JP6265148B2 - Inverted motorcycle - Google Patents

Description

  The present invention relates to an inverted motorcycle.

  2. Description of the Related Art There is an ankle exercise apparatus that exercises by giving a motion to a user's ankle joint by swinging a tread. Patent Document 1 discloses an ankle joint exercise device including a tread (pedal part) having a sensor that detects a load on a user's heel side and toe side. In this ankle joint exercise device, training can be stopped by detecting a user's abnormality. Further, the above-described training can be performed using an inverted two-wheeled carriage including a configuration similar to that of the ankle joint exercise device.

JP 2008-061964 A

  By the way, when a patient having a rigid foot performs the above-described training using the ankle joint exercise device disclosed in Patent Document 1, the entire sole may not be placed on the tread. It is conceivable to determine the degree of recovery of foot stiffness based on detection of a load by a sensor. However, it is difficult to discriminate between a state where the outer or inner part of the sole is placed on the tread and a state where the entire sole is placed on the tread. Therefore, there is room for improvement in the determination accuracy of the degree of recovery of leg stiffness.

  The present invention provides an inverted two-wheeled carriage with a low risk of erroneous determination of the degree of recovery of leg stiffness.

The inverted motorcycle according to the present invention is
An inverted two-wheel carriage comprising a tread on which a passenger's foot is placed and a load pressure sensor group provided on the tread, and used as a center of gravity swing training device,
It has a recovery degree determination unit,
The tread includes a buttocks, a thumb side, and a little finger side,
The load pressure sensor group includes a buttocks load pressure sensor provided on the buttocks, a thumb side load pressure sensor provided on the thumb side, and a little finger side load pressure provided on the little finger side. A sensor,
After the start of the center-of-gravity swing training, the recovery degree determination unit is a load in which each of the buttocks load pressure sensor, the thumb side load pressure sensor, and the little finger side load pressure sensor is greater than a predetermined load value. When the ratio Rt of Tg, which is the time from the detection to the end of the center of gravity swing training, and Ts, the time from the start to the end of the center of gravity swing training, exceeds a predetermined value, Judge as recovered.

  According to such a structure, the tread corresponding to each of a plurality of parts of a foot is provided, and the load of each part can be detected. It is possible to distinguish between a state where the outer part or the inner part of the sole is placed on the tread and a state where the entire sole is placed on the tread. Therefore, in this center-of-gravity swing training, there is little risk of erroneous determination of the degree of recovery of leg stiffness.

  ADVANTAGE OF THE INVENTION According to this invention, the inverted two-wheeled cart with a small possibility of misjudging determination of the recovery | restoration degree of the leg stiffness can be provided.

1 is a perspective view of an inverted two-wheel carriage according to a first embodiment. 1 is an example of a main part of an inverted two-wheel carriage according to a first embodiment; 3 is a flowchart showing a control method of the inverted two-wheeled carriage according to the first embodiment. It is a graph which shows the recovery criteria with respect to a training task level. It is a schematic diagram which shows the modification of the principal part of the inverted two-wheel trolley | bogie concerning Embodiment 1. FIG. It is a schematic diagram which shows another modification of the principal part of the inverted two-wheeled carriage concerning Embodiment 1. FIG. 1 is a block configuration diagram of an inverted two-wheel vehicle according to a first embodiment. FIG.

Embodiment 1 FIG.
The configuration of the inverted two-wheeled carriage according to the first embodiment will be described with reference to FIGS. FIG. 1 is a perspective view of an inverted two-wheel vehicle according to the first embodiment. FIG. 2 is an example of a main part of the inverted two-wheel vehicle according to the first embodiment. FIG. 7 is a block diagram of the inverted two-wheel vehicle according to the first embodiment.

  As shown in FIG. 1, the inverted two-wheeled carriage 100 includes a main body 1, boarding platforms 2 </ b> R and 2 </ b> L, treads 3 </ b> R and 3 </ b> L, wheels 4 </ b> R and 4 </ b> L, and a handle 5. In FIG. 1, three-dimensional XYZ is defined. Here, the forward direction of the inverted two-wheeled carriage 100 is the −X direction, and the right direction thereof is the Y direction. The inverted two-wheel carriage 100 can also be used as a center-of-gravity swing training device that trains a passenger to swing the center of gravity. This passenger may have, for example, stiff legs.

