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公开(公告)号：US20210283768A1
公开(公告)日：2021-09-16
申请号：US17195650
申请日：2021-03-09
发明人： Toru TAKENAKA , Shinya SHIROKURA
摘要： A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. A control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of a manipulator and the upper body support portion moves relatively with respect to the foot mount on a support leg side together with the base to change a tilt posture or up-down direction position of each foot mount in response to a floor shape on the side of the slave device when the manipulator performs a walking operation on the master device.
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公开(公告)号：US20150129326A1
公开(公告)日：2015-05-14
申请号：US14534828
申请日：2014-11-06
发明人： Kazumasa OZAKI , Hiroshi IWAKAMI , Shinji KAWATANI , Hideo MURAKAMI , Shinya SHIROKURA , Atsushi MATSUNAGA , Tomokazu SAKAMOTO , Makoto HASEGAWA , Shinichiro KOBASHI
CPC分类号： B62K3/007 , B62H1/02 , B62J25/00 , B62K1/00 , B62K11/007 , Y10T74/20918
摘要： An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.
摘要翻译： 倒立摆控制型移动体设置有：至少沿前后方向移动主体移动体的第一驱动部; 支撑部，其支撑倒立摆控制型移动体，使其在与地面接触的状态下独立地立起; 操作部，其在所述接地接触状态与所述支撑部的接地分离状态之间切换; 以及控制部，当所述操作部将所述支撑部的状态从所述接地状态切换到所述接地分离状态时，控制所述第一驱动部的动作，使得所述倒立摆控制型的前后方向倾斜角 移动体接近地面接触状态下的目标倾斜角。
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公开(公告)号：US20140291044A1
公开(公告)日：2014-10-02
申请号：US14225564
申请日：2014-03-26
IPC分类号： B62D11/00
CPC分类号： B62D11/001 , B62K11/007
摘要： An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.
摘要翻译： 一种倒立摆式车辆，能够以低成本构造容易地执行转动运动。 倒立摆式车辆包括第二运动单元，该第二运动单元以与第一移动运动单元相隔的间隔设置，并且能够在地板表面上沿所有方向移动。 制动装置被构造成能够产生施加到第二移动单元的制动力。 提供一种控制单元，用于确定是否存在车辆转向运动的请求，并且当存在转向运动的请求时，控制制动装置的运动以便向车辆的运动施加制动力 第二移动运动单元。
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公开(公告)号：US20130304323A1
公开(公告)日：2013-11-14
申请号：US13771412
申请日：2013-02-20
发明人： Toru TAKENAKA , Shinya SHIROKURA
CPC分类号： B62H1/12 , A61G5/04 , A61G2203/42 , B60B19/00 , B60B19/003 , B60B19/12 , B60B19/125 , B62D1/22 , B62D11/003 , B62D61/02 , B62K1/00 , B62K11/00 , B62K11/007
摘要： An inverted pendulum type vehicle has a first travel operation unit and a second travel operation unit. A controller of the inverted pendulum type vehicle controls an actuator on the basis of a restricted desired value. The restricted desired value is obtained by restricting a basic desired value of the lateral travel velocity of the second travel operation unit by a limiting processor, the basic desired value being for bringing the actual turn angular velocity of the vehicle close to a desired value. The limit width of the limiting processor is variably set according to the actual travel velocity of the second travel operation unit.
摘要翻译： 倒立摆式车辆具有第一行驶操作单元和第二行驶操作单元。 倒立摆式车辆的控制器基于受限的期望值来控制致动器。 通过限制处理器限制第二行驶操作单元的横向移动速度的基本期望值来获得受限制的期望值，该基本期望值用于使车辆的实际转角速度接近期望值。 限制处理器的极限宽度根据第二行驶操作单元的实际行进速度可变地设定。
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公开(公告)号：US20210286353A1
公开(公告)日：2021-09-16
申请号：US17195670
申请日：2021-03-09
发明人： Toru TAKENAKA , Shinya SHIROKURA
摘要： A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. When a manipulator on a master device performs a walking operation, a control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of the manipulator and an upper body support portion relatively moves with respect to the foot mount on a support leg side along with the base while suppressing a lateral position of the base from deviating from a reference position.
