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公开(公告)号：EP2328055A4
公开(公告)日：2014-07-16
申请号：EP09814338
申请日：2009-02-25
CPC分类号： B62K1/00 , A63H17/25 , B25J5/007 , B60L3/0038 , B60L15/20 , B60L2200/14 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K11/007 , B62K17/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
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公开(公告)号：EP2664526A1
公开(公告)日：2013-11-20
申请号：EP13160823.4
申请日：2013-03-25
发明人： Muto, Yusuke , Makoto, Mitsukawa , Yokoi, Motoharu , Mori, Yasuka
CPC分类号： B62K3/007 , B60B19/003 , B60B19/12 , B62H1/12 , B62K1/00 , B62K11/007
摘要： Object
To provide an inverted pendulum type vehicle on which an occupant can get easily in a forwardly directed posture from the rear of a vehicle body.
Solving Means
An inverted pendulum type vehicle 1 which includes a seat 200 for being seated includes a main wheel 52 driven based on inverted pendulum control, a vehicle body frame 10 which supports the main wheel, and a tail wheel 82 attached to a tail wheel arm 78 supported for pivotal motion on the vehicle body frame. The seat is attached to the vehicle body frame so as to be positioned at an uppermost portion of the vehicle body. The vehicle body frame pivots rearwardly around an axle 54 of the driving wheel together with the seat upon cancellation of the inverted pendulum control and the range of pivotal motion thereof is limited by contact thereof with the arm.摘要翻译： 本发明的目的是提供一种倒立摆式车辆，乘客可以容易地从车体后方以前向姿势行驶。 解决方案包括用于就座的座椅200的倒立式车辆1包括基于倒立摆控制驱动的主轮52，支撑主轮的车体框架10和附接到尾轮臂的尾轮82 78支承在车身框架上的枢转运动。 座椅安装在车身框架上以便位于车身的最上部。 在取消倒立摆控制时，车身框架与座椅一起围绕驱动轮的轴54向后枢转，并且其枢转运动的范围通过与臂接触而被限制。
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公开(公告)号：EP2664524A1
公开(公告)日：2013-11-20
申请号：EP13156772.9
申请日：2013-02-26
CPC分类号： B62K1/00 , B62K11/007
摘要： An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less.
摘要翻译： 倒立摆型车辆在不与地面接触时防止行驶操作单元高速行驶。 接地点速度检测器对由接地点水平加速度计算器计算出的接地点水平加速度进行积分，以计算车轮的接地点处的加速度。 确定器计算地面接触点速度。 确定器基于接地点速度与第一期望速度之间的速度差来设定速度阈值。 如果第一期望速度达到或大于速度阈值，则确定器确定第一行驶操作单元的车轮空转并且将由第一控制处理器设定的第一期望速度限制为速度阈值或更小。
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公开(公告)号：EP2664523A1
公开(公告)日：2013-11-20
申请号：EP13156526.9
申请日：2013-02-25
CPC分类号： B62D11/003 , B60B19/003 , B62H7/00 , B62K1/00 , B62K11/00 , B62K11/007 , B62K17/00 , Y02T10/7258
摘要： An inverted pendulum type vehicle with a tiltable rider mounting section has a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other.
摘要翻译： 具有可倾斜骑乘者安装部分的倒立式车辆具有第一行驶操作单元和第二行驶操作单元，所述第一行驶操作单元和第二行驶操作单元沿纵向方向在它们之间设置有间隔并且能够在所有方向上行进。 在要使车辆的预定代表点或第一行驶操作单元向右或向左移动的情况下，控制第一行驶操作单元和第二行驶操作单元的行驶操作，使得第一行驶操作单元和第二行驶操作单元的行驶速度 行驶操作单元和第二行驶操作单元在横向上的行驶速度彼此不同。
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公开(公告)号：EP2470416A1
公开(公告)日：2012-07-04
申请号：EP10812484.3
申请日：2010-08-10
IPC分类号： B62K1/00
CPC分类号： B62K19/20
摘要： A bicycle frame comprising a first tubular member having a first interface portion, and a second tubular member having a second interface portion engaged with the first interface portion to create a joint. The joint includes a peripheral channel having a depth that is greater than a wall thickness of the first tubular member, and a weld is positioned in the peripheral channel. To enhance the transition from the first main portion to the second main portion, the second tubular member can include a fillet surface between the second main portion and the second interface portion. The fillet surface is contoured to provide a smooth transition between the top tube and the head tube. An outer surface of the first interface portion can be offset from an outer surface of the first main portion to thereby create a shoulder.
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46.发明公开FALL PREVENTION CONTROLLER AND COMPUTER PROGRAM 有权FALLVERHINDERUNGSSTEUERGERÄTUND COMPUTERPROGRAMMDAFÜR
公开(公告)号：EP2328055A1
公开(公告)日：2011-06-01
申请号：EP09814338.1
申请日：2009-02-25
CPC分类号： B62K1/00 , A63H17/25 , B25J5/007 , B60L3/0038 , B60L15/20 , B60L2200/14 , B60L2240/423 , B60L2260/34 , B60L2260/44 , B62K11/007 , B62K17/00 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention provides a falling prevention controlling device and a computer program that, with a simple configuration, can precisely correct the inclination in a pitch direction with respect to the balanced state while securing movement in the front-back direction, without the accumulating a noise and an offset, and prevent a falling in the pitch direction. The falling prevention controlling device has a wheel, and a main body which swings in a pitch direction and a roll direction above the wheel, and has: an advance/retreat command receiving unit 42 which receives an advance or a retreat command of the wheel; a target pitch angle calculating unit 44 which calculates a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle; a pitch inclined angle estimating unit 47 which estimates a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based an the target pitch angle; and a pitch torque command generating unit 49 which generates the pitch torque command based an the target pitch angle and the pitch inclined angle.
