickly, and the trunk and nervous system.

In addition, by using the above device, the operator can use a robot, drone, or radio-controlled car as his alter ego, and make him or her run a specific route within a predetermined time, and can evaluate and train balance ability in a game-like manner. be able to.

In addition, by cooperatively moving robots, drones, and radio-controlled cars as your alter ego in physical space, you can operate with awareness of the presence or absence of obstacles and the shape of the course. Compared to devices that operate , the present invention makes it easier for the operator to empathize with the object to be operated, and requires difficulty in operability and precise adjustment. can.

In the operation device with a center-of-gravity measurement function,
The control signal may include information for controlling the moving speed of the operation object, which is determined based on the magnitude of the center-of-gravity vector, along with the direction of movement of the operation object.

With the above configuration, a further element is added to the position of the center of gravity, allowing the operator to make finer adjustments to the position of the center of gravity. Therefore, more advanced balance ability training can be performed.

In the operation device with a center-of-gravity measurement function,
The calculation unit calculates the load value of the operator,
The control signal may include information for controlling a speed of movement of the operation target in a direction orthogonal to the plane, which is determined based on the load value.

The load value here is the load applied to the surface to be loaded, and when the operator stands still and is on the surface to be loaded, the load value is equal to the weight of the operator. The measured load value fluctuates when the operator vigorously bends or jumps with respect to the load-bearing surface. The static load applied to the load surface when the operator is standing on the load surface is the static load, and the dynamic load applied to the load surface when the operator bends vigorously is the dynamic load. Also called load.

By setting it as the said structure, flying objects, such as a drone, can be operated. As a result, not only load movement but also movement for adjusting the load value is incorporated, so that more advanced training of balance ability can be performed.

In the operation system with the center of gravity measurement function,
The communication unit may transmit the control signal to the operation target placed on a flat surface.

If the object to be manipulated only moves on a flat surface, the operator can concentrate only on manipulating the position of the center of gravity. Therefore, it can be used for training or the like in the initial stage of rehabilitation in which priority is given to recovery of balance ability.

In the operation device with a center-of-gravity measurement function,
The control signal may include identification information determined based on unique information assigned in advance for distinguishing each of the operation objects received by the communication unit.

By adopting the above configuration, it is possible to prepare a plurality of objects to be manipulated and operate them with independent manipulation devices. In other words, a plurality of robots paired with each operation device can be used by multiple people to play highly strategic games such as racing, soccer, and stick tossing.

Then, each operator develops an attachment to the robot he/she operates by making the robot that is his alter ego compete with or cooperate with the robots operated by other operators in the same physical space. You can train your balance ability while enjoying the game.

In the operation device with a center-of-gravity measurement function,
A cycle setting unit may be provided for setting the transmission cycle of the control signal.

It is difficult for people to keep their center of gravity fixed, and no matter how hard they try to fix their center of gravity, they will sway slightly. In other words, if robots, drones, and radio-controlled cars always operate based on the center-of-gravity position of the operator, while moving based on the coordinates of the center-of-gravity, they may move while slightly swaying, or move in the intended direction. Sometimes I don't want to move.

Also, if the cycle of the control signal is too long, the object to be manipulated may move and stop repeatedly, or even if the operator changes the position of the center of gravity, the object may not respond to changes in the position of the center of gravity for a while, and the same movement may occur. You may continue to move in the same direction at the same speed.

Therefore, by adopting the above configuration, it is possible to arbitrarily set the transmission period of the control signal, and it is possible to remove a short-period signal such as the swinging movement of the human center of gravity from the control signal for controlling the operation target. Therefore, the operator can smoothly move the object to be operated.

In addition, as a method to stop the robot, for example, when the center of gravity is within a circle set to an arbitrary size, or when it is detected that a load exceeding a threshold value is not applied to the load receiving surface, There is a method of setting the operation device to transmit a stop signal to the operation target.

