JPH0553153B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to, for example, a horse riding training system.
A system that detects the load applied to the saddle of an artificial horse body made to faithfully simulate the movements of a real horse, and outputs a signal corresponding to the rider's riding posture and the rider's load. To detect the load applied to the seat part of a ride-on game machine, a seat-type sports training machine, a seat-ride type vehicle machine, etc., and to output a load detection signal according to the sitting condition of the seat occupant. The present invention relates to a seat load detection device.

[Prior Art] Conventionally, seated machines such as artificial horse bodies for amusement such as those found in merry-go-rounds, etc., have been designed so that the seat part can move, but the seat part cannot be directly seated. This system does not quantitatively detect the sitting posture or weight shift of a person and then feedback control the movement of the sitting portion based on this detection signal. In other words, there was no way to install a load sensor in the seating area to detect the load caused by the sitting posture and weight shift of the occupant, and to control the movement of the seated machine based on this load detection signal. .

[Problem to be solved by the invention] For example, in horseback riding instruction and training, the rider's riding posture and assistive movements by shifting his or her body weight are extremely important for making the horse move as the rider intends. be. Therefore, when a beginner in horse riding techniques receives instruction and training in horse riding techniques, it is first necessary to master correct horse riding posture and assistance movements by simply shifting the horse's weight. However, when beginners in horse riding try to learn the correct riding posture and assistance movements by shifting their weight while riding a real horse, it is extremely difficult at first to get the riding posture and assistance movements by shifting their weight correct. Due to unstable riding posture and assistance movements, the actual training content of the horse may be disrupted.
Riders sometimes fall off due to increased stress on the horse, which is a major obstacle to learning accurate horse riding techniques.

Therefore, there has been a desire to develop an artificial horse body that faithfully imitates the movements of a real horse in order to make it possible to learn horse riding techniques correctly and quickly. A load sensor is installed in the saddle where the rider rides to detect the load corresponding to the weight shift of the rider, and the movement of the artificial horse body is controlled based on the output signal from this load sensor. This makes it possible to immediately stop the movement of the artificial horse body when the movement of the artificial horse body changes due to assistance movements, or when the seated rider's sitting posture becomes abnormal, allowing for faster and safer horse riding techniques. The purpose is to enable learning, and it is not limited to the above-mentioned artificial horse body, but also in a wide range of seated machines such as seated amusement machines, seated sports training machines, seated ride machines, etc. By detecting the load applied to the seating area and outputting a load detection signal according to the sitting condition of the sitting person, the operation of the sitting machine can be changed or the sitting posture of the sitting person can be changed to an abnormal state. The technical problem to be solved is to immediately stop the movement of the seated machine when the machine becomes tired.

[Means for solving the problem] The technical means for solving the problem described above is to use a seat load detection device of a seat-type machine, and a plurality of seat implements attached to the seat position of the seat-type machine. detects a load corresponding to a weight shift of a seat occupant who is attached to each of the seat and ride support mechanisms supported at the position of the seat and ride and sits on the seat and ride. , a load sensor that outputs a load signal corresponding to the detected load, and the load signals output from each of the load sensors are input, and the seat-mounted machine is driven based on the load signal, and the seat-mounted machine is driven. a control means for recognizing a sitting posture of a person;
The present invention further includes a stop means for stopping the driving of the seat-type machine when it is determined that the sitting posture of the seat occupant recognized by the control means has become abnormal.

[Operation] According to the seat load detection device for a seat-type machine having the above configuration, when a seat occupant sits on the seat implement, each seat implement supporting the seat implement at a plurality of positions Since a load is applied to the support mechanism according to the seating posture of the seat occupant or the weight shift of the seat occupant, a signal corresponding to the detected load is output from each load sensor installed in each seat support mechanism. be done.

This signal is input to the control means, which recognizes the sitting posture of the seat occupant or the detected load accompanying the weight shift of the seat occupant, and operates the seat-mounted machine according to the recognized load. is controlled.

Further, the stopping means stops the driving of the sitting type machine when it is determined that the sitting posture of the seated occupant recognized by the control means has become abnormal, and prevents the seated occupant from falling from the seating equipment. prevent.

[Example] Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic structural explanatory diagram showing an artificial horse body 2 on which a seated rider 1 rides for horseback training, and a drive mechanism thereof. In addition, Figure 1 shows the artificial horse body 2,
The left half of the drive mechanism is shown, and a similar drive mechanism is actually configured on the right side.