  The main body 1 includes a control unit 9 (see FIG. 7) that controls driving of the wheels 4R and 4L, and a motor 10 (see FIG. 7) that drives the wheels 4R and 4L. The controller 9 is connected to a power source (not shown), and is supplied with current as necessary. The control unit 9 includes, for example, an arithmetic circuit having a CPU (Central Processing Unit), a storage device having a program memory, a data memory, other RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The control unit 9 includes a program memory and a data memory for controlling so that the inverted two-wheeled carriage 100 can be used as a center of gravity swing training apparatus. Moreover, the control part 9 is provided with the program memory and data memory for controlling so that the inverted two-wheeled carriage 100 may be in an inverted state as needed.

  The boarding bases 2R and 2L are respectively installed on both sides of the main body 1, and the wheels 4R and 4L are rotatably installed below the boarding bases 2R and 2L (here, in the −Z direction). The main body 1 supports the treads 3R and 3L so as to be rotatable. A load pressure sensor group 7 (see FIG. 7) and a posture angle sensor group 8 (see FIG. 7) are provided on the treads 3R and 3L. The treads 3R and 3L are plates on which the passenger's feet are placed. The load pressure sensor group 7 detects the load pressure applied to the treads 3R, 3L, and the attitude angle sensor group 8 detects the attitude angle of the treads 3R, 3L.

  An example of the tread board 3R will be described. As shown in FIG. 2, the tread plate 3 </ b> R includes a collar portion 31, a thumb side portion 32, and a little finger side portion 33. The collar part 31 is disposed on the rear side of the inverted two-wheeled carriage 100, and the thumb side part 32 and the little finger side part 33 are disposed in front of the collar part 31 (here, in the −X direction). The little finger side portion 33 is arranged on the right side (here, the Y direction) than the thumb side portion 32. When the entire sole of the passenger's foot f0 is placed on the tread 3R, the heel part 31 places the heel part of the foot f0, the thumb side part 32 places the thumb side part of the foot f0, and the little finger side part 33 places the foot f0. The little finger side portion is placed. The collar portion 31, the thumb side portion 32, and the little finger side portion 33 may be formed by dividing a single plate.

  The collar 31 is rotatably supported on the boarding base 2R (see FIG. 1) via a hinge 34, and the thumb side part 32 is rotatably supported on the boarding base 2R via a hinge 35. Has been. Further, the little finger side portion 33 is rotatably supported by the boarding base 2R via a hinge 36. The load pressure sensor group 7 includes a heel side load pressure sensor 71, a thumb side load pressure sensor 72, and a little finger side load pressure sensor 73. The heel side load pressure sensor 71 is installed in the heel part 31. Further, the thumb side load pressure sensor 72 is installed on the thumb side portion 32, and the little finger side load pressure sensor 73 is installed on the little finger side portion 33. The thumb-side load pressure sensor 72 is preferably installed at a position corresponding to the thumb ball of the passenger's foot f0, and the little finger-side load pressure sensor 73 is preferably installed at a position corresponding to the little finger ball of the passenger's foot f0. Specifically, the thumb ball is the base of the thumb of the passenger's foot, and the little finger ball is the base of the little finger of the passenger's foot. When the rider's feet are placed on the surface of the treads 3R, 3L, etc., the center of gravity is often obtained at the three points of the heel, the thumb ball, and the little finger ball on the sole. In that case, the heel, the thumb ball, and the little finger ball strongly press against the surface of the treads 3R, 3L, etc., and a load is applied. The tread 3L has the same configuration as the tread 3R except that the tread 3L is symmetrical with respect to the axis of the main body 1. For example, in the tread 3L, the little finger side portion 33 is disposed on the left side (here, the −Y direction) of the thumb side portion 32.

  The handle 5 includes a rod 5a, a connecting portion 5b, a support rod 5c, and a handle bar 5d. The rod 5a extends upward from the front side of the main body 1 and is connected to the support rod 5c via the connection portion 5b. The support rod 5c extends to the upper rear side of the main body 1 and supports the handle bar 5d. Grips 5eR and 5eL are respectively installed at both ends of the handle bar 5d.