The operation system with a center-of-gravity measuring function of the present invention includes:
The weighted surface on which the operator stands in a standing position and the coordinates of the center of gravity, which are the coordinates of the point of application of the load of the operator riding on the weighted surface, on a measurement surface parallel to the weighted surface are calculated. a center-of-gravity measuring device having a data output unit for output;
an operation target provided with a movement mechanism for moving on a plane;
a computer that generates a control signal specifying a moving direction of the object to be manipulated on the flat surface based on the information about the coordinates of the center of gravity output from the device for measuring the center of gravity, and transmits the control signal to the object to be manipulated; ,
The computer is
a calculation unit that receives the barycenter coordinates output from the barycenter measuring device and calculates a barycenter vector representing a position of the barycenter coordinates relative to the coordinates of a reference point on the measurement plane;
a signal generation unit configured to generate the control signal indicating that the direction determined based on the direction of the center of gravity vector is the movement direction of the operation target on the plane;
and a communication unit that transmits the control signal to the operation target.

In addition, in the operation system with the center of gravity measurement function,
The control signal may include information for controlling the moving speed of the operation object, which is determined based on the magnitude of the center-of-gravity vector, along with the direction of movement of the operation object.

Furthermore, in the operation system with the center of gravity measurement function,
The calculation unit calculates the load value of the operator,
The control signal may include information for controlling a speed of movement of the operation target in a direction orthogonal to the plane, which is determined based on the load value.

Furthermore, in the operation system with the center of gravity measurement function,
The communication unit may transmit the control signal to the operation target placed on a flat surface.

Furthermore, in the operation system with the center of gravity measurement function,
The control signal may include identification information determined based on unique information assigned in advance for distinguishing each of the operation objects received by the communication unit.

Furthermore, in the operation system with the center of gravity measurement function,
The computer may include a cycle setting unit that sets the transmission cycle of the control signal.

In the above system, the center of gravity measuring device measures the load applied to each position of the load-bearing surface using a sensor or the like placed under the load-bearing surface, and outputs the measurement data to the computer. 1, a computer performs calculation of barycentric coordinates and barycentric vectors, generation of control signals, and transmission of control signals to an object to be manipulated based on input measurement data.

That is, the operation system has the same functions as the operation device with the center-of-gravity measuring function, and the effects of each configuration are as described above. Furthermore, in the above configuration, functions other than center-of-gravity measurement are installed in the computer, so the center-of-gravity measurement device on which the operator rides can be configured to be compact and lightweight, and the center-of-gravity measurement device can be easily carried.

According to the present invention, an operating device with a center-of-gravity measuring function and an operating system with a center-of-gravity measuring function that can quantitatively evaluate the balance ability and recover, maintain, and improve the balance ability while having fun are realized.

It is a typical figure which shows the usage condition of an operating device. 1 is a schematic overall perspective view of an embodiment of an operating device; FIG. 2 is a plan view of the operating device of FIG. 1; FIG. It is drawing which shows typically one Embodiment of a structure of each process means of an operating device. It is drawing which shows each component of a centroid vector. It is a typical figure which shows the usage aspect using one operation device and several operation objects. FIG. 4 is a schematic diagram showing a mode of use using a plurality of operation devices and a plurality of operation objects; It is a typical figure which shows the usage condition of an operating system. 1 is a schematic overall configuration diagram of an embodiment of an operation system; FIG. 6 is a plan view of the center-of-gravity measuring device of FIG. 5; FIG. It is a drawing which shows typically one Embodiment of a structure of an operating system. FIG. 4 is a schematic diagram showing a mode of use of the operation device when the object to be operated is a drone; FIG. 4 is a schematic diagram showing a mode of use of the operation device when the object to be operated is a drone; FIG. 4 is a schematic diagram showing a mode of use of the operation device when the object to be operated is a drone; It is a graph which shows the load fluctuation at the time of crouching down. 7 is a graph showing load fluctuations during jumping;

Hereinafter, an operating device and an operating system according to the present invention will be described with reference to the drawings. It should be noted that the following drawings are all schematic illustrations, and the dimensional ratios and numbers in the drawings do not necessarily match the actual dimensional ratios and numbers.

