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公开(公告)号：US20130299262A1
公开(公告)日：2013-11-14
申请号：US13886328
申请日：2013-05-03
发明人： Yusuke MUTO , Yasuka MORI , Motoharu YOKOI
IPC分类号： B62K3/00
CPC分类号： B62K3/007 , B60L11/1877 , B60L15/20 , B60L2200/14 , B60L2220/42 , B60L2250/16 , B60L2260/34 , B62K1/00 , B62K11/007 , Y02T10/645 , Y02T10/646 , Y02T10/7005 , Y02T10/705 , Y02T10/72 , Y02T10/7275
摘要： An inverted pendulum type vehicle includes electrical components configured and arranged efficiently to provide a compact structure. The inverted pendulum type vehicle includes a traveling unit, including a main wheel driven under inverted pendulum control. The vehicle also includes a vehicle body frame supported on, and extending upwardly from the traveling unit, as well as a driving unit, including a pair of driving motors supported on the vehicle body frame and disposed above the main wheel for driving the main wheel. An electrical control unit is supported on the vehicle body frame in front of the driving motors for controlling the driving unit. The driving unit is disposed behind a front edge of the main wheel, and the electrical control unit is disposed between a front edge of the main wheel and the front edge of the driving unit.
摘要翻译： 倒立式车辆包括有效地构造和布置以提供紧凑结构的电气部件。 倒立式车辆包括行走单元，其包括以倒立摆控制驱动的主轮。 车辆还包括支撑在行进单元上并从行进单元向上延伸的车体框架，以及驱动单元，其包括支撑在车身框架上并设置在主轮上方以驱动主轮的一对驱动马达。 电动控制单元被支撑在用于控制驱动单元的驱动马达前面的车身框架上。 驱动单元设置在主轮的前边缘的后面，并且电控单元设置在主轮的前边缘和驱动单元的前边缘之间。
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公开(公告)号：US20130299254A1
公开(公告)日：2013-11-14
申请号：US13801301
申请日：2013-03-13
发明人： Yusuke MUTOH , Sora KAWAIDA
IPC分类号： B62K3/00
摘要： An inverted pendulum type vehicle (1) includes a propulsion unit (50) provided in a lower part of a vehicle body to actuate a main wheel (52), a drive unit (90, 130) provided in a vertically intermediate part thereof and a seat (200) provided in an upper part of the vehicle body. A battery case (251) is mounted in a part of the vehicle body above the main wheel and behind the drive unit. The battery case is provided with an opening (257) extending from an upper part thereof to a lower end of a rear part thereof. A lid (260) hinged to the battery case selectively covers the upper end of a battery (250) received in the battery case. The battery is retained in the battery case with the help of suitable engagement arrangements (262, 263, 270, 271, 273, 274).
摘要翻译： 倒立摆式车辆（1）包括设置在车体下部以致动主轮（52）的推进单元（50），设置在其主体轮（52）中的驱动单元（90,130）和 座体（200）设置在车体的上部。 电池壳体（251）安装在车轮主体上方的一部分并且位于驱动单元的后面。 电池壳体设置有从其上部延伸到其后部的下端的开口（257）。 铰链到电池壳体的盖子260选择性地覆盖容纳在电池壳体中的电池250的上端。 借助于合适的接合装置（262,263,270,271,273,274），将电池保持在电池盒中。
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33.发明授权Personal, green-energy, transportation device with single wheel and self-balancing function 有权个人，绿色能源，单轮运输装置和自平衡功能公开(公告)号：US08417404B2
公开(公告)日：2013-04-09
申请号：US12908154
申请日：2010-10-20
申请人： Ting-Jen Yen , Yu-Ting Chen , Feng-Guang Wu , De-In Shaw
发明人： Ting-Jen Yen , Yu-Ting Chen , Feng-Guang Wu , De-In Shaw
CPC分类号： B60L11/1877 , B60K7/0007 , B60Y2200/12 , B62H1/12 , B62K1/00 , B62K11/007 , B62K2204/00 , Y02T10/7005 , Y02T10/705
摘要： The present invention relates to a personal, green-energy, transportation device with single wheel and self-balancing function, and especially to a self-balancing single-wheel transportation device. The driver can drive the transportation device by manpower, and the transportation device would simultaneously execute a self-balancing function during driving. The transportation device comprises: a body, a wheel, a pedal portion, a roller chain, an in-wheel motor, and a sensing-control module, wherein the sensing-control module is used for detecting the balance condition of the body when the transportation device is driven, and then the sensing-control module controls the in-wheel motor to output a balancing torque for maintaining the self balance of the body.