  Next, the control system of the inverted motorcycle 100 will be described.

  As shown in FIG. 7, the control unit 9 includes a sole ratio calculation unit 91, a recovery degree determination unit 92, a target generation unit 93, and a motor driver 94.

  The sole ratio calculation unit 91 receives load pressure information from the load pressure sensor group 7 and calculates a ratio Rt between the sole contact time Tg and the center of gravity swing time Ts based on the load pressure information. The ratio Rt corresponds to the ratio of the time when the entire foot of the passenger is placed on the treads 3R, 3L.

  The degree-of-recovery determination unit 92 calculates the degree of recovery of the passenger based on the ratio Rt between the sole contact time Tg and the center-of-gravity swing time Ts. For example, when the ratio Rt between the sole contact time Tg and the center-of-gravity swing time Ts exceeds the threshold, it is determined as “recovered”, and when it does not exceed, the determination is “not recovered”.

  The target generation unit 93 receives posture angle information from the posture angle sensor group 8 and calculates a target torque value based on the posture angle information. The target torque value may be set according to the task level of the center of gravity swing training.

  The motor driver 94 receives the target torque value from the target generation unit 93 and supplies the motor 10 with current for driving the wheels 4R and 4L based on the target torque value. The motor 10 obtains current from the motor driver 94 and drives the wheels 4R and 4L.

Control method.
Next, the control method of the inverted two-wheeled carriage according to the first embodiment will be described with reference to FIG. FIG. 3 is a flowchart illustrating a method of controlling the inverted two-wheel vehicle according to the first embodiment.

  First, measurement and determination of the degree of recovery of the passenger's feet are started (measurement determination start step S1), and it is determined whether or not the inverted two-wheeled carriage 100 is in the center of gravity swing mode state (center of gravity swing mode determination step). S2). The center of gravity swing mode state is a state in which the inverted two-wheel carriage 100 is controlled as a center of gravity swing device. The passenger can perform the center of gravity swing training by setting the inverted two-wheeled carriage 100 to the center of gravity swing mode. When it is determined that the inverted two-wheeled carriage 100 is in the center of gravity swing mode state (YES: center of gravity swing mode determination step S2), the center of gravity swing time Ts is measured (center of gravity swing time count up step S3). The center-of-gravity swing time Ts is, for example, the time from when it is determined that the inverted two-wheeled carriage 100 is in the center-of-gravity swing mode state to when the center-of-gravity swing mode state is canceled. The center-of-gravity swing time Ts corresponds to the time when the passenger has performed center-of-gravity swing training. Specifically, the measurement of the center-of-gravity swing time Ts starts from time t1 when it is determined that the inverted two-wheeled carriage 100 is in the center-of-gravity swing mode.

  Subsequently, load pressure information is acquired from the heel side load pressure sensor 71, the thumb side load pressure sensor 72, and the little finger side load pressure sensor 73 (load pressure information acquisition step S4). It is determined whether or not the heel side load pressure sensor 71, the thumb side load pressure sensor 72, and the little finger side load pressure sensor 73 detect a load larger than a predetermined load value. ON determination step S5). The predetermined load value is a value when the passenger's heel, thumb ball, and little finger ball are placed on the heel part 31, the thumb side part 32, and the little finger side part 33, respectively. When the passenger is stepping on the tread 3R with the entire right foot sole, the heel side load pressure sensor 71, the thumb side load pressure sensor 72, and the little finger side load pressure sensor 73 detect a load greater than a predetermined load value.

  Subsequently, the sole contact time Tg is measured (the sole contact time count-up step S6). The measurement of the sole contact time Tg starts from time t2 when the heel side load pressure sensor 71, the thumb side load pressure sensor 72, and the little finger side load pressure sensor 73 detect a load greater than a predetermined load value. When a load smaller than a predetermined load value is detected, the measurement may be interrupted. The sole contact time Tg corresponds to the time when the passenger steps on the foot plate 3R with the entire sole.

