-
公开(公告)号：US08521395B2
公开(公告)日：2013-08-27
申请号：US13394885
申请日：2009-09-18
IPC分类号： G06F19/00
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。
-
公开(公告)号：US20120173041A1
公开(公告)日：2012-07-05
申请号：US13394632
申请日：2009-09-18
IPC分类号： G06F17/00
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04 , B62M23/00
摘要： Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle 1, one end of a cord member C is connected to a seat 3 via an engagement member 4. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.
摘要翻译： 提供了能够容易地将车辆朝向期望方向移动的倒立摆式车辆的控制装置。 在倒立摆式车辆1中，帘线构件C的一端通过接合构件4与座椅3连接。用三轴力传感器检测帘线构件C的张力。 根据检测到的帘线构件C的张力，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，根据此确定用于控制的操作变量。
-
公开(公告)号：US08548711B2
公开(公告)日：2013-10-01
申请号：US13395516
申请日：2009-09-23
IPC分类号： G01P15/14
CPC分类号： B62K1/00 , B62J1/00 , B62J25/00 , B62K11/007
摘要： Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP 21), a posture control calculator 80 performs a first mode arithmetic process (STEP 22) to update the tilt offset adjusting variable θb_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd via a second mode arithmetic process (STEP 23) by using the tilt offset adjusting variable θb_xy_offset updated in the first mode arithmetic process.
摘要翻译： 提供一种倒立摆式车辆的控制装置，其能够将基体的倾斜角度与期望的倾斜角度的偏差进行调整，以便将车辆保持在倾斜角度与期望的倾斜角度匹配的正常状态，并且 车辆停了 当满足用于更新倾斜偏移调整变量thab_xy_offset的更新条件（步骤21）时，姿势控制计算器80执行第一模式运算处理（步骤22），以更新倾斜偏移调整变量thetab_xy_offset，同时确定假想轮旋转角度 通过使用在第一模式运算处理中更新的倾斜偏移调整变量thetab_xy_offset，经由第二模式运算处理（步骤23）加速命令omegawdot_x_cmd和omegawdot_y_cmd。
-
公开(公告)号：US20120173086A1
公开(公告)日：2012-07-05
申请号：US13394618
申请日：2009-09-18
CPC分类号： B62K1/00 , B62K11/007
摘要： A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 includes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting part 3 and a traveling velocity of a representative point of the vehicle 1 closer to a desired value. In the second processing mode, the traveling motion unit controlling element 50 determines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.
摘要翻译： 根据车辆的运行状态，能够控制车辆的行驶速度的变动的倒立摆式车辆的控制装置。 倒立摆式车辆1的行驶单元控制元件50包括第一处理模式和第二处理模式。 在第一处理模式中，确定用于控制的操作变量，以使得有效载荷支撑部分3的倾斜角度和车辆1的代表点的行进速度更接近期望值。 在第二处理模式中，行驶单元控制单元50确定用于控制的操作变量，同时对于代表点的行驶速度的测量值对控制用操作量的变化具有敏感度，以相对低于 在第一种处理模式下。
-
5.发明申请公开(公告)号：US20110068738A1
公开(公告)日：2011-03-24
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
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
-
6.发明申请公开(公告)号：US20110067937A1
公开(公告)日：2011-03-24
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi GOMI , Shinichiro KOBASHI , Toru TAKENAKA , Kazushi Akimoto , Yuichi Uebayashi , Kazushi HAMAYA , Wataru YADA , Hironori Waita
发明人： Hiroshi GOMI , Shinichiro KOBASHI , Toru TAKENAKA , Kazushi Akimoto , Yuichi Uebayashi , Kazushi HAMAYA , Wataru YADA , Hironori Waita
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。
-
7.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
-
公开(公告)号：US07781928B2
公开(公告)日：2010-08-24
申请号：US12264307
申请日：2008-11-04
申请人： Tohru Yumoto , Masaki Ishizeki , Hisashi Ishida , Susumu Miyazaki , Kazushi Hamaya , Yuichi Uebayashi
发明人： Tohru Yumoto , Masaki Ishizeki , Hisashi Ishida , Susumu Miyazaki , Kazushi Hamaya , Yuichi Uebayashi
IPC分类号： H02K5/00
CPC分类号： H02K5/15
摘要： A brushless motor according to the present invention is provided with: a tubular stator case; a stator core fitted into the stator case; and a rotor rotatably supported via a bearing inside the stator core, wherein: an inner flange portion which extends radially inward is formed at a peripheral edge of an opening of one end of the stator case; and a bracket is fixed to the inner flange portion while contacting therewith so as to close the opening.
摘要翻译： 根据本发明的无刷电动机设有：管状定子壳体; 安装在定子壳体中的定子芯体; 以及通过所述定子铁心内的轴承可旋转地支撑的转子，其中：径向向内延伸的内凸缘部分形成在所述定子壳体的一端的开口的周边边缘处; 并且托架在与其接触的同时固定在内凸缘部分上以便关闭开口。
-
9.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。
-
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。
-
-
-
-
-
-
-
-
-
搜索结果
19 条记录 (耗时 0.021 秒)