As shown in the figure, a saddle 3 is attached to the back of the artificial horse body 2.
is placed on the saddle, and stirrups 4 on which the right and left legs of the seat occupant 1 are placed are attached to the left and right sides when the seat occupant 1 is seated on the saddle 3. On the back of the artificial horse body 2 on which the saddle 3 is placed, the load of the saddle 3 itself, the dead weight of the seat rider 1, and the load due to the weight shift of the seat rider 1 are detected, and the detected load and Saddle load sensors 5a, 5b, and 5c are attached that output detection signals corresponding to the detected load. Note that this saddle load sensor 5a,
It is not limited to the three sensors 5b and 5c, but a larger number of sensors may be provided, and in this case, more detailed detection becomes possible. Additionally, stirrup load sensors 6a and 6b are attached to the left and right stirrup sections 4 to detect the load applied by the legs of the seat occupant 1.

A rein 7 is tied to the head 2a of the artificial horse body 2, and when the rein 7 is pulled by the seated rider 1, the force applied to the rein 7 is transmitted to the head 2a at multiple points. head sensors 8a, 8b, which detect and output detection signals corresponding to the strength and direction of the detected force;
8c, 8d, and 8e are attached. Furthermore, when the reins 7 are pulled, a neck sensor 9a detects the force applied to the base of the neck of the artificial horse body 2, which is formed to move in response to this force, and outputs a signal corresponding to the detected force. , 9b are attached to the left and right parts of the base.

Further, regardless of the physique of the seat occupant 1, the assisting motion by the leg of the seat occupant 1, that is, the assisting motion by the heel and inner side of the knee of the leg, was performed on the abdomen 2b of the artificial horse body 2. Abdominal sensor 1 for detecting when
0a, 10b, 10c, and 10d are installed separately on the left and right.

The left front leg 11 and hind leg 12 of the artificial horse body 2 (actually, there are also a right front leg 13 and a right hind leg 14, but the right front leg 13 and right hind leg 14 are not shown in FIG. 1). The artificial horse body 2 is constructed so that it can rotate around front leg pivots 15 and hind leg pivots 16, respectively.
is attached to the body of the The lower ends of the front legs 11 are supported so as to be rotatable around an eccentric shaft 19 of a disc 18 that constitutes an amplitude variable mechanism 17 for changing the amplitude of movement of the artificial horse body 2 in the vertical and longitudinal directions. There is. On the other hand, hind legs 12
The lower end of the disk 2 constituting the variable amplitude mechanism 20
It is fixed to a horizontal bar 25 attached across an eccentric shaft 23 and an eccentric shaft 24 attached to each of the disk 1 and the disk 22, respectively. The horizontal bar 25 is swung by the disks 21 and 22 so as to always remain horizontal. The rear legs 12 thus move at the same angle relative to the horizontal plane.

The eccentricity E shown in FIG.
This can be varied by controlling eccentricity setting motors (not shown) provided in each of the two eccentricity settings. The rotating shaft 26 that rotates the disk 18 is
It is connected to a phase variable mechanism 27 for generating a phase difference between the vertical movement and the longitudinal movement of the artificial horse body 2. Further, a rotating shaft 28 that rotates the disk 21 is connected to a phase variable mechanism 29.

The phase variable mechanism 27 includes a rotating shaft 26 and a pulley 3.
The phase between the pulley shaft 31 and the pulley shaft 31 inserted into the pulley shaft 31 is varied by a phase variable motor (not shown). On the other hand, the phase variable mechanism 29 is connected to the rotating shaft 28 and the pulley 3.
The phase between the pulley shaft 33 inserted in the pulley shaft 2 and the pulley shaft 33 is varied by a phase variable motor (not shown).

The pulley 30 is configured to rotate via a timing belt 38 and a pulley 37 attached to an output shaft 36 of a reducer 35 that decelerates and outputs the rotation of the main motor 34. Further, the pulley 32 is configured to rotate via a pulley 39 attached to the output shaft 36 and a timing belt 40.

The main motor 34 is connected to an inverter 41, and its rotational speed is varied according to the frequency of drive power output from the inverter 41. The artificial horse body 2 then performs periodic motion according to the rotational speed of the main motor 34. Therefore, the main motor 34, the variable phase mechanisms 27, 29, and the variable amplitude mechanisms 17, 20 cause the artificial horse body 2 to move according to the gaits such as walk, trot, and gallop, and the rate. be able to.

