JP2016146960A - Balance training apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a balance training apparatus using an inverted two-wheel vehicle capable of limiting an operation of the inverted two-wheel vehicle in a care-giver's working area around the inverted two-wheel vehicle.SOLUTION: A balance training apparatus 100 using an inverted two-wheel vehicle 10 that moves by inclining a vehicle body 1 includes: a drive part 90 for driving wheels 2R and 2L that the inverted two-wheel vehicle 10 possesses; a position calculation part 92 for calculating the position of the inverted two-wheel vehicle 10; a care-giver's working area calculation part 93 for calculating a care-giver's working area S where a care-giver PT who gives care to an occupant H works: an intrusion estimation part 96 for estimating whether or not the inverted two-wheel vehicle has intruded in the care-giver's working area based on an amount of change in the position of the inverted two-wheel vehicle and the care-giver's working area in a predetermined period; and a control part 91 for controlling the drive part 90 based on the estimation by the intrusion estimation part 96.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a balance training apparatus for a passenger using an inverted motorcycle.

  There is an inverted two-wheeled vehicle that performs an inversion control based on its own attitude information detected from an attitude sensor and travels by driving a wheel with a motor while maintaining its own attitude. Such an inverted motorcycle is operated by tilting the vehicle body by moving the center of gravity of the passenger. Therefore, it can be used for training to improve or restore the physical function and balance function of the occupant, not just a moving means. For example, Patent Literature 1 discloses a balance training device for training a passenger to perform a traveling operation of an inverted motorcycle using an inverted motorcycle.

  The balance training device disclosed in Patent Literature 1 determines whether an area sensor that acquires position information of an inverted motorcycle and the position of the inverted motorcycle acquired by the area sensor are within the movable range of the inverted motorcycle. Position determining means and position return control means for returning the inverted motorcycle to the movable range when it is determined that the position of the inverted motorcycle is out of the movable range according to the determination result of the position determining means. Yes. According to this training apparatus, it is possible to train a passenger who has boarded an inverted motorcycle.

JP 2014-182318 A

  During training, the assistant may be located in the vicinity of the inverted motorcycle so that the passenger can always assist when the balance is lost. When a trained passenger turns out of balance, an assistant located near the inverted two-wheeled vehicle must suppress the turn of the inverted two-wheeled vehicle, which may place a burden on the assistant. In order to use the inverted motorcycle described in Patent Document 1 for balance training, it is necessary to limit the operation of the inverted motorcycle in an assistant work area that is an area where the assistant works.

  An object of the present invention is to provide a balance training apparatus using an inverted motorcycle that can limit the operation of the inverted motorcycle in an assistant work area around the inverted motorcycle.

The present invention is a balance training apparatus using an inverted motorcycle that moves by tilting the vehicle body,
A drive unit for driving the wheels of the inverted motorcycle;
A position calculating unit for calculating the position of the inverted motorcycle;
A helper work area calculating unit for calculating a helper work area where a helper who assists a passenger works;
Based on the amount of change between the position of the inverted motorcycle and the assistant work area in a predetermined period, an intrusion estimation unit that estimates whether or not the inverted motorcycle has entered the assistant work area;
A control unit that controls the drive unit based on the estimation of the intrusion estimation unit;
Is provided.

  In the present invention, the position of the inverted motorcycle and the assistant work area are calculated by the position calculator and the assistant work area calculator. When the intrusion estimation unit estimates that the inverted motorcycle has entered the assistant work area, the control unit controls the drive unit to limit the operation of the inverted motorcycle in the assistant work area.

  According to the balance training apparatus using the inverted motorcycle according to the present invention, the operation of the inverted motorcycle can be restricted within the assistant work area around the inverted motorcycle.

It is the figure which showed the structure of the balance training apparatus. It is the perspective view which showed the inverted motorcycle used for balance training. It is the block diagram which showed the internal structure of the inverted motorcycle. It is the figure which showed the position and care worker work area of the inverted motorcycle in coordinates. It is the flowchart which showed the process of the balance training apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the balance training apparatus 100 is a balance training apparatus for a passenger H that uses an inverted two-wheeled vehicle 10 that is controlled to be inverted according to the movement of the center of gravity of the passenger. The balance training apparatus 100 includes an inverted motorcycle 10 and a monitor (display unit) 80 that displays data such as a virtual space and a boarding state to the passenger H. The passenger H is prevented from falling by the harness 20 suspended from the ceiling. The passenger H is assumed to be a patient who needs rehabilitation for a sense of balance, for example. Furthermore, in order to assist the passenger H, the assistant PT is arranged in the vicinity of the inverted motorcycle 10 in a state where the passenger H has boarded. For example, the assistant PT stands next to the passenger H and assists the passenger H so that the assistant H can assist whenever the passenger H loses balance.