Subsequently, a ratio Rt between the sole contact time Tg and the center-of-gravity swing time Ts is calculated (step S7 for calculating the sole contact time / center-of-gravity swing time). At the time t3 when the center of gravity swing training ends, the measurement of the sole contact time Tg and the center of gravity swing time Ts ends. The ratio Rt is obtained using the following formula 1.
Rt = Tg / Ts (Formula 1)

  Subsequently, the degree of recovery is determined based on the ratio Rt between the sole contact time Tg and the center-of-gravity swing time Ts (recovery level determination step S8). The degree of recovery is determined, for example, by determining whether the ratio Rt between the sole contact time Tg and the center of gravity swing time Ts is greater than or less than a predetermined determination value.

  For example, as shown in FIG. 4, a predetermined determination value may be provided according to the task level of the center of gravity swing training. FIG. 4 is a graph showing recovery criteria for the training task level. The recovery criterion is a foot contact determination value. For example, when the sole contact time Tg exceeds the sole contact determination value, it is determined as “recovered”, and when it does not exceed, it is determined as “unrecovered”. As the task level of the center of gravity swing training becomes difficult, the determination value is set higher. In addition, the magnitude | size of rocking | fluctuation becomes large as the subject level of gravity center rocking | fluctuation training becomes difficult.

  Finally, measurement and determination of the degree of recovery of the passenger's feet are completed (measurement determination end step S9). In addition, when measuring determination again, it returns to measurement determination start step S1.

  As described above, according to the inverted two-wheel vehicle according to the first embodiment, the tread has a plurality of parts, and the plurality of parts are independent of each other. It is possible to distinguish between a state where the outer part or the inner part of the sole is placed on the tread and a state where the entire sole is placed on the tread. Even if the passenger steps on a part of the tread board, there is little risk of erroneously detecting the passenger's boarding. Therefore, in this center-of-gravity swing training, there is little risk of erroneous determination of the degree of recovery of leg stiffness.

  In addition, according to the inverted two-wheeled carriage according to the first embodiment, the tread board portions correspond to the heel, thumb side, and little finger side, which are the sole portions, and a plurality of load pressure sensors ground each of these portions. To detect. There is less risk of erroneous detection of passengers.

  Further, according to the inverted two-wheeled carriage according to the first embodiment, it is possible to determine the degree of recovery in consideration of the presence or absence of the foot contact during the center of gravity swing training.

Modified example.
Next, a modified example of the inverted two-wheel vehicle according to the first embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 is a schematic diagram illustrating a modified example of the main part of the inverted two-wheel vehicle according to the first embodiment. FIG. 6 is a schematic diagram illustrating another modification of the main part of the inverted two-wheel vehicle according to the first embodiment.

  A tread 23R shown in FIG. 5 is a modification of the tread 3R. The tread plate 23 </ b> R includes a heel portion 231, a thumb ball portion 232, and a little finger ball portion 233. The sensor group 27 includes a heel side load pressure sensor 271, a thumb side load pressure sensor 272, and a little finger side load pressure sensor 273. The heel part 231, the thumb ball part 232, and the little finger ball part 233 are substantially square plates. The length of one side of the heel part 231, the thumb ball part 232, and the little finger ball part 233 is shorter than the length of the foot f0 in the short direction (here, the Y direction). The heel-side load pressure sensor 271 is installed near the center of the heel portion 231, and the thumb-side load pressure sensor 272 is installed near the center of the thumb ball portion 232. The little finger side load pressure sensor 273 is installed near the center of the little finger ball portion 233. The heel part 231, the thumb ball part 232, and the little finger ball part 233 are arranged according to the passenger's foot f0. Specifically, the heel portion 231 is positioned in the vicinity of the heel f1 of the passenger's foot f0, while the toe ball portion 232 is positioned in the vicinity of the phalangeal ball f2 of the passenger's foot f0, while the little finger ball portion 233 is It is located in the vicinity of the little finger ball f3 of the passenger's foot f0. Since the heel part 231, the thumb ball part 232, and the little finger ball part 233 are substantially square plates, they can be arranged at preferred positions according to the shape of the passenger's foot f0. Thereby, the load from the passenger's foot f0 can be detected more appropriately.