It is electrically connected to the inverter 41, and outputs a drive command signal to the inverter 41 according to the gait behavior of the artificial horse body 2, and also performs calculation and evaluation of the riding technique of the seat rider 1, which will be described later. A control device 42 is provided with a microcomputer 52, and this control device 42 includes an operation panel 43.
are electrically connected. Therefore, the walking behavior of the artificial horse body 2 is set by a setting switch (not shown) provided on the operation panel 43. still,
The control device 42 receives necessary power from a power source 44.

Next, a mechanism for supporting the saddle 3 and transmitting the saddle load to the saddle load sensors 5a, 5b, 5c and detecting the same is shown in the left side view of FIG. Figure 3 showing the cross section, B- in Figure 2
This will be explained with reference to FIG. 4 showing cross section B.

Note that the saddle load sensors 5a, 5b, 5c
is composed of, for example, a piezoelectric element or a strain gauge.

In FIG. 2, the saddle (seating tool) 3 disposed on the back of the artificial horse body 2 includes a back plate 61 formed to imitate the outer shape of the back of a real horse with which the saddle of a real horse comes into contact; The front seat rider support mechanism 64 is attached to the backbone plate 63 of the artificial horse body 2 via the back plate 62, the rear left seat rider support mechanism 65, and the rear left seat rider is attached to the backbone plate 63 through the back plate 62. It is independently supported at three points by a support mechanism 65 and a rear right seat rider support mechanism 66 provided at a symmetrical position. The front seat passenger implement support mechanism 64, the rear left seat passenger implement support mechanism 65, and the rear right seat passenger implement support mechanism 66 are configured to have a degree of freedom only in the vertical direction. In order to prevent the saddle 3 from coming off the back during operation of the artificial horse body 2, it is fixed to a belly band fixing stand 67 connected to the spine plate 63 using a belly band (not shown) similar to that of a real horse. .

In FIG. 3, the front seat implement support mechanism 64 is
Three guide rods 68, 69, and 70 having a degree of freedom only in the vertical direction are provided so as to accurately transmit the negative load applied in the vertical direction via the saddle 3 to the saddle load sensor 5a. And the left guide rod 6
8 and the guide rod 69 on the right side act to cancel the left and right inclination. Further, the central guide rod 70 is provided with a load adjustment mechanism 71 at its lower portion for adjusting the length and adjusting the applied load. A load sensor mount 72 held between the spine plates 63 is disposed below the load adjustment mechanism 71 of the central guide rod 70, and the saddle load sensor 5a is mounted on the upper surface of the load sensor mount 72. installed. Therefore, the vertical load applied to the front part of the saddle 3 can be detected by the saddle load sensor 5a via the back plate 61.

Next, the rear left seat rider support mechanism 65 and the rear right seat rider support mechanism 66 will be explained with reference to FIG.

A guide rod 73 is vertically attached to the left side of the back plate 62 with the spine plate 63 as the center, and a guide rod 74 is vertically attached to the right side of the back plate 62. These guide rods 73, 74 act so as to have a degree of freedom only in the vertical direction. And the guide rods 73, 74
A strain buffering mechanism 75 is provided at the left and right center portions of the back plate 62 to buffer left and right distortions so that they do not interfere with each other. Further, a load adjustment mechanism 76 formed similarly to the load adjustment mechanism 71 is provided at the lower part of the guide rod 73 to adjust its length and adjust the applied load. On the other hand, a load adjustment mechanism 77 similar to the above is provided at the lower part of the guide rod 74. Also, load sensor mounting bases 78 and 79 are mounted on the spine plate 6 so that the saddle load sensors 5b and 5c can be mounted below the load adjustment mechanisms 76 and 77, respectively.
It is placed in a fixed state at 3. Therefore, the vertical load applied to the rear part of the saddle 3 is transferred to the back plate 62.
It can be detected by the saddle load sensors 5b and 5c via the saddle load sensors 5b and 5c.

With the saddle load detection device configured as described above, a periodic vertical load including the seat rider 1 is applied to each of the saddle load sensors 5a, 5b, and 5c according to the frequency of driving the artificial horse body 2. Therefore, the above-mentioned negative load is detected by each of the saddle load sensors 5a, 5b, and 5c. And saddle load sensor 5
The electrical signals output from each of a, 5b, and 5c are input to the control device 42.