摘要翻译： 本发明涉及一种具有单轮和自平衡功能的个人绿色能量运输装置，特别涉及一种自平衡单轮运输装置。 驾驶员可以通过人力驾驶运输装置，运输装置在驾驶中同时执行自平衡功能。 运输装置包括：主体，轮子，踏板部分，滚子链，轮内马达和感测控制模块，其中，当感测控制模块用于检测身体的平衡状态时 运输装置被驱动，然后感测控制模块控制轮内电动机输出平衡扭矩以维持身体的自身平衡。
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34.发明授权公开(公告)号：US08353378B2
公开(公告)日：2013-01-15
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
发明人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
IPC分类号： B62K1/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2310/204 , B60B2310/228 , B60B2310/232 , B60B2310/305 , B60B2360/10 , B60B2360/147 , B60B2360/32 , B60B2360/348 , B60B2360/50 , B60B2380/12 , B60B2380/14 , B60L1/003 , B60L3/0061 , B60L11/1803 , B60L11/1861 , B60L11/1877 , B60L2200/14 , B60L2220/42 , B60L2240/425 , B60L2240/461 , B60L2260/34 , B62K11/007 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y10T74/19
摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.
摘要翻译： 一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架 用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转 其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86） ）和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。 减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。
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公开(公告)号：US08346441B2
公开(公告)日：2013-01-01
申请号：US12084388
申请日：2006-11-24
申请人： Nobuaki Miki , Munehisa Horiguchi , Katsunori Doi
发明人： Nobuaki Miki , Munehisa Horiguchi , Katsunori Doi
CPC分类号： B62D61/00 , B60N2/0244 , B60N2/04 , B60N2/06 , B60N2/0745 , B60N2/10 , B62D37/00 , B62K1/00 , B62K11/007 , G05D1/0891 , Y02T10/7258
摘要： A motor vehicle has a body, a wheel rotatably supported and coaxially disposed on the body, and an occupant riding portion supported by the body. The motor vehicle is provided with a body attitude detector for detecting an attitude of the body and a body attitude controller for controlling the body attitude detected by the body attitude detector, wherein, in response to an inertial force or a centrifugal force generated by acceleration, deceleration or a turning motion of the motor vehicle, the occupant riding portion is moved so as to balance the inertial force or the centrifugal force. The motor vehicle further includes an occupant attitude controller for controlling an attitude of the occupant riding portion in accordance with a detection value detected by the body attitude detector.
摘要翻译： 机动车辆具有主体，可旋转地支撑并同轴地设置在主体上的轮子和由身体支撑的乘员骑行部分。 机动车辆设置有用于检测身体姿态的身体姿态检测器和用于控制由身体姿态检测器检测到的身体姿态的身体姿态控制器，其中响应于由加速度产生的惯性力或离心力， 减速或机动车辆的转动运动，使乘员搭乘部移动，以平衡惯性力或离心力。 机动车辆还包括乘员姿态控制器，用于根据由身体姿态检测器检测到的检测值来控制乘员搭乘部的姿势。
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公开(公告)号：US08267213B2
公开(公告)日：2012-09-18
申请号：US12882688
申请日：2010-09-15
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： B62M13/00
CPC分类号： B62K1/00 , B62K11/007
摘要： An inverted pendulum type omnidirectional vehicle includes: a pair of wheels; a drive mechanism; a control apparatus; an auxiliary wheel; and a vehicle body. Each of the wheels includes: a rotation member capable of rotating about the wheel axis; a plurality of free rollers which are disposed all around an outer circumference of the rotation member, and each of which is brought into contact with a road surface at a lowest position of the rotation member and is rotatable about a rotation axis diagonal with respect to the wheel axis. The free rollers on both sides in contact with the road surface at ground contact portions each have the rotation axis extending in parallel with the road surface, and are arranged in an orientation in which a distance between the rotation axes of the free rollers is shorter toward a side of the auxiliary wheel.