摘要翻译： 本发明提供了一种防坠落控制装置和计算机程序，其具有简单的结构，能够在确保前后方向的移动的同时精确地校正相对于平衡状态的俯仰方向的倾斜，而不会累积噪声 和偏移，并且防止在俯仰方向上的下降。 防坠落控制装置具有车轮和在车轮上方的俯仰方向和滚动方向摆动的主体，具有：前进/后退指令接收单元42，其接收车轮的前进或后退命令; 目标俯仰角计算部44，根据接收到的命令计算目标俯仰角，根据检测出的旋转角度，计算俯仰方向的旋转速度偏差; 从所检测的俯仰角速度和基于目标俯仰角产生的俯仰转矩指令，推定相对于平衡状态的俯仰倾斜角的俯仰倾斜角估计部47; 以及基于目标俯仰角和俯仰倾斜角度生成俯仰扭矩指令的俯仰扭矩指令生成部49。
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公开(公告)号：EP1537013B1
公开(公告)日：2010-12-01
申请号：EP03738356.9
申请日：2003-06-18
发明人： GÖCZEY, András , GÖCZEY, Kinga , GÖCZEY, Luca , GÖCZEY, Péter , GÖCZEY, Réka , UNGAR, Soma
摘要： The invention relates to a foot-propelled, wheeled hobby and/or sport device that has a foot plate. Characteristic of the device is that it has one or two wheels (1) positioned between two side plates (7, 8) the axle (3) of which wheel (1) is fixed to the side plates (7, 8). Positioned under the wheel (1) axle (3) there are foot plates (9, 10) extending outwards connected to the side plates (7, 8). During the normal use of the device the side plates (7, 8) extend above the knee (21) of the person using the device, who is standing on either one or both of the foot plates (9, 10).
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公开(公告)号：EP1740444A1
公开(公告)日：2007-01-10
申请号：EP05718155.4
申请日：2005-03-02
发明人： UNGÁR, Soma, Gábor , GÖCZEY, András
IPC分类号： B62K1/00
CPC分类号： B62K1/00
摘要： The invention relates to a foot-propelled wheeled hobby and/or sport device which has a wheel (1) situated between two side-plates (2; 3), and the side-plates (2; 3) are suspended on the axle (X) of the wheel (1). Foot-boards (5) situated below the axle (X) of the wheel (1). Foot-boards (5) situated below the axle (X) of the wheel (1), protruding outwards are connected to the side-plates (2; 3). In the course of the appropriate use of the device (I; II) the side-plates (2; 3) project over the knee of the user (12) standing on one or both of the foot-boards (5), providing a supporting surface (a) for the knee. The invention is based on that at a certain distance (e) behind the wheel (1) - with respect to the travelling direction - there is a structure in the range of the track of the wheel (1) ensuring stabilisation against tilting, and in order to relieve the knees of any load the side-plates (3) are constructed with a height (L) ensuring a supporting surface (b) for the user's (12) thigh.
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公开(公告)号：EP1174334A3
公开(公告)日：2003-08-06
申请号：EP01112461.7
申请日：2001-05-22
CPC分类号： B62K1/00 , B62K3/002 , Y02T10/7258
摘要： Die Erfindung betrifft ein elektrisches Einrad- Fahrzeug mit einem gabelförmigen Rahmen (A), einem drehend gelagerten Rad (B) und einem Elektromotor (C) mit mechanischem Getriebe (D), einschließlich Antriebselektronik und Regelung (E). Zur Erzielung eines stabilen Betriebs und einer leichten Bedienbarkeit ist erfindungsgemäß vorgesehen, daß die reine Motorregelung des Einradantriebs von einem überlagerten Neigungswinkelregler (K) plus Neigungswinkelsensor (F) geführt wird, der das labile Gleichgewicht des Fahrzeugs in der Art eines inversen Pendels stabilisiert. Durch diese Maßnahme wird einerseits eine stabile Ruhelage des Einrad-Fahrzeugs erreicht und andererseits die Vorwärts- oder Rückwärtsfahrt durch eine leichte Schwerpunktsverlagerung des Benutzers nach vorne oder hinten ohne Bedienelemente möglich Die Querstabilität des Einrad-Fahrzeugs ist über eine ausreichende Breite des Rades sichergestellt.
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公开(公告)号：EP1181187A1
公开(公告)日：2002-02-27
申请号：EP00938046.0
申请日：2000-06-01
发明人： Kamen, Dean L. , Ambrogi, Robert R. , Duggan, Robert J. , Field, Douglas J. , Heinzmann, Richard Kurt , Amsbury, Burl , Langenfeld, Christopher C.
CPC分类号： B60L15/20 , A63C17/01 , A63C17/08 , A63C17/12 , B60L2200/14 , B60L2200/16 , B60L2200/22 , B60L2220/46 , B60L2240/20 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2250/12 , B60L2250/22 , B62K1/00 , B62K11/007 , Y02T10/645 , Y02T10/7275
摘要： A class of transportation vehicles for carrying an individual (10) over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module (6) that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided.
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