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公开(公告)号：US20150251563A1
公开(公告)日：2015-09-10
申请号：US14639321
申请日：2015-03-05
发明人： Shinya SHIROKURA , Kazumasa OZAKI
CPC分类号： B60L15/20 , B60B3/048 , B60B19/12 , B60L15/38 , B60L2220/42 , B62K1/00 , B62K11/007 , G05D1/0891 , Y02T10/646 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Provided is an inverted pendulum type vehicle capable of properly estimating whether or not a rider is thereon and controlling the travel of the vehicle by reflecting the result of the estimation. An inverted pendulum type vehicle 1, in which a traveling unit is driven by electric motors 31R, 31L, includes an occupied/unoccupied estimating unit (a first estimating unit) 62, which estimates whether or not a rider is on the vehicle 1 based on the observation values of the energizing currents of the electric motors 31R, 31L. A control unit 50 controls the operations of the electric motors 31R, 31L according to the estimation result of the estimating unit 62.
摘要翻译： 提供一种能够适当地估计乘客是否在其上并通过反映估计结果来控制车辆的行驶的倒立摆式车辆。 由行驶单元由电动机31R，31L驱动的倒立式车辆1包括：占用/未占用的估计单元（第一估计单元）62，其估计乘客是否在车辆1上，基于 电动机31R，31L的通电电流的观测值。 控制单元50根据估计单元62的估计结果控制电动机31R，31L的操作。
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公开(公告)号：US20140297124A1
公开(公告)日：2014-10-02
申请号：US14225471
申请日：2014-03-26
IPC分类号： G05D1/02
CPC分类号： G05D1/0268 , B60L3/00 , B60L2200/12 , B60L2220/42 , B60L2240/20 , B60L2240/22 , B60L2240/26 , B60L2260/34 , B62H1/12 , B62K1/00 , B62K11/007 , B62K2207/04 , Y02T10/646
摘要： An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.
摘要翻译： 能够消除用户的车辆转向意图的解离和车辆运动状态的倒立摆式车辆。 当基座朝向第一指定方向倾斜时，通过根据倾斜量计算的重心移动校正量Vdep_x来校正重心移动效果量Vofs_x。 确定相对于第二指定方向的重心移动校正量Vdep_x以便朝向基座的第一指定方向的倾斜量增加。 此外，通过朝向基座的第一指定方向倾斜确定的重心移动效果量Vdep_x被控制为阈值以下。
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公开(公告)号：US20130304320A1
公开(公告)日：2013-11-14
申请号：US13769479
申请日：2013-02-18
发明人： Toru TAKENAKA , Shinya SHIROKURA , Hideo MURAKAMI , Makoto ARAKI
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： 具有可倾斜骑手安装部的倒立摆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设置在它们之间并且能够在所有方向上行进的间隔。 在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 行驶操作单元和第二行驶操作单元在横向上的行进速度彼此不同。
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公开(公告)号：US20130299253A1
公开(公告)日：2013-11-14
申请号：US13777004
申请日：2013-02-26
发明人： Toru TAKENAKA , Shinya SHIROKURA , Hideo MURAKAMI , Makoto ARAKI
IPC分类号： B62K11/00
CPC分类号： B62K11/00 , B62K11/007
摘要： An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases.
摘要翻译： 倒立摆式车辆包括：第一控制处理器，其基于通过操纵杆的操作和纵向方向和横向方向上的期望重心加速度量，在纵向和横向方向上相加基本速度命令， 关于骑手的体重的运动，从而确定期望的速度。 纵向移动速度指令限制器基于基于操纵杆的纵向操作变量的基本速度命令和基于体重的移动的重心偏移影响量来设置期望的重心加速度加权量， 作为基本旋转角速度指令值的骑乘者，以较小的值增加。
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公开(公告)号：US20140297127A1
公开(公告)日：2014-10-02
申请号：US14225777
申请日：2014-03-26
IPC分类号： G05D1/02
CPC分类号： G05D1/0268 , B60L3/00 , B60L2200/12 , B60L2200/16 , B60L2220/42 , B60L2240/20 , B60L2240/22 , B60L2260/34 , B62K1/00 , B62K11/007 , Y02T10/646
摘要： An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.
摘要翻译： 一种用于改善车辆的转向性能和舒适性的倒立摆式车辆。 包括由致动器装置驱动的移动运动单元的倒立摆式车辆的控制装置控制致动器装置，使得乘坐乘员的乘坐者的重心位置乘坐乘员部分，并且车辆从 从车辆的预定种类的状态识别的乘客的重心的请求运动方向上的平衡状态的位置。
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