JP2018131019A - Inverted pendulum type movable body - Google Patents

Abstract

A foot joint torque of a passenger who rides on an inverted pendulum type moving body can be quantitatively and accurately observed without wearing a special device such as a sensor. An inverted pendulum type moving body having a riding section on which a passenger stands and a drive wheel, a detection section for detecting a driving torque of the drive wheel that maintains the inverted state, and a passenger in the riding section An output unit that generates and outputs torque information of the added ankle torque from the drive torque detected by the detection unit, and the output unit is caused by the state of the running surface with the drive torque detected by the detection unit When it is determined that the torque has changed, the output of torque information is interrupted. [Selection] Figure 6

Description

  The present invention relates to an inverted pendulum type moving body.

  Inverted pendulum type two-wheeler that controls the drive wheel by applying the attitude control model of the inverted pendulum among the traveling devices that detect the attitude information using a gyro sensor, an acceleration sensor, etc., and perform drive control based on the detected attitude information It has been known. For example, Patent Document 1 discloses an inverted pendulum type two-wheeled vehicle that can be moved forward or turned by a passenger tilting a handle.

JP 2010-30436 A

  The inverted pendulum type two-wheeled vehicle can be used not only as a tool for moving but also as a training device in the same manner as a bicycle. When used as a training device, it is desirable to be able to objectively observe how much exercise the passenger is receiving. However, when observing the exercise load, it is not convenient because it is necessary to wear a measuring device on the body of the passenger.

  The present invention has been made to solve such a problem. In particular, the ankle joint torque of a passenger who rides on an inverted pendulum type moving body is quantitatively analyzed without wearing a special device such as a sensor. This makes it possible to observe with higher accuracy.

  An inverted pendulum type moving body according to an aspect of the present invention is an inverted pendulum type moving body having a riding section on which a passenger stands and rides, and driving wheels, and detects driving torque of driving wheels that maintain the inverted state. And an output unit that generates and outputs the torque information of the ankle torque applied by the occupant to the riding unit from the drive torque detected by the detection unit, and the output unit is detected by the detection unit When it is determined that the generated drive torque has changed due to the state of the running surface, the output of torque information is interrupted.

  With this configuration, the passenger or an assistant who assists the passenger can objectively grasp the exercise load on the passenger's ankle without wearing a special device such as a sensor on the passenger. In particular, when the output of the driving torque changes due to the state of the running surface such as a step, torque information is not generated and output from the driving torque, so the motion load of the passenger can be estimated more accurately. be able to.

  According to the present invention, it is possible to quantitatively and accurately observe an ankle joint torque of a passenger who rides on an inverted pendulum type mobile body without the trouble of attaching a special device such as a sensor in advance or the trouble associated with the mounting. Can do.

1 is an external perspective view of an inverted motorcycle according to the present embodiment. It is the schematic which shows the main structures of an inverted motorcycle. It is a control block diagram of an inverted motorcycle. It is explanatory drawing explaining the detection principle of an ankle joint torque. It is a figure which shows the mode of training. It is a figure explaining the influence which a road surface defect gives to a detection result. It is a flowchart which shows the control flow in training mode. It is a figure which shows the example of a display during training. It is an external appearance perspective view of the training system concerning other embodiment. It is a figure explaining the influence which a harness wire has on calculation of ankle joint torque.

  Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, all of the configurations described in the embodiments are not necessarily essential as means for solving the problem.

  FIG. 1 is an external perspective view of an inverted two-wheeled vehicle 100 as a training system according to the present embodiment. In this embodiment, the inverted motorcycle 100 is an inverted pendulum type moving body, and the inverted motorcycle 100 will be described as constituting the entire training system.

  The inverted two-wheeled vehicle 100 is configured by mounting a handle 110, a boarding platform 121 straddling left and right, and left and right wheels 131 and 132 on a base 190 constituting the entire skeleton. The handle 110 is composed of a support column connected to the base 190 and a gripping part gripped by the passenger. The handle 110 exhibits a function as an auxiliary support part that assists in maintaining the balance of the passenger by being held by the passenger.