[First embodiment]
The configuration of the operating device 1 of the present invention will be described.

First, the mode of use of the operating device 1 will be described. FIG. 1 is a schematic diagram showing how the operating device 1 is used. As shown in FIG. 1, an operator riding on the operating device 1 balances the operating device 1 so as to control the position of the center of gravity of the operator, thereby allowing the operator to operate the device at a slightly distant position on a flat surface. Manipulate object 2. The operation target 2 receives a control signal 3 transmitted from the operation device 1 and moves on the flat surface based on the control signal 3 . As the operation target 2, for example, a robot, minicar, or the like that walks on two legs or moves on spherical wheels can be used.

FIG. 2 is a schematic overall perspective view of an embodiment of the operating device 1. FIG. 3 is a plan view of the operating device 1 of FIG. 2. FIG. As shown in FIGS. 2 and 3, the operating device 1 of the first embodiment has a load-receiving surface 1a for the operator to stand on. In the following description, the plane on which the load-bearing surface 1a is formed is defined as the XY plane, the left-right direction when the operator gets on the load-bearing surface 1a is the X direction (the right direction is the X positive direction), and the front-back direction is the X direction. In the description, the Y direction (the forward direction is the Y positive direction) and the direction orthogonal to the XY plane is the Z direction.

The operation device 1 incorporates processing means for processing information inside, that is, below the load-bearing surface 1a in FIG. FIG. 4 is a diagram schematically showing an embodiment of the configuration of each processing means of the operating device 1. As shown in FIG. As shown in FIG. 4 , the operating device 1 includes a calculation section 10 , a signal generation section 11 , a communication section 12 and a cycle setting section 13 .

Further, the operating device 1 of the first embodiment is equipped with a plurality of load measuring sensors (not shown) under the load receiving surface 1a, and has a center-of-gravity measuring function. Sensors such as pressure sensors, strain gauge sensors, and load cells can be used as sensors for load measurement.

The calculation unit 10 calculates the coordinates of the point of action of the load on the measurement surface parallel to the load receiving surface 1a, using the component forces measured by the sensors and the coordinate positions where the sensors are arranged. Hereinafter, the point of action of the load will be called the center of gravity, and the coordinates of the point of action of the load will be called the coordinates of the center of gravity.

The calculation unit 10 calculates the coordinates of the center of gravity of the operator riding on the load bearing surface 1a and the center of gravity vector G1 (CX, CY) representing the relative direction and distance of the coordinates of the center of gravity with the reference point 1b as the origin. (see Figure 5). FIG. 5 is a drawing showing each component of the center-of-gravity vector G1. Here, CX is the X-direction component of the center-of-gravity vector G1, and CY is the Y-direction component of the center-of-gravity vector G1. In the first embodiment, the reference point 1b is positioned so as to overlap the center point of the load receiving surface 1a when the XY plane is viewed in the Z direction. Note that the reference point 1b may be the position of the center of gravity of the operator when the operator is standing still, which is measured before the start of the operation.

The calculation unit 10 outputs data of the calculated angle θ with the positive X direction of the calculated gravity center vector G1 being 0° and the counterclockwise rotation being the positive direction, and data of the magnitude r1 of the gravity center vector G1 to the signal generation unit 11 . The angle θ of the center-of-gravity vector G1 is calculated based on each component (CX, CY) of the center-of-gravity vector G1 so as to satisfy the following equation.

The magnitude r1 of the center-of-gravity vector G1 is calculated as follows based on the components (CX, CY) of the center-of-gravity vector G1.

Based on the data of the angle .theta. A control signal 3 is generated to move the front surface in the same direction as the angle θ of the center-of-gravity vector G1, with the front side corresponding to the positive Y direction. If the operation is difficult, the moving direction may be set so as not to correspond to the front of the operation object 2 but to match the orientation of the operator on the operation device 1 or the load receiving surface 10a. I do not care.