  As shown in FIG. 2, the inverted two-wheeled vehicle 10 includes a vehicle body (vehicle body) 1 on which a passenger H is boarded, a pair of left and right wheels 2 </ b> R and 2 </ b> L rotatably connected to the vehicle body 1, and the vehicle body 1. And an operation handle 4 for operation by a passenger H provided. A pair of wheels 2 </ b> R and 2 </ b> L are provided at the lower part of the vehicle body 1. The wheels 2R and 2L are coaxially arranged on both side surfaces in the direction X orthogonal to the traveling direction Y of the vehicle main body 1, and are rotatably supported by the vehicle main body 1 via a drive unit 90 (see FIG. 3). . The wheels 2R and 2L are attached to the vehicle main body 1 so as to be inclined about the Y axis with respect to the vehicle main body 1. Thereby, the vehicle main body 1 can incline around the Y axis with respect to the floor surface.

  In the center of the front portion of the vehicle body 1, a standing rod-like operation handle 4 is supported so as to be rotatable about the base end 4a in the front-rear and left-right directions. The operation handle 4 is tilted in the front-rear direction (around the X axis) by the occupant H, so that the forward or backward operation of the inverted motorcycle 10 is executed. The operation handle 4 is tilted in the lean direction (around the Y axis) by the occupant H, whereby the left and right turning operation of the inverted motorcycle 10 is executed.

  As shown in FIG. 3, the balance training apparatus 100 includes a drive unit 90 that drives the wheels 2 </ b> R and 2 </ b> L provided on the vehicle body 1, a control unit 91 that controls the drive unit 90, and the position of the inverted motorcycle 10. A position calculation unit 92 for calculating the vehicle, an assistant work area calculation unit 93 for calculating an assistant work area where the assistant PT who assists the passenger works, and whether the inverted motorcycle 10 has entered the assistant work area. And an intrusion estimation unit 96 that estimates whether or not.

  The drive unit 90 includes two motors 90R and 90L that drive the wheels 2R and 2L, respectively. A controller 91 is connected to the drive unit 90. An intrusion estimation unit 96 is connected to the control unit 91. The intrusion estimation unit 96 is connected to a position calculation unit 92 and an assistant work area calculation unit 93. The control unit 91 controls the drive unit 90 based on the estimation result of the intrusion estimation unit 96.

  The position calculation unit 92 calculates the current position (odometry position) P1 (t) of the inverted motorcycle 10 from the rotation amounts of the motors 90R and 90L. Then, the position calculation unit 92 calculates the odometry position P2 (t + k) after the elapse of time k. The assistant work area calculation unit 93 calculates a helper work area S (see FIG. 4) located in the vicinity of the odometry position P1 (t) of the inverted motorcycle 10. The assistant work area S is usually located relatively to the side of the inverted motorcycle 10, and the area is defined in advance.

  The intrusion estimation unit 96 estimates whether or not the inverted motorcycle 10 has entered the assistant work area S from the change amount P2 (t + k) −P1 (t) of the odometry position. When it is estimated that the inverted motorcycle 10 has entered the assistant work area S based on the estimation result of the intrusion estimation part 96, the control unit 91 controls the drive unit 90 so that the inverted motorcycle 10 is in the assistant work area S. The turning of the inverted two-wheeled vehicle 10 is invalidated for a predetermined time so as not to enter the vehicle. The estimation process of the intrusion estimation unit 96 is executed as a polling process while updating the time t at a predetermined cycle.

  A display unit 80 (see FIG. 1) is connected to the control unit 91. The controller 91 outputs various data such as the boarding state to the monitor 80. Further, the monitor 80 displays a virtual space and various data used by the passenger for balance training. The virtual space displayed on the monitor 80 operates in conjunction with the operation of the operator.

  As shown in FIG. 4, the assistant work area S is located beside the inverted motorcycle 10. The area of the assistant work area S is defined by, for example, (X, Y) = (− 0.3, 0), (−1.2, 0.5), (−1.2, −0.5). Is done. A helper PT is arranged in the helper work area S. Due to the turning operation of the inverted motorcycle 10, the inverted motorcycle 10 may enter the assistant work area S, and the inverted motorcycle 10 may approach the assistant PT.