摘要翻译： 倒立摆型全方位车辆包括：一对车轮; 驱动机构; 控制装置; 辅助轮 和车体。 每个车轮包括：能够围绕车轮轴线旋转的旋转构件; 多个自由辊，其设置在所述旋转构件的外周周围，并且每个自由辊与所述旋转构件的最低位置处的路面接触，并且能够围绕相对于所述旋转构件的旋转轴对角线旋转 轮轴。 与地面接触部分的路面接触的两侧的自由滚轮各自具有与路面平行延伸的旋转轴线，并且配置成使自由辊的旋转轴线之间的距离朝向 辅助轮的一侧。
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公开(公告)号：US20120175175A1
公开(公告)日：2012-07-12
申请号：US13395705
申请日：2009-09-18
申请人： Hiroshi Gomi , Toru Takenaka
发明人： Hiroshi Gomi , Toru Takenaka
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00
摘要： The present invention provides an inverted pendulum type vehicle which can perform a turning movement with ease without requiring any additional device even though the vehicle is configured to travel on a single drive wheel. A substantially vertical principal axis of inertia of the vehicle is tilted rearward with respect to a plumb vertical line. As result, when a rider shift his gravitational center in either lateral direction and tilts the vehicle in the corresponding direction, the main wheel is caused to turn around the principal axis of inertia so that the main wheel is steering in effect, and the vehicle can be turned in a desired direction.
摘要翻译： 本发明提供了一种倒立摆式车辆，即使车辆构造成在单个驱动轮上行进，该车辆也可以容易地执行转动运动，而不需要任何附加装置。 车辆的基本上垂直的主要惯性轴相对于垂直垂直线向后倾斜。 结果，当乘客在横向方向上移动他的重力中心并使车辆沿相应的方向倾斜时，使主轮绕主要惯性轴转动，使得主轮有效转向，车辆可以 沿所需方向转动。
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公开(公告)号：US20120173114A1
公开(公告)日：2012-07-05
申请号：US13394885
申请日：2009-09-18
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus 1 is in halt state is detected, a control unit 50 determines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unit 5 toward a direction for the base body 9 to support the body of the user.
摘要翻译： 本发明提供一种倒立式移动装置的控制装置，其能够在使用者的脚部以躺卧状态站立在地板上的状态下支撑使用者的身体。 如果检测到移动装置1处于停止状态时用户具有由基体支撑的脚部站立在地板上的倾斜状态，则控制单元50确定用于控制的操作变量（假想轮旋转角度 加速指令），以便朝向基体9的方向驱动行进运动单元5，以支撑使用者的身体。
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公开(公告)号：US20120173107A1
公开(公告)日：2012-07-05
申请号：US13394912
申请日：2009-09-18
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62K11/007
摘要： Provided is a control device capable of imparting a driving force appropriate for controlling a tilt angle of a loading part to a traveling motion unit, despite the weight of an object to be transported mounted on the loading part capable of freely tilting of an inverted pendulum type vehicle. Velocity command values for defining a desired value of a traveling velocity of a traveling motion unit 5 so as to bring an tilt error between a measured value of the tilt angle of a loading part 3 of an inverted pendulum type vehicle 1 and a desired tilt angle of a predetermined value close to 0 is sequentially determined, and an actuator 7 is controlled so as to make the actual traveling velocity of the traveling motion unit 5 follow a desired value of the traveling velocity defined by the velocity command value.
摘要翻译： 本发明提供一种控制装置，其能够赋予适用于将行驶运动单元的装载部的倾斜角度控制的驱动力，尽管安装在能够自由倾斜倒立摆式的装载部件上的要运送物体的重量 车辆。 用于定义行进运动单元5的运行速度的期望值的速度指令值，以便使倒立摆式车辆1的装载部分3的倾斜角度的测量值与期望的倾斜角度 顺序地确定预定值接近0的值，并且控制致动器7，以使得行进运动单元5的实际行进速度遵循由速度指令值定义的行驶速度的期望值。
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公开(公告)号：US20110304117A1
公开(公告)日：2011-12-15
申请号：US13160512
申请日：2011-06-15
申请人： Eyal Jacob Aloni
发明人： Eyal Jacob Aloni
摘要： A vehicle wheeled device has a drive wheel, two foot pads and two support wheels. The drive wheel is adapted to drive the device along a longitudinal drive path with the foot pads being located at opposing longitudinal sides of the drive wheel. The two support wheels of the device are adapted to engage the ground face at one of the longitudinal sides of the drive wheel with the drive path being located therebetween.
摘要翻译： 车辆轮式装置具有驱动轮，两个脚垫和两个支撑轮。 驱动轮适于沿着纵向驱动路径驱动装置，其中脚垫位于驱动轮的相对的纵向侧。 该装置的两个支撑轮适于在驱动轮的一个纵向侧面处接合地面，其中驱动路径位于其间。
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