  For example, a weight sensor 120 made of a load cell to which a strain gauge is attached is provided on the support column of the handle 110. The weight sensor 120 detects a load that the passenger pushes or pulls the handle 110. In addition, a display unit 140 is provided at the grip portion of the handle 110 so that the passenger can visually recognize the handle. The display unit 140 is configured by a liquid crystal panel, for example, and presents various information to the passenger.

  The inverted two-wheeled vehicle 100 according to the present embodiment assumes that the rider stands and rides, and the boarding platform 121 functions as a riding section on which the rider places his left foot and right foot. The boarding board 121 may be fixed with respect to the base 190, and a link mechanism may be provided so that the mounting surface is inclined in the left-right direction in accordance with the turning in the left-right direction.

  The left wheel 131 is attached to the left side of the board 121 so as to be deviated to the left side, and is a drive wheel that is driven to rotate by a motor described later. The right wheel 132 is attached to the right side with respect to the center of the board 121 and is a drive wheel that is rotationally driven by a motor to be described later. The left wheel 131 and the right wheel 132 are arranged in parallel on the coaxial core wire. Therefore, if the left wheel 131 and the right wheel 132 rotate in the same direction at the same speed, they move straight, and if they rotate at different speeds, they turn left and right.

  An inverted two-wheeled vehicle 100 according to the present embodiment is a coaxial two-wheeled vehicle that controls the rotation of wheels 131 and 132 that are driving wheels based on an inverted pendulum attitude control model. The control unit to be described later detects the overall posture of the inverted motorcycle 100 on which the passenger has boarded, and controls the rotation drive of the wheels 131 and 132 so that the passenger can stably maintain the boarding state. By such control, the passenger can move the inverted two-wheeled vehicle 100 in that direction by tilting his / her center of gravity in the direction in which he / she wants to move. Tilt forward to move forward, tilt backward to reverse. If it tilts to the right, it turns to the right, and if it tilts to the left, it turns to the left.

  The inverted two-wheeled vehicle 100 according to the present embodiment is a device having a rehabilitation function for a patient having an ankle joint in an ankle to recover an ankle joint function. The inverted motorcycle 100 can apply a load to the patient's ankle joint so that a rehabilitation effect can be expected when the patient tries to continue riding while balancing the inverted motorcycle 100 as a passenger. The load is a load corresponding to the ankle torque generated by the patient at the ankle joint, and a rehabilitation effect can be expected if the ankle torque is large enough for the patient. The inverted two-wheeled vehicle 100 according to the present embodiment has a function of quantitatively presenting ankle joint torque generated by a passenger.

  The inverted motorcycle 100 can be used not only for rehabilitation but also as a traveling device for moving to a destination. When used as a traveling device, not only a patient having an ankle joint disorder but also a healthy person can be used. The inverted motorcycle 100 also turns left and right when the normal mode used as a traveling device is selected. However, when the training mode for rehabilitation is selected, the left and right turn driving is prohibited. The In the following description, it is assumed that a patient having an ankle joint disorder is a passenger.

  As shown in the drawing, the coordinate system of the inverted two-wheeled vehicle 100 is such that the forward direction orthogonal to the axle direction connecting both wheels is the x-axis plus direction, the direction toward the wheel 131 in the axle direction connecting both wheels is the y-axis plus direction, and the x-axis. The direction toward the occupant's head in the direction orthogonal to the y-axis is defined as the z-axis plus direction. In the subsequent drawings, the coordinate system defined here may be shown to indicate its orientation.

  FIG. 2 is a schematic diagram showing the main configuration of the inverted motorcycle 100. Specifically, a state in which a cross section by the yz plane is observed from the x-axis plus side is schematically shown.

  The two left and right wheels 131 and 132 are pivotally supported on the base 190 so that the respective axles 181 and 182 are in a straight line. A motor 161 for driving the left wheel 131 and a motor 162 for driving the right wheel 132 are fixedly disposed on the base 190. The driving force of the motor 161 is transmitted to the axle 181 via the transmission mechanism 171 that also serves as a speed reducer, and drives the wheels 131 to rotate. The driving force of the motor 162 is transmitted to the axle 182 via the transmission mechanism 172 that also serves as a speed reducer, and drives the wheels 132 to rotate. In other words, the wheels 131 and 132 are separately controlled and rotated by motors 161 and 162 and transmission mechanisms 171 and 172 that are independent of each other.