  P1 (t) calculated by the position calculation unit 92 in the intrusion estimation unit 96 estimating the current inversion of the inverted motorcycle 10 into the assistant work area S is a coordinate system with a constant period t (t is, for example, 100 ms). Updated to be placed at the origin. At this time, the assistant work area calculation unit 93 calculates the relative position of the assistant work area S located in the vicinity of P1 (t) arranged at the origin of the coordinate system.

  Then, the intrusion estimation unit 96 determines whether or not a change amount P2 (t + k) −P1 (t) of the position of the inverted motorcycle 10 after the time k (k is, for example, 1000 ms) has entered the assistant work area S. Is estimated. As shown in FIG. 4A, when the intrusion estimation unit 96 estimates that the change amount P2 (t + k) −P1 (t) of the inverted two-wheeled vehicle 10 has not entered the caregiver work area S. The control unit 91 controls the drive unit 90 in a normal state. As shown in FIG. 4B, when the intrusion estimation unit 96 estimates that the change amount P2 (t + k) −P1 (t) of the inverted two-wheeled vehicle 10 has entered the assistant work area S, the control is performed. The unit 91 controls the driving unit 90 to invalidate the turning operation of the inverted motorcycle 10 for a certain period of time.

  Next, the operation of the balance training apparatus 100 will be described.

  As shown in FIG. 5, in the balance training apparatus 100, the position calculation unit 92 calculates the current odometry position P1 (t) of the inverted motorcycle 10 (S100). The assistant work area calculation unit 93 calculates a helper work area S located in the vicinity of the odometry position P1 (t) of the inverted motorcycle 10. (S101). The intrusion estimation unit 96 estimates whether or not the inverted motorcycle 10 has entered the assistant work area S based on the change amount P2 (t + k) −P1 (t) of the position of the inverted motorcycle 10 (S102). When the intrusion estimation unit 9 estimates that the inverted motorcycle 10 has entered the assistant work area S (S103: yes), the control unit 91 controls the drive unit 90 to perform the turning operation of the inverted motorcycle 10 for a certain period of time. Invalidate (S104). When the intrusion estimation unit 9 estimates that the inverted motorcycle 10 has not entered the assistant work area S (S103: no), the control unit 91 controls the drive unit 90 to perform the turning operation of the inverted motorcycle 10 normally. The state is controlled (S105).

  As described above, according to the balance training apparatus 100, the balance training of the passenger H can be performed using the inverted motorcycle 10. And the balance training apparatus 100 can restrict | limit the operation | movement of the inverted two-wheeled vehicle 10 when it penetrate | invades into the assistant work area S located in the vicinity of the inverted two-wheeled vehicle 10. FIG.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in the balance training apparatus 100 described above, the odometry position of the inverted motorcycle 10 may be calculated based on data sensed by a camera or the like provided outside the inverted motorcycle 10 for calculating the position of the inverted motorcycle 10. Further, when the inverted motorcycle 10 enters the assistant work area S, the control unit 91 controls the drive unit 90 to stop the operation of the inverted motorcycle 10 or loosen the turning control of the inverted motorcycle 10. Also good. In addition, the assistance burden of the assistant PT may be reduced by automatically controlling the turning control so that the inverted motorcycle 10 does not enter the assistant work area S.

DESCRIPTION OF SYMBOLS 1 ... Vehicle main body 2R, 2L ... Wheel 4 ... Operation handle 4a ... Base end 9 ... Intrusion estimation part 10 ... Inverted motorcycle 20 ... Harness 80 ... Monitor (display part) 90 ... Drive part 90R, 90L ... Motor 91 ... Control part 92 ... Position calculation part 93 ... Assistant person work area calculation part 96 ... Intrusion estimation part 100 ... Balance training apparatus H ... Passenger PT ... Assistant person S ... Assistant person work area

Claims (1)

A balance training device using an inverted motorcycle that moves by tilting the vehicle body,
A drive unit for driving the wheels of the inverted motorcycle;
A position calculating unit for calculating the position of the inverted motorcycle;
A helper work area calculating unit for calculating a helper work area where a helper who assists a passenger works;
Based on the amount of change between the position of the inverted motorcycle and the assistant work area in a predetermined period, an intrusion estimation unit that estimates whether or not the inverted motorcycle has entered the assistant work area;
A control unit that controls the drive unit based on the estimation of the intrusion estimation unit;
Comprising
Balance training device.

Images