FIG. 5 is a system block diagram for driving the artificial horse body 2. As shown in FIG.

As shown in the above figure, the saddle load sensor 5a,
As mentioned above, 5b and 5c detect the load of the saddle 3 itself, the dead weight of the seat occupant 1, and further the load due to the weight shift of the seat occupant 1, and output the detected load and a detection signal corresponding to the detected load. However, since these signals are analog signals, it is necessary to convert them into digital signals in order to input them to the microcomputer 52. Therefore, the saddle load sensors 5a, 5b, and 5c are connected to A/D converters. It is connected to a microcomputer 52 via 51.

Furthermore, since the detection signals of the stirrup load sensors 6a and 6b for detecting the load applied by the legs of the seat occupant 1 are also analog signals, the stirrup load sensors 6a and 6b are connected to the A/D converter 53. The microcomputer 52 is connected to the microcomputer 52 via the microcomputer 52.

The head sensors 8a, 8b, 8c, 8d, 8e
Since it outputs a digital detection signal, it can be directly connected to the microcomputer 52. Further, the neck sensors 9a, 9b and the abdominal sensors 10a, 10b, 10c, 10d are directly connected to the microcomputer 52 in order to output digital detection signals.

The microcomputer 52 inputs a RAM that stores various data and detection signals from the various sensors, and controls the movement of the artificial horse body 2 based on these signals, and controls the riding technique of the seat rider 1. It is equipped with a central processing unit (CPU) that calculates and evaluates.
The central processing unit CPU is an image processing device 5 such as a CRT.
4. It is connected to a display device such as an audio conversion device 55 or a printer 56, and can display the calculation results of the riding skill of the seat rider 1.

Next, a modification of the above embodiment will be described.

The above example shows a case where there are three load sensors, but when collecting more detailed quantitative data or performing more detailed control of the artificial horse body, this can be achieved by increasing the number of saddle load sensors. can do.

Conversely, even if the number of saddle load sensors is reduced in order to simplify the data and control, it is possible to collect quantitative data that has not been seen before, or to control the artificial horse body. Furthermore, in seated machines such as seated amusement machines, seated sports training machines, and seated vehicle machines, as well as artificial horses, the load applied to the seat is detected, and the It is possible to perform control according to the seated state and to bring the seated machine to an emergency stop.

[Effects of the Invention] As described above, according to the present invention, the load corresponding to the sitting posture of the seated occupant and the negative load due to the weight shift of the seated machine is quantitatively applied to the seated portion of the seated machine. A load sensor is provided for detection, and the seat position and the load caused by the weight shift of the seat occupant can be quantitatively recognized based on the output signal from the load sensor, so that the seat position of the seat occupant is This has the effect that the movement of the seated machine can be controlled in accordance with the riding posture and the burden caused by the weight shift of the seated occupant.

Furthermore, when the seating posture of the seat occupant becomes abnormal, the drive of the seat-mounted machine can be stopped to prevent the seat occupant from falling from the seat-mounted tool.

Furthermore, when the seated machine is made of an artificial horse body, it is possible to learn horse riding techniques more quickly and safely.

[Brief explanation of the drawing]

Fig. 1 is a schematic structural explanatory diagram showing an artificial horse body and its drive mechanism, Fig. 2 is a left side view of an embodiment of the present invention, Fig. 3 is a sectional view taken along line A-A in Fig. 4 is a sectional view taken along line B--B in FIG. 2, and FIG. 5 is a control block diagram. 1... Seat rider, 2... Artificial horse body, 3... Saddle, 5
a, 5b, 5c...Saddle load sensor, 61...Back plate, 62...Back plate, 63...Spine plate, 64...Front seat passenger support mechanism, 65...Rear left seat passenger support mechanism , 66...Rear right seat passenger equipment support mechanism.

Claims (1)

[Scope of Claims] 1. Respective seat implement support mechanisms that support the seat implements attached to the seat position of the seat-type machine at a plurality of positions; and a load sensor that detects a load corresponding to the weight shift of a seated occupant seated on the seating implement and outputs a load signal corresponding to the detected load; a control means for inputting a load signal, driving the sitting machine based on the load signal, and recognizing the sitting state of the seat occupant; and a control means for recognizing the sitting state of the seat occupant recognized by the control means. A seat section load detection device for a seat-type machine, comprising a stop means for stopping driving of the seat-type machine when the machine becomes abnormal.