Further, based on the data of the magnitude r1 of the center-of-gravity vector G1 output from the calculation unit 10, the signal generation unit 11 moves the operation target 2 toward the movement direction, which is the direction of the angle θ, to determine the magnitude of the center-of-gravity vector G1. A control signal 3 is generated to control movement at a movement speed proportional to r1. Here, as the control signal 3, the control signal 3 including information on the angle θ and the control signal 3 including information on the moving speed may be separately generated, and the same control signal 3 may contain either information. may also be generated.

The communication unit 12 transmits the control signal 3 generated by the signal generation unit 11 to the operation target 2 . At this time, if the transmission cycle of the control signal 3 is too short, even the swinging of the center of gravity that moves finely in a short cycle will be transmitted to the operation target 2 as the control signal 3 . As a result, the operation target 2 may vibrate in accordance with the swing of the center of gravity, or may become uncontrollable and stop moving. In addition, if the transmission cycle of the control signal 3 is too long, the operation object 2 will not follow the movement of the operator's center of gravity, and the operation object 2 will move behind the operator's movement of the center of gravity, resulting in smooth movement. I can't do it.

As a countermeasure, there is a method of adjusting the timing of generating the control signal 3 of the operation device 1, a method of adjusting the timing of transmitting the control signal 3 to the operation object 2, or a method of adjusting the timing of transmitting the control signal 3 to the operation object 2. A method of adjusting the timing of responding to is conceivable. Either configuration may be used, but when the operation target 2 that moves in response to the control signal 3 transmitted by the operation device 1 is arbitrarily selected, the response timing to the control signal 3 may be set depending on the operation target 2. Adjustment may not be possible. Therefore, it is preferable that the operation device 1 can adjust the timing of generating the control signal 3 or the timing of transmitting it to the operation target 2 .

Therefore, in the present embodiment, the signal generator 11 always generates the control signal 3 and the cycle setting unit 13 adjusts the cycle of transmitting the control signal 3 to the operation target 2 . Since the period setting unit 13 can arbitrarily set the transmission period of the control signal 3, the operator can adjust the operation object 2 to move smoothly as described above.

Note that the operation device 1 may be configured to be capable of operating a plurality of operation objects 2 . FIG. 6 is a schematic diagram showing a usage mode in which a specific operation target 2 is operated with one operation device 1. As shown in FIG. In the state shown in FIG. 6, different unique information can be assigned to each of the plurality of operation objects 2 .

At this time, before starting to transmit the control signal 3 to the operation object 2, the communication unit 12 actually performs Unique information is received from the operation object 2 to be operated. The signal generation unit 11 generates a control signal 3 including identification information generated based on the unique information, and the communication unit 12 transmits the control signal 3 including this identification information.

A plurality of operation objects 2 arranged within a range in which the control signal 3 transmitted from the communication unit 12 can be received each receives the control signal 3 . At this time, the manipulation object 2 receives the information contained in the control signal 3 only when the identification information contained in the control signal 3 corresponds to the unique information assigned to the manipulation object 2 itself. move based on

Therefore, the operator can operate only a specific operation object 2 in a state where a plurality of operation objects 2 are arranged. A plurality of both the operation device 1 and the operation target 2 may be present. FIG. 7 is a schematic diagram showing a mode of use in which a plurality of operation devices 1 are used to operate respective operation objects 2 . By adopting the above configuration, as shown in FIG. 7, a plurality of operators can simultaneously operate different operation objects 2 using the respective operation devices 1 .

The method for the communication unit 12 of the operation device 1 to receive the unique information from the operation target 2 before starting the operation is, for example, the communication unit 12 of the operation device 1 transmits the unique information to the operation target 2. There is a method of transmitting a trigger signal for making the operation, and a method of once connecting the operation device 1 and the operation target 2 with a cable or the like to perform pairing processing.