  A torque sensor 170 is provided on the axle 182. Torque sensor 170 detects the motor torque output from motor 162 to wheel 132. The torque sensor 170 is a sensor that employs, for example, a method in which a strain gauge is attached to a shaft to detect torsional deformation of the shaft. In the inverted two-wheeled vehicle 100 in the present embodiment, the torque sensor 170 is provided on the axle 182 and not provided on the axle 181, but may be provided on the axle 181 in order to increase accuracy. When provided on both shafts, the motor torque described later may be calculated by averaging the outputs of the two torque sensors. Further, depending on the accuracy of the motor torque to be detected, instead of providing the torque sensor 170, the current value of the electric power supplied to the motors 161 and 162 may be detected and converted into the motor torque.

  The load sensor 151 is a load sensor embedded in the boarding board 121 and detects that the passenger puts his / her foot on. The load sensor 151 is, for example, a mechanical switch that closes when pressurized.

  The battery 300 is a secondary battery, for example, a lithium ion battery, and supplies power to the motors 161, 162, etc. via a transformer circuit or the like. The secondary battery can be charged with, for example, a household AC power supply, and may be configured to be detachable.

  FIG. 3 is a control block diagram of the inverted motorcycle 100. The control unit 200 is a CPU, for example, and is provided on the base 190. The control unit 200 comprehensively controls each element unit of the inverted motorcycle 100. The drive wheel unit 210 includes drive circuits and motors 161 and 162 for driving the wheels 131 and 132, and the control unit 200 controls the rotation of the wheels 131 and 132 by sending drive signals to the drive wheel unit 210. To do.

  The weight sensor 120 transmits a detection signal to the control unit 200 in response to a request signal from the control unit 200. The detection signal includes, for example, output signals of a plurality of strain gauges attached to the column portion of the handle 110 in different directions, whereby the control unit 200 can detect the direction and magnitude of the load applied to the handle 110 by the passenger. I can grasp the situation.

  Torque sensor 170 transmits a detection signal to control unit 200 in response to a request signal from control unit 200. The control unit 200 calculates the motor torque of the motor 162 output to the wheels 132 to maintain the inverted motorcycle 100 in an inverted state from the detection signal. That is, the torque sensor 170 functions as a detection unit that detects the driving torque of the drive wheel that maintains the inverted motorcycle 100 in an inverted state in cooperation with the control unit 200.

  The posture sensor 150 includes an acceleration sensor and a gyro sensor, and transmits a detection signal to the control unit 200 in response to a request signal from the control unit 200. The control unit 200 recognizes the inverted state of the inverted motorcycle 100 from these detection signals, generates a drive signal necessary for maintaining the inverted state, and transmits the drive signal to the drive wheel unit 210.

  The load sensor 151 transmits a detection signal to the control unit 200 in response to a request signal from the control unit 200. When receiving the detection signal, the control unit 200 recognizes that the passenger has boarded and starts posture control of the inverted pendulum.

  The display unit 140 displays various information presented to the passenger according to the display signal from the control unit 200. When the occupant has selected a training mode in which rehabilitation is performed, in addition to the training menu items and progress, torque information of the occupant's ankle torque calculated by the control unit 200 is displayed. That is, the display unit 140 also functions as an output unit that outputs torque information detected by the detection unit in cooperation with the control unit 200.

  The input receiving unit 142 includes operation members that are operated by the passenger, such as a touch panel provided so as to overlap the liquid crystal panel of the display unit 140 and switches provided on the handle 110. The input receiving unit 142 receives the passenger's input operation and transmits an input signal to the control unit 200. The passenger gives, for example, mode selection and initial input parameters to be described later to the control unit 200 via the input receiving unit 142. That is, the input reception unit 142 functions as an acquisition unit that acquires information and instructions from the user in cooperation with the control unit 200.

  The input / output IF 144 is an input interface for inputting information from an external device and an output interface for outputting information to the external device. The input / output IF 144 is, for example, a wireless LAN or USB. When outputting the torque information to the external device, the control unit 200 outputs the torque information via the input / output IF 144. In this case, the input / output IF 144 functions as an output unit that outputs torque information in cooperation with the control unit 200. The control unit 200 can input initial input parameters and the like from an external device via the input / output IF 144. In this case, the input / output IF 144 functions as an acquisition unit that acquires information on the passenger in cooperation with the control unit 200.