  Subsequently, a tread 33R shown in FIG. 6 is another modification of the tread 3R. The footboard 33R includes a central portion 331, a thumb side portion 332, and a little finger side portion 333. The sensor group 37 includes a heel side load pressure sensor 371, a thumb side load pressure sensor 372, and a little finger side load pressure sensor 373. The thumb side portion 332, the center portion 331, and the little finger side portion 333 are substantially rectangular plates, and are sequentially arranged in a direction (here, Y direction) from the thumb ball f2 of the passenger's foot f0 to the little finger ball f3. . The longitudinal direction of the thumb side portion 332, the central portion 331, and the little finger side portion 333 is along the longitudinal direction of the passenger's foot f0. The longitudinal direction of the passenger's foot f0 is along the front-rear direction (here, the X direction) of the inverted two-wheeled carriage 100. The length in the longitudinal direction of the thumb side portion 332, the central portion 331, and the little finger side portion 333 is the same as or longer than the length in the longitudinal direction of the passenger's foot f0. The central portion 331, the thumb side portion 332, and the little finger side portion 333 may be formed by dividing one plate.

  The heel side load pressure sensor 371 is installed on the rear side of the central portion 331, and the thumb side load pressure sensor 372 is installed on the front side of the thumb side portion 332. The little finger side load pressure sensor 373 is installed on the front side of the little finger side portion 333. The heel-side load pressure sensor 371, the thumb-side load pressure sensor 372, and the little finger-side load pressure sensor 373 may be arranged according to the passenger's foot f0. Specifically, the heel side load pressure sensor 371 is disposed so as to hit the heel f1 of the passenger's foot f0. Further, the thumb side load pressure sensor 372 is disposed so as to hit the thumb ball f2 of the passenger's foot f0, and the little finger side load pressure sensor 373 is disposed so as to contact the little finger ball f3 of the passenger's foot f0. This reduces the risk of erroneous determination of the degree of recovery of leg stiffness during the center of gravity swing training.

  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, the control unit 9 according to the first embodiment drives the wheels 4R and 4L based on the posture angle information, but the control unit 9 may drive the wheels 4R and 4L based on the center of gravity information. In such a case, the control unit 9 includes a center of gravity determination unit. The center of gravity determination unit receives the load pressure information from the load pressure sensor group 7 and determines the center of gravity of the passenger. The target generation unit generates a target torque value based on the passenger's center of gravity determined by the center of gravity determination unit. Similar to the first embodiment described above, it is possible to determine the degree of recovery in consideration of the presence or absence of sole contact during the center of gravity swing training.

  The balance ability of the passenger can also be determined using the balance determination value as the recovery degree determination criterion. The balance determination value is a predetermined value of the distance from the center of the center of gravity that has changed due to rocking. As shown in FIG. 4, the balance determination value is set according to the task level of the center-of-gravity swing training. For example, if the distance from the center of the center of gravity changed by the swing exceeds the balance determination value, it is determined as “recovered”, and if not exceeded, it is determined as “unrecovered”.

100 Inverted two-wheel carriage 3R, 3L, 23R, 23L, 33R, 33L Footboards 7, 27, 37 Load pressure sensor group 91 Sole ratio calculation unit 92 Recovery degree determination unit 31, 231, 331 Hip (central part)
32, 232, 332 Thumb side (thumb ball part)
33, 233, 333 Little finger side (little ball part)
71,271,371 heel side load pressure sensor 72,272,372 thumb side load pressure sensor 73,273,373 little finger side load pressure sensor

Claims (1)

An inverted two-wheel carriage comprising a tread on which a passenger's foot is placed and a load pressure sensor group provided on the tread, and used as a center of gravity swing training device,
It has a recovery degree determination unit,
The tread includes a buttocks, a thumb side, and a little finger side,
The load pressure sensor group includes a buttocks load pressure sensor provided on the buttocks, a thumb side load pressure sensor provided on the thumb side, and a little finger side load pressure provided on the little finger side. A sensor,
After the start of the center-of-gravity swing training, the recovery degree determination unit is a load in which each of the buttocks load pressure sensor, the thumb side load pressure sensor, and the little finger side load pressure sensor is greater than a predetermined load value. When the ratio Rt of Tg, which is the time from the detection to the end of the center of gravity swing training, and Ts, the time from the start to the end of the center of gravity swing training, exceeds a predetermined value, An inverted motorcycle that is judged to have been recovered.

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