As described above, the operator riding on the operating device 1 of the first embodiment tilts his or her body on the load-receiving surface 1a of the operating device 1 to move the operation object 2 in the desired movement direction, and The object to be operated 2 is operated by adjusting its center of gravity so that it can be moved at a desired speed. Therefore, while observing the movement of the operation object 2, the operator is always conscious of the position of the center of gravity of himself/herself, and finely adjusts the position of the center of gravity and adjusts the position of the operation object 2 quickly so that the operation object 2 moves along the intended path. Repeatedly moving the center of gravity.

In other words, the operator fine-tunes the balance of the load on the entire body, and depending on the situation, maintains the center of gravity at an arbitrary position, or moves the entire body with agility. is a load on the muscles that naturally try to adjust the center of gravity, and the muscle strength that affects balance ability is trained. Furthermore, since the operator is always conscious of the position of the center of gravity, and repeats maintaining the position of the center of gravity and agile movement of the center of gravity, the operator acquires a sense of adjusting his/her center of gravity, and trains the trunk and nervous system. be done.

In addition, a plurality of operators can operate the respective operation objects 2 on the same field to play games such as races, highly cooperative and strategic soccer, and stick tossing. When a plurality of operation devices 1 and a plurality of operation objects 2 are prepared and a plurality of operators move the operation objects 2 all at once, attention is paid to the movements of the operation objects 2 moved by other operators. , with finer precision, you will be conscious of adjusting the position of the center of gravity quickly.

Furthermore, if it becomes possible to adjust the center of gravity with fine precision, it will be possible to recognize and adjust slight deviations in posture and swing form in sports such as golf where the swing is performed using the same form, leading to improved performance. .

As described above, by using the operating device 1 of the first embodiment, the operator unconsciously recovers, maintains, and improves the balance ability while enjoying the feeling of playing a game instead of rehabilitation or muscle training. be able to. And since balance ability training can be done while having fun, it can be continued regularly over a long period of time.

[Second embodiment]
The configuration of the operating system 5 of the present invention will be described.

As in the description of the first embodiment, first, the mode of use of the operating system 5 will be described. FIG. 8 is a schematic diagram showing how the operating system 5 is used. As shown in FIG. 8, an operator riding on the center-of-gravity measuring device 50 balances on the center-of-gravity measuring device 50 so as to control the load. Then, the control signal 3 transmitted from the computer 51 that has received the load measurement data signal 52 operates the operation object 2 placed at a slightly distant position on the flat surface.

The operation target 2 receives the control signal 3 transmitted from the center-of-gravity measuring device 50, and moves on the flat surface based on the control signal 3. A robot that walks on legs or moves on spherical wheels, a miniature car, or the like can be used.

FIG. 9 is a diagram schematically showing one embodiment of the configuration of the operation system 5. As shown in FIG. 10 is a plan view of the center-of-gravity measuring device 50 of FIG. 9. FIG. As shown in FIGS. 9 and 10 , the operation system 5 includes a center-of-gravity measuring device 50 and a computer 51 because it has a center-of-gravity measuring function. The computer 51 can be implemented by a general-purpose notebook PC, desktop PC, tablet PC, smart phone, or the like.

A center-of-gravity measuring device 50 of the second embodiment includes a load-bearing surface 50a for an operator to stand on. In the following description, the plane on which the load receiving surface 50a is formed is defined as the XY plane, the direction that is the front when the operator stands on the load receiving surface 50a is defined as the Y positive direction, and the direction orthogonal to the XY plane is defined as the XY plane. The Z direction will be described.

For convenience of explanation, the operation device 1 in the first embodiment and the center-of-gravity measuring device 50 in the second embodiment have the same external shape, but neither is limited to the shape illustrated in FIG. 1 or the like.

FIG. 9 is a diagram schematically showing one embodiment of the configuration of the operation system 5. As shown in FIG. As shown in FIG. 9 , the center-of-gravity measuring device 50 has a data output section 60 , and the computer 51 has a calculation section 70 , a signal generation section 71 , a communication section 72 and a period setting section 73 .