  A series of control programs are stored in the memory 240 in advance, and the control unit 200 reads the control programs from the memory 240 at the time of activation and executes various controls. The memory 240 is a nonvolatile recording medium, and for example, a solid state drive is used. In addition to the control program, the memory 240 records various parameter values, functions, lookup tables, and the like used for control.

  Next, the principle of detecting the occupant's ankle torque using the detected motor torque will be described. FIG. 4 is an explanatory diagram for explaining the detection principle of ankle joint torque. The figure simply shows a state in which the wheel 132 to which the torque sensor 170 is connected and the boarding platform 121 on which the occupant rests the right foot are observed from the right side with respect to the traveling direction.

As shown in the figure, the rotation center position of the wheel 132 is W _A , the ankle joint center position of the right foot is J _A , the center of gravity of the entire rider and the inverted two-wheeled vehicle 100 is P, and the vertical line from P to the boarding surface Let _BP be the foot. Further, the total mass of the occupant and the inverted motorcycle 100 is M, the foot joint torque is T _foot , and the motor torque is T _motor . Further, in the x-axis direction, distance _d fm from _{J A B P,} the distance _d ft from _{J A W A,} from _{W A} distance _{B P} and _{d tm.}

Also, the position of the weight sensor 120 and _{H P,} the force weighted sensor 120 detects an _{F h.} Of F _h, the component perpendicular to the straight line connecting the _{W A} and _{H P} and _{F ha.} Furthermore, the distance of _{W A} and _{H P} and _{d mh.}

First, consider a state where the passenger is not applying force to the handle 110, that is, a case where _Fh is zero. At this time, the vertical force _{F Footv} the vertical force _{F Motorv} and ankle cause the motor to generate the _{B P} are balanced,
F _motorv = F _footv (1)
Holds. If this is replaced with the relational expression of torque,
_Tfoot / _dfm = _Tmotor / _dtm (2)
It becomes. Therefore, the target variable _Tfoot is
T _foot = T _motor · d _fm / d _tm (3)
It is expressed. Also, the distance relationship in the x-axis direction is
d _fm = d _ft + d _tm (4)
Therefore, if this is substituted into equation (3),
T _foot = T _motor · (d _ft / d _tm +1) (5)
It becomes. Since d _tm is the distance from _{W A} in the x-axis direction of the _{B P,}
d _tm = T _motor / (Mg) (6)
It can be expressed as. Here, g is a gravitational acceleration. Then, equation (5) becomes
T _foot = Mg · d _ft + T _motor (7)
Can be solved.

(7) Mg · d _ft of the first term on the right side of the equation includes the unique information of the passenger. Specifically a mass and ankle center position J _A of the occupant. In a simple manner, these assumed values can be set from a standard human body model. For example, if the weight of the passenger is 60 kg, M can be calculated because the mass of the inverted motorcycle 100 is known. The standard value for the foot length is 26 cm. Against statistically foot length, foot joint position J _A is in the 22% position from the heel end, the body of the neutral position is said to be 45% of the positions from the heel end. Considering that the rider gets on the vehicle so that the neutral position of the human body is located on the axle in a stationary state, d _ft = 26 × (0.45-0.22) = 5.98 cm can be set. If such an assumed value is used, the first term can be simply calculated.

  Further, if at least one of the weight of the passenger and the size of the foot is acquired as the initial input parameter via the input receiving unit 142 and the input / output IF 144, the first term can be calculated with higher accuracy. For example, if the load sensor 151 can measure the weight and foot length of the passenger, the values can be automatically acquired when the passenger gets on the boarding platform 121 without being limited to the input by the passenger.

Next, the state in which the rider applies a force to the handle 110, namely consider the case F _h is not zero. Struts of the handle 110 is fixedly installed relative to the base 190, the position _{H P} weighted sensor 120 are the relatively invariant with respect to the rotation center position _{W A} of the wheel _{132, F ha} The direction of is also constant. Accordingly, the control unit 200 can calculate the angle θ of _{F h} and _{F ha} from the detection signal of the weighted sensor _120, the _{F ha,}
F _ha = F _h · cos θ (8)
And can be calculated. When the rider a torque around _{W A} of _{F ha} generated by applying a force to the handle 110 and _{T h,}
T _h = F _ha · d _mh (9)
It is. Therefore, when the passenger applies force to the handle 110, the equation (7) is
T _foot = Mg · d _ft + T _motor −T _h (10)
And can be corrected.

