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1.发明授权公开(公告)号：US08827375B2
公开(公告)日：2014-09-09
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译： 在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。 轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在 自由滚筒
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公开(公告)号：US08645030B2
公开(公告)日：2014-02-04
申请号：US13394898
申请日：2009-09-18
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译： 本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。 倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力 外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。
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公开(公告)号：US08583338B2
公开(公告)日：2013-11-12
申请号：US13394648
申请日：2009-09-18
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： Provided is a controller of an inverted pendulum type vehicle capable of being moved smoothly by a guided subject as a support. In the inverted pendulum type vehicle 1, an upper portion of a base body 9 is fixed with a grip 18 extending vertically, and a joystick 20 is disposed at an upper end of the grip 18 and is configured to be held by a guided subject to issue commands to every direction of 360° according to thumb operations thereof. A manipulated variable of the joystick 20 is detected by a position sensor 55, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities of Vb_x_aim and Vb_y_aim according to the detected manipulated variable of the joystick 20, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译： 提供了一种倒立摆式车辆的控制器，其能够被作为支撑件的被导向物体平滑地移动。 在倒立摆式车辆1中，基体9的上部由垂直延伸的把手18固定，操纵杆20设置在把手18的上端，并被构造成被被导向物保持 根据其拇指操作向360°的每个方向发出命令。 操纵杆20的操纵变量由位置传感器55检测，所需重心速度发生器74根据检测到的操纵杆20的操纵变量来确定Vb_x_aim和Vb_y_aim的所需重心速度，并依次 其基础是，行驶单元控制器确定用于控制的操作变量。
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4.发明授权Recharging system for a rechargeable battery of an inverted pendulum type vehicle 有权用于倒立摆式车辆的可充电电池的充电系统公开(公告)号：US08513917B2
公开(公告)日：2013-08-20
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译： 用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势 所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。 当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。 支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的 努力
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公开(公告)号：US20120150408A1
公开(公告)日：2012-06-14
申请号：US13391494
申请日：2009-09-18
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： An omnidirectional vehicle capable of enhancing straight-line stability is provided.Within a period from the instant the execution of velocity component attenuation processing for reducing continuously or stepwise the magnitude of a desired velocity vector ↑Vb_aim of a predetermined representative point of a vehicle 1 having a traveling motion unit 5 capable of moving in all directions, including a first direction and a second direction, on a floor surface is started to the instant the magnitude of ↑Vb_aim attenuates to zero, the orientation of ↑Vb_aim is brought closer to the first direction. The first direction is defined as the fore-and-aft direction of an occupant aboard the vehicle 1, while the second direction is defined as the lateral direction of the occupant.
摘要翻译： 提供了能够提高直线稳定性的全方位车辆。 在从即将执行速度分量衰减处理的一段时间内，连续或逐步地减小具有能够在所有方向上移动的行进运动单元5的车辆1的预定代表点的期望速度矢量↑Vb_aim的大小，包括 在↑Vb_aim的大小衰减到零的瞬间开始在地板表面上的第一方向和第二方向，使↑Vb_aim的取向靠近第一方向。 第一方向被定义为车辆1上的乘员的前后方向，而第二方向被定义为乘员的横向方向。
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公开(公告)号：US20110071752A1
公开(公告)日：2011-03-24
申请号：US12884635
申请日：2010-09-17
IPC分类号： G06F19/00
CPC分类号： B62K1/00 , B60L15/10 , B60L2200/16 , B62K11/007 , Y02T10/645 , Y02T10/7258 , Y02T90/16
摘要： An inverted pendulum type moving body moving over a floor surface in a self standing manner, the inverted pendulum type moving body comprising: an information acquisition unit obtaining a state information indicating a current state of an another moving body; and a movement control unit controlling a movement of a self moving body, based on the state information, so that a state of the self moving body with respect to the current state of the another moving body satisfies a predetermined condition established so that the self moving body and the another moving body moves in alignment.
摘要翻译： 一种倒立摆式移动体，其以自立的方式在地板表面上移动，所述倒立式移动体包括：信息获取单元，获得指示另一移动体的当前状态的状态信息; 以及移动控制单元，其基于所述状态信息来控制自身移动体的移动，使得所述自身移动体相对于所述另一移动体的当前状态的状态满足建立的预定条件，使得所述自身移动体的自身移动 身体和另一个移动体移动一致。
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公开(公告)号：US07782006B2
公开(公告)日：2010-08-24
申请号：US11705779
申请日：2007-02-14
申请人： Takeshi Misumi , Shinichiro Kobashi
发明人： Takeshi Misumi , Shinichiro Kobashi
IPC分类号： H02P8/00
CPC分类号： H02P27/08
摘要： To provide a motor controlling device that reduces heat generated by an armature and switching elements when an alternating motor is activated. A motor controlling device includes: an H bridge circuit 20 that has FET1 to FET4 that connect and disconnect a high potential end HV and a low potential end GND of a direct-current power supply to and from an armature Lu; and an energization control unit for controlling the amount of energization of the armature Lu by the PWM control that involves changing the ratio, in a predetermined control cycle, between an energization control period, in which the FET1 and the FET2 are turned on and the FET3 and the FET4 are turned off, or the FET3 and the FET4 are turned on and the FET1 and the FET2 are turned off, and a non-energization control period, in which the FET1 and the FET3 are turned on and the FET2 and the FET4 are turned off, or the FET2 and the FET4 are turned on and the FET1 and the FET3 are turned off.