The center-of-gravity measuring device 50 of the second embodiment has a plurality of load-measuring sensors (not shown) mounted under the load-bearing surface 50a, and has a center-of-gravity measuring function. Sensors such as pressure sensors, strain gauge sensors, and load cells can be used as sensors for load measurement, as in the operating device 1 of the first embodiment described above.

The data output unit 60 outputs the force component measured by each of the sensors as a measurement data signal 52 to the computer 51 .

Based on the measurement data signal 52 output from the data output unit 60 of the center-of-gravity measuring device 50, the calculation unit 70 of the computer 51 calculates the relative coordinates of the center-of-gravity coordinates of the operator and the center-of-gravity coordinates with the reference point 50b on the measurement surface as the origin. A center-of-gravity vector G1 (CX, CY) representing a specific position is calculated. In the second embodiment, similarly to the operating device 1 of the first embodiment, the reference point 50b on the measurement surface is the center point of the load-bearing surface 50a when the load-bearing surface 50a is viewed in the Z direction. However, the reference point 50b may be the center-of-gravity position of the operator when the operator is standing still, which is measured before the start of the operation.

The calculation unit 70 outputs data of the calculated angle θ and magnitude r1 of the center-of-gravity vector G1 to the signal generation unit 71 . The definition of each component of the center-of-gravity vector G1 is the same as the definition described above in the description of the first embodiment.

The functions of the signal generation unit 71 and the communication unit 72 of the computer 51 are the same as those of the signal generation unit 11 and the communication unit 72 of the operation device 1 of the first embodiment. Further, as the operation target 2, as in the first embodiment, one having a moving mechanism for moving on a flat surface as described above can be adopted.

By adopting the above configuration, similarly to the operating device 1 of the first embodiment, it is possible to unconsciously recover, maintain, and improve balance ability while enjoying the game without feeling stress or pain. And since balance ability training can be done while having fun, it can be continued regularly over a long period of time.

In addition, in the second embodiment, the computer 51 performs functions other than center-of-gravity measurement, so that the center-of-gravity measurement device 50 can be configured to be more compact and lighter than the operating device 1 of the first embodiment. , easier to carry.

In this embodiment, the center-of-gravity measuring device 50 and the computer 51 may be connected by wire. It should be noted that the computer 51 in the second embodiment may be configured by a small computer such as a USB memory type and used by being connected to the center-of-gravity measuring device 50 .

[Third embodiment]
An embodiment in which a drone 80, which is a flying object, is operated by the operation device 1 of the present invention will be described.

A usage mode of the operation device 1 when the operation target 2 is the drone 80 will be described. In this embodiment, the operating device 1 measures the load applied by the operator to the load receiving surface 1a by each built-in sensor for load measurement, and the calculation unit 10 measures static electricity measured by each sensor. Based on the load and the dynamic load, the load value applied to the load receiving surface 1a is calculated. Here, the load in this specification is the value of the load applied to the load receiving surface 1a, which is calculated by the calculation unit 10 based on the load measured by each sensor built into the operating device 1. .

First, before the start of operation, the operation device 1 measures the load received by the operator in a stationary standing position on the load-bearing surface 1a, that is, the weight, which is the static load. After that, when the operation starts, the signal generator 11 generates the control signal 3 including information for moving the drone 80 downward or upward using the measured waveform of the dynamic load. These control signals 3 are transmitted by the communication unit 12, and when the drone 80 receives the control signals 3, the drone 80 performs an ascending/descending operation.

12 to 14 are schematic diagrams showing how the operation device 1 is used when the operation target 2 is a drone 80. FIG. As shown in FIG. 12 , an operator on the operating device 1 operates the drone 80 to move in a direction parallel to the floor while balancing on the operating device 1 so as to control the load.