In the above calculation formula, the component F _{hb in} the gravitational direction of F _h is very small and can be ignored in the present embodiment, but is not considered, but if considered, (10) The Mg in the formula _may be replaced with Mg—F _hb .

Here, the first term Mg · d _{ft on the} right side of Equation (10) can be regarded as a fixed value that is determined when the passenger gets on boarding board 121. On the other hand, the value _{T motor} -T _h of the second term and the third term, which varies moment by moment in the period in which the inverted two-wheel vehicle 100 is performing an inverted control (10) right side of the equation. The value of T _motor -T _h, the output of the torque sensor 170, can be tracked by monitoring the output of the weighted sensor 120. That is, the variation component of the ankle joint torque _{T foot is} said to be _{T motor} -T _h. Thus, aging of the ankle joint torque _{T foot} control unit 200 calculates and outputs _are correlated with time course of _{T motor} -T _h.

From such a relationship, as the torque information ankle torque, if you want to output time variation is may be output only T _motor -T _h. Consideration when you want to output the actual value of the ankle joint torque simply is to the T _motor -T _h may be output by adding the assumed value, when it is desired to more accurately output also specific information of the passenger And output. In either case, the control unit 200 generates torque information of the ankle joint by calculating the _{T motor} -T _h from the output of the torque sensor 170 and the weighted sensor 120. In other words, it can be said that the ankle joint torque is estimated based on the motor torque and the load applied to the handle 110.

  According to the device for estimating the ankle joint torque based on such a principle, the ankle of the patient can be obtained without the trouble of wearing a special device such as a sensor for measuring the muscular strength in advance for the patient who performs training as in the past. The exercise load can be objectively grasped. In addition, the ankle torque of the patient on board can be observed quantitatively and almost in real time, so training that dynamically adjusts the training time, target load, etc. according to the patient's achievement status can be performed. it can. Also, even if the passenger leans on the handle 110 to maintain balance, the ankle torque at that time can be calculated more accurately, so training for obtaining a rehabilitation effect can be performed more reliably. Can do.

  In the above equations (1) to (10), the acceleration in the horizontal direction (x-axis direction) is not considered. That is, in a situation where the inverted two-wheeled vehicle 100 moves in the horizontal direction with acceleration, it can be said that the expression (10) is not accurate. However, in actual control, from the viewpoint of passenger safety, since movement control with rapid acceleration is hardly performed, the influence of the horizontal acceleration component on the equation (10) is relatively small. Therefore, practically, torque information generated based on the equation (10) is sufficient. However, in order to perform more accurate torque estimation, calculation may be performed using the output of the torque sensor 170 when the inverted motorcycle 100 is not generating acceleration in the horizontal direction.

  Similarly, when it is desired to eliminate the influence of angular acceleration around the z-axis during turning, the calculation may be performed using the output of the torque sensor 170 when the inverted motorcycle 100 is not turning. In addition, since turning movement is prohibited in the training mode described below, the torque information output during the training mode cannot include the influence of angular acceleration around the z axis.

  FIG. 5 is a diagram showing a state of training using the inverted motorcycle 100. The calculation of the ankle torque may be influenced by the state of the road surface that is the traveling surface on which the inverted two-wheeled vehicle 100 travels, in addition to the effects of acceleration and angular velocity described above.

  When training is performed to reciprocate on the road surface 400 by switching to the training mode, for example, if a step 410 as illustrated is present on the road surface 400, the motor outputs torque for the inverted motorcycle 100 to get over the step 410. That is, a relatively large torque corresponding to the road surface defect is added to or subtracted from the motor torque corresponding to the foot joint torque, and a large torque change occurs as a whole.

FIG. 6 is a diagram for explaining the influence of road surface defects on detection results. FIG. 6A shows an example of the motor torque detected when the training mode is executed. The horizontal axis is the elapsed time, and the vertical axis is the motor torque detected by the torque sensor 170. As shown in the figure, it can be seen that there is a sudden change in the motor torque at times t ₁ and t ₂ . In addition to the existence of the steps shown in FIG. 5, the road surface failure may be considered when the road surface is wet. Applicant has obtained the knowledge that many of the changes in motor torque due to road surface failure converge suddenly by changing the value suddenly from the previously detected value. .