摘要翻译： 提供一种电动机控制装置，其在交流电动机被激活时减少由电枢和开关元件产生的热量。 电动机控制装置包括：H桥电路20，其具有连接和断开来自电枢Lu的直流电源的高电位端HV和低电位端GND的FET1至FET4; 以及通电控制单元，用于通过所述PWM控制来控制所述电枢Lu的通电量，所述PWM控制涉及在预定的控制周期内在FET1和FET2导通的通电控制周期与FET3之间改变所述比率 并且FET4截止，或者FET3和FET4导通，FET1和FET2截止，FET1和FET3导通的非通电控制周期以及FET2和FET4 关断，或者FET2和FET4导通，FET1和FET3截止。
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公开(公告)号：US20060038514A1
公开(公告)日：2006-02-23
申请号：US11202226
申请日：2005-08-12
申请人： Shinichiro Kobashi , Masaki Aihara
发明人： Shinichiro Kobashi , Masaki Aihara
IPC分类号： H02P1/54
CPC分类号： B25J9/1674
摘要： According to a legged mobile robot of the present invention, a variable measuring portion 101 measures the changing amount of a secondary desired angle θT2, namely, of the newest primary desired angle θT1 that is received by a first sub-control unit 121 as a variable δ. When a determining portion 102 determines that an absolute value of the variable δ exceeds a threshold ε, a correcting portion 103 corrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unit 110 and a first sub-control unit 121 via a first communication line and the absolute value of the variable δ exceeds a threshold ε, the current supply I to a motor 131 is inhibited from changing rapidly.
摘要翻译： 根据本发明的有腿移动机器人，可变测量部分101测量次要期望角度θT2的变化量，即最新主要期望角度θT1 / SUB>，其被第一子控制单元121接收为可变增量。 当确定部分102确定可变增量的绝对值超过阈值ε时，校正部分103校正电动机电流I，以便抑制电动机电流I的变化量。因此，即使当暂时产生异常时 在主控制单元110和第一子控制单元121之间经由第一通信线路的通信和可变增量的绝对值Δ超过阈值ε，电动机131的电流I被禁止快速变化。
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公开(公告)号：US08700268B2
公开(公告)日：2014-04-15
申请号：US13393295
申请日：2009-09-18
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as θbe_x_s and θbe_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which θbe_x_s and θbe_y_s are retained constant are defined as Vb_x_stb and Vb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of Vb_y_stb with respect to θbe_y_s becomes a ratio different from each other.
摘要翻译： 在具有行进运动单元的倒立摆式车辆中，当在实际倾斜角和有效载荷的期望倾斜角之间的倾斜误差内，当围绕第二方向的轴线的分量和围绕第一方向的轴线的分量时， 分别被定义为＆thetas; be_x_s和＆thetas; be_y_s，以及当处于静止状态的车辆的代表点的行进速度内的第一方向上的分量和第二方向上的分量时， be_x_s和＆thetas; be_y_s被保持常数分别被定义为Vb_x_stb和Vb_y_stb，控制行进运动单元的行进运动，使得Vb_x_stb的大小相对于该等级的大小的比值; be_x_s和a 相对于＆thetas的Vb_y_stb的大小; be_y_s成为彼此不同的比率。
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公开(公告)号：US08583342B2
公开(公告)日：2013-11-12
申请号：US13391690
申请日：2009-09-18
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04 , Y02T10/7258
摘要： A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit 50 of an inverted pendulum type vehicle sequentially determines a target-of-retaining velocity magnitude amount which is a magnitude of a desired velocity of a predetermined representative point in a predetermined period of time, or a magnitude of a component in a predetermined direction of the desired velocity, to be retained stable to a value identical to the target-of-retaining velocity magnitude amount in relation to the desired velocity determined immediately before start of the period of time, in the case where a predetermined condition is satisfied, and control the traveling motion of a traveling motion unit 5 in accordance with the determined desired velocity.
摘要翻译： 提供一种能够简化车辆的转向并提高其操作质量的倒立摆式车辆的控制装置。 倒立摆型车辆的控制单元50顺序地确定作为预定时间段内的预定代表点的期望速度的大小的保持目标速度幅度量，或预定时间段内的分量的大小 在满足预定条件的情况下，期望速度的方向被保持稳定到相对于紧接在时间段开始之前确定的期望速度的保持目标速度量值的相同值， 并且根据所确定的期望速度来控制行驶运动单元5的行进运动。
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