As shown in FIG. 13, for example, when the operator bends down, a load value smaller than the weight is instantaneously measured by the load-bearing surface 1a, and then a load value larger than the weight is immediately measured. , the drone 80 operates to descend. As shown in FIG. 14, for example, when the operator jumps or stretches out vigorously, the load value on the load-bearing surface 1a momentarily becomes zero, and the drone 80 moves upward. .

It should be noted that the time during which a large load is detected when jumping or crouching down is instantaneous, and the opposite load is always repulsively generated before and after the load value is manipulated due to this action. . For example, a large load is generated when stepping on before jumping and when landing after jumping. Therefore, as a method of solving these problems, for example, after the signal generation unit 11 generates a signal for controlling the elevation operation of the drone 80, it is configured not to generate a signal for controlling the elevation operation for a certain period of time. I don't mind.

FIG. 15 is a graph showing load fluctuations when bending over. The vertical axis of the graph shown in FIG. 15 indicates the percentage of the dynamic load calculated by the calculation unit 10 with respect to the operator's static load, that is, the body weight, and the horizontal axis indicates time. As shown in FIG. 15, when the load falls below 50% of the body weight (P1) when crouching, and then a load exceeding 150% of the body weight is measured within a predetermined time T1 (for example, 0.5 seconds). (P2) is recognized as a crouching motion, and the drone is lowered by an arbitrary height. At this time, after giving the operation command, the signal is ignored for an arbitrary period of time.

FIG. 16 is a graph showing load fluctuations during a jump. The parameters indicated by the vertical and horizontal axes of the graph shown in FIG. 16 are the same as those of the graph of FIG. As shown in FIG. 16, when jumping, the load exceeds 200% of the body weight (P3), and thereafter the load falls below zero or an arbitrary lower limit within a predetermined time T2 (for example, 0.5 seconds). In case (P4), it recognizes that it has jumped and raises the drone by an arbitrary height. At this time, after giving the operation command, the signal is ignored for an arbitrary period of time.

Although the operation of the drone 80 by the operation device 1 has been described in the third embodiment, the configuration for operating the drone 80 can also be realized in the operation system 5 by adopting the same configuration for the computer 51 .

[Another embodiment]
Another embodiment will be described below.

<1> Even if the operating device 1 or the operating device 1 or the operating system 5 is provided with a light-emitting portion so that the weighted surface (1a, 50a) of the gravity center measuring device 50 indicates the position of the center of gravity on the weighted surface (1a, 50a) I do not care. With the above configuration, it is possible to confirm and evaluate at a glance where the center of gravity of the user is on the load receiving surface (1a, 50a).

In addition, with the above configuration, the operator can check whether the position of the center of gravity of the operator is deviated from the reference position before starting the operation of the operation object 2, and if it is deviated, can be adjusted. When the object 2 moves in an unintended direction, it is possible to confirm that the position of the center of gravity of oneself is moving as intended.

<2> Time-series measurement values obtained from a plurality of sensors for load measurement, or calculated barycentric coordinates and barycentric vectors by the operation device 1 or the operation unit (10, 70) of the computer 51 of the operation system 5 A calculation filter for removing high frequency components may be provided for the time-series data of G1. For example, a moving average filter or the like can be adopted as the calculation filter.

<3> The configurations of the operation device 1 and the operation system 5 described above are merely examples, and the present invention is not limited to the illustrated configurations.

When elderly people with low balance ability use the device or system of the present invention, they may hold on to a handrail, use a cane for Nordic walking, or be pulled by an assistant to prevent them from falling over.

Furthermore, when the operation target 2 is a flying object such as the drone 80, the operation in the direction orthogonal to the direction of operation with the center-of-gravity vector G1 of the drone 80 does not necessarily have to be performed based on the load value, and is separately performed. A separate controller that operates only in that direction may be prepared.