FIG. 6 (b) is obtained by differentiating the motor torque of FIG. 6 (a) with respect to time. The horizontal axis is the elapsed time, and the vertical axis is the differential value. With this observation of the differential value of the motor torque, when encountered road surface defect, the differential value is approximately + or greater than D _0, was found to be less than -D _0. Therefore, in this embodiment, defines a D ₀ as a threshold, if the absolute value of the differential value of the detected motor torque exceeds this threshold value, for a predetermined time t _0, it suspends the calculation of the ankle joint torque. Thus, by interrupting the calculation of the ankle torque, it is possible to prevent presenting incorrect ankle torque information.

D ₀ may be selected and set according to the condition of the road surface 400 on which the inverted motorcycle 100 is driven. The optimum value of D ₀ varies depending on, for example, whether indoors or outdoors, or whether the floor is coated with wax even indoors. Therefore, assuming the status of a road surface 400 the inverted two-wheel vehicle 100 is used, it is advisable to set the D ₀ in each situation by an experiment or the like in advance.

As for the interrupted predetermined time t _0, previously determined by an experiment or the like in advance according to the time variation of the motor torque converges. The predetermined time t ₀ may also be determined and selected according to the situation of the road surface 400 on which the inverted two-wheeled vehicle 100 travels.

  FIG. 7 is a flowchart showing a control flow in the training mode. The flow starts when the power of the inverted motorcycle 100 is turned on and the training mode program is read from the memory 240.

  In step S101, the control unit 200 waits until the patient gets on board. Specifically, when acquiring the constant load detection signal from the load sensor 151, the control unit 200 determines that the patient has boarded and proceeds to step S102.

  In step S102, the control unit 200 starts assignment of a task as training. For example, the task is to continuously display messages such as “Please move forward” and “Please move backward” on the display unit 140 and prompt the patient to perform an operation according to the message. When the training starts, the control unit 200 starts obtaining the detection signal of the torque sensor 170, calculates the torque information of the ankle joint torque as described above, and displays the result on the display unit 140.

In step S103 during training, the control unit 200 continuously acquires the detection signal of the torque sensor 170 and monitors the differential value. Then, the absolute value of the differential value D | D | is, determines whether or not exceeded the threshold value D ₀ determined in advance. If it is determined that it has not exceeded, the process proceeds to step S104, the ankle torque is calculated, the information is displayed on the display unit 140, and the process proceeds to step S106. If a determination most exceeds the flow proceeds to step S105, interrupt the operation of Maashi joint torque for a predetermined time t _0, the process proceeds to step S106.

  In step S106, the control unit 200 determines whether or not assignment of tasks as training has been completed. If it is determined that it has not ended, the process returns to step S103 and the training program is continued. If it is determined that the process has been completed, the process proceeds to step S107. In step S107, the control unit 200 displays a confirmed training result on the display unit 140 or executes a termination process for performing stop control for the patient to get off, and when the process is completed, the series of processes is terminated.

FIG. 8 is a diagram illustrating a display example of the display unit 140 during training. The graph shows the foot joint torque _Tfoot as the load (vertical axis) along with the passage of time (horizontal axis). The current T _foot is indicated by an asterisk, the waveform scrolls to the left as a whole, and the past waveform is erased from the left end. The pass line indicates the pass reference value, and if the waveform exceeds this line, “◯” is displayed in the determination column. If the waveform does not reach this line, “x” is shown in the determination column. The number of remaining to reach the target number s ₀ is shown.

As shown in the figure, when the absolute value | D | of the differential value exceeds the threshold load D ₀ during the training, the control unit 200 deletes the star mark indicating the current T _foot and sets the constant time t _0. This period may be displayed in gray. In addition, the notification process may be performed by displaying a message such as “Poor road surface!”. Control unit 200, this period may be stops outputting the torque information may output the torque information by adding additional information such as a flag indicating that exceeds閾荷heavy D _0. When recording the torque information as a continuous log, it is preferable to record it including additional information.