REFERENCE SIGNS LIST 1: operation device 1a: load bearing surface 1b: reference point 2: operation target 3: control signal 5: operation system 10: calculation unit 11: signal generation unit 12: communication unit 13: cycle setting unit 50: center of gravity measurement device 50a : Load bearing surface 50b : Reference point 51 : Computer 52 : Measurement data signal 60 : Data output unit 70 : Calculation unit 71 : Signal generation unit 72 : Communication unit 73 : Cycle setting unit 80 : Drone G1 : Center of gravity vector θ : Angle r1 : size

Claims (12)

a load-bearing surface on which the operator stands in a standing position;
barycentric coordinates, which are coordinates on a coordinate system fixed on a measurement plane parallel to the load-bearing surface of the point of application of the load of the operator riding on the load-bearing surface; a calculation unit that calculates a center-of-gravity vector that represents the position of the center-of-gravity coordinates relative to the coordinates of the reference point;
a signal generation unit that generates a control signal indicating that a direction determined based on the direction in which the center of gravity vector is directed is set as a movement direction of the operation target on a plane;
An operating device with a center-of-gravity measuring function, comprising: a communication unit that transmits the control signal to the operating object. 2. The method according to claim 1, wherein the control signal includes information for controlling a moving speed of the object to be manipulated, which is determined based on the magnitude of the center-of-gravity vector as well as a moving direction for moving the object to be manipulated. An operation device with a center-of-gravity measurement function described. The calculation unit calculates the load value of the operator,
3. The center-of-gravity measuring function according to claim 1, wherein the control signal includes information for controlling movement of the object to be manipulated in a direction orthogonal to the plane, which is determined based on the load value. Operating device with. 3. The operating device with a center-of-gravity measuring function according to claim 1, wherein the communication unit transmits the control signal to the operating object placed on a flat surface. 5. The control signal according to any one of claims 1 to 4, wherein the control signal includes identification information determined based on unique information assigned in advance for distinguishing each of the operation objects received by the communication unit. or the operating device with a center-of-gravity measuring function according to any one of the above items. The operating device with a center-of-gravity measuring function according to any one of claims 1 to 5, further comprising a cycle setting unit that sets a transmission cycle of the control signal. A load surface on which an operator stands in a standing position, and a coordinate system fixed on a measurement surface parallel to the load surface of the load application point of the operator riding on the load surface. a center-of-gravity measuring device having a data output unit that calculates and outputs center-of-gravity coordinates, which are coordinates;
an operation target provided with a movement mechanism for moving on a plane;
a computer that generates a control signal specifying a moving direction of the object to be manipulated on the plane based on the information about the coordinates of the center of gravity output from the device for measuring the center of gravity, and transmits the control signal to the object to be manipulated; ,
The computer is
a calculation unit that receives the barycenter coordinates output from the barycenter measuring device and calculates a barycenter vector representing a position of the barycenter coordinates relative to the coordinates of a reference point on the measurement plane;
a signal generating unit configured to generate the control signal indicating that the direction determined based on the direction of the center of gravity vector is the movement direction of the operation target on the plane;
An operation system with a center-of-gravity measuring function, comprising: a communication unit that transmits the control signal to the object to be operated. 8. The control signal as claimed in claim 7, wherein the control signal includes information for controlling the moving speed of the operation object, which is determined based on the magnitude of the center-of-gravity vector as well as the movement direction for moving the operation object. Manipulation system with center of gravity measurement function as described. The calculation unit calculates the load value of the operator,
9. The center-of-gravity measuring function according to claim 7, wherein the control signal includes information for controlling movement of the object to be manipulated in a direction orthogonal to the plane, which is determined based on the load value. with operating system. 9. The operation system with a center-of-gravity measuring function according to claim 7, wherein the communication unit transmits the control signal to the object placed on a flat surface. 11. The control signal according to any one of claims 7 to 10, wherein the control signal includes identification information determined based on unique information assigned in advance to distinguish each of the operation objects received by the communication unit. 1. The operation system with a center-of-gravity measuring function according to 1. The operating system with a center-of-gravity measuring function according to any one of claims 7 to 11, wherein the computer includes a cycle setting unit that sets a transmission cycle of the control signal.

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