  According to the inverted motorcycle 100 according to the present embodiment as described above, a passenger who is a patient or an assistant who assists the patient does not wear a special device such as a sensor on the passenger, The exercise load can be grasped objectively. In particular, when the output of the driving torque changes due to the state of the running surface such as a step, torque information is not generated and output from the driving torque, so the motion load of the passenger can be estimated more accurately. be able to.

  FIG. 9 is an external perspective view of a training apparatus 500 according to another embodiment. The training apparatus 500 is a training system that includes an inverted motorcycle 100 ′ having substantially the same configuration as the inverted motorcycle 100 described above as a part of the configuration. In addition to the inverted motorcycle 100 ′, the training apparatus 500 mainly includes a harness tension part 512 attached to a frame 530 that forms the entire skeleton. The passenger moves the inverted two-wheeled vehicle 100 ′ on the traveling surface surrounded by the frame 530 for training.

  The frame 530 supports a control panel 533 that houses an overall control unit 520 that controls a motor and a sensor, a display unit 538 that is a liquid crystal panel, for example, and displays the progress of training. Further, the frame 530 supports the harness pulling portion 512 in the vicinity of the passenger's head. The overall control unit 520 is, for example, a CPU, and communicates with the control unit 200 ′ included in the inverted motorcycle 100 ′ to control the entire training apparatus 500 as a whole.

  The training device 500 includes a safety device that mainly includes the brace 510, the harness wire 511, and the harness pulling portion 512. The brace 510 is a belt wound around the occupant's waist, and is fixed to the lumbar by, for example, a hook-and-loop fastener. The brace 510 is connected to one end of a harness wire 511 that is a hanger.

  The other end of the harness wire 511 is connected to the winding mechanism of the harness pulling portion 512. The winding mechanism of the harness pulling portion 512 winds or unwinds the harness wire 511 by turning on / off a motor (not shown). The harness tensioning part 512 includes a motor (not shown) and functions as a driving part that lifts and suspends the harness wire 511. With such a configuration, the safety device stabilizes the passenger by supporting the upper body of the passenger when the passenger is about to lose balance.

  In such a device configuration, the harness wire 511 mounted on the occupant's lower back portion serves as an auxiliary support portion that assists in maintaining the balance of the occupant. At this time, the load cell included in the harness pulling unit 512 detects the tensile force F that causes the passenger to pull the harness wire 511 when the passenger is about to lose balance.

Here, when the detected tensile force F exceeds a predetermined threshold value F ₀ , the control unit 200 determines that the ankle joint torque cannot be calculated correctly. FIG. 10 is a diagram for explaining the influence of the harness wire 511 on the calculation of the ankle joint torque. The horizontal axis is the elapsed time, and the vertical axis is the motor torque detected by the torque sensor 170.

As shown in the figure, it can be seen that there is a change in the motor torque exceeding the threshold value F ₀ at time t ₃ . When detecting this change, the control unit 200 interrupts the calculation of the ankle joint torque for a predetermined time t ′ ₀ . Thus, by interrupting the calculation of the ankle torque, it is possible to prevent presenting incorrect ankle torque information. In addition, the control unit 200 may resume the calculation of the ankle joint torque Once below the threshold value F _0.

100, 100 'inverted motorcycle, 110 steering wheel, 120 weight sensor, 121 boarding board, 131, 132 wheels, 140 display unit, 142 input receiving unit, 144 input / output IF, 150 attitude sensor, 151 load sensor, 161, 162 motor, 170 Torque sensor, 171, 172 Transmission mechanism, 181, 182 Axle, 190 Base, 200, 200 ′ Control unit, 210 Drive wheel unit, 240 Memory, 300 Battery, 400 Road surface, 410 Step, 500 Training device, 510 Equipment, 511 Harness wire, 512 Harness tension part, 520 Overall control part, 530 frame, 533 Control panel, 538 Display part

Claims (1)

An inverted pendulum type moving body having a riding section on which a passenger stands and boarding, and a drive wheel,
A detection unit for detecting a driving torque of the driving wheel that maintains an inverted state;
An output unit that generates and outputs the torque information of the ankle torque that the occupant is applying to the riding unit from the driving torque detected by the detection unit;
The output pendulum type moving body that interrupts the output of the torque information when the output unit determines that the drive torque detected by the detection unit has changed due to a state of a running surface.

Images