公开(公告)号：US08958976B2

公开(公告)日：2015-02-17

申请号：US12785123

申请日：2010-05-21

申请人： Hideki Kajima ,  Yoshiyuki Semba

发明人： Hideki Kajima ,  Yoshiyuki Semba

IPC分类号： G06F17/10 ,  A61G5/04 ,  A61G5/10 ,  B60L3/00 ,  B60L15/20

CPC分类号： A61G5/043 ,  A61G5/10 ,  A61G2203/42 ,  B60L3/0015 ,  B60L15/2009 ,  B60L2200/16 ,  B60L2200/34 ,  Y02T10/645 ,  Y02T10/7275

摘要： Provided is a traveling apparatus which performs desired traveling under an inverted pendulum control. The traveling apparatus includes: a ground contact member that operates to come into a ground-contact state or a non-ground-contact state with respect to a road surface; a drive portion that drives the ground contact member; a control portion that controls the drive portion; an abnormality degree calculation portion that calculates a degree of abnormality of a traveling state; and an upper bound calculation portion that changes an upper bound of a distance between the ground contact member and the road surface according to the degree of abnormality of the traveling state calculated by the abnormality degree calculation portion. The control portion controls driving of the drive portion so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated by the upper bound calculation portion.

摘要翻译： 提供了在倒立摆控制下进行所需行驶的行驶装置。 行驶装置包括：地面接触构件，其相对于路面进行接地接触状态或非接地状态; 驱动所述接地构件的驱动部; 控制部，其控制所述驱动部; 异常度计算部，计算行驶状态的异常度; 以及根据由异常度计算部计算的行驶状态的异常程度，改变接地构件与路面之间的距离的上限的上限计算部。 控制部控制驱动部的驱动，使得接地部件与路面之间的距离小于或等于由上限计算部计算出的上限。

公开(公告)号：US08560152B2

公开(公告)日：2013-10-15

申请号：US12440980

申请日：2008-09-17

申请人： Hideki Kajima ,  Yoshiyuki Semba

发明人： Hideki Kajima ,  Yoshiyuki Semba

IPC分类号： G06F17/00 ,  G06F19/00 ,  B60T8/32 ,  B60T8/24

CPC分类号： G05D1/0891 ,  B62K11/007 ,  Y02T10/7258

摘要： To provide an inverted type moving body capable of continuing the inversion control with stability even when abnormality occurs in the inversion control while the moving body is moving, and a method of controlling the inverted type moving body. In an inverted type moving body including a rotational body having a circular cross section, a driving portion that rotationally drives the rotational body, a main body that supports the rotational body, and a control portion that maintains the inverted state of the main body by controlling the driving portion such that the rotational driving of the rotational body touching a floor surface is controlled, the control portion multiplies a signal obtained based on the inclined state of the main body by a predefined gain to calculate the driving amount of the rotational body for maintaining the inverted state, and reduces the gain when the inverted state of the main body is determined to be abnormal.

摘要翻译： 为了提供能够即使在移动体移动时的反转控制中发生异常的情况下也能够稳定地继续反转控制的反转型移动体，以及控制倒置型移动体的方法。 在包括具有圆形横截面的旋转体的倒置型移动体中，旋转驱动旋转体的驱动部，支撑旋转体的主体，以及通过控制来保持主体的倒转状态的控制部 所述驱动部使得所述旋转体接触地板表面的旋转驱动被控制，所述控制部将基于所述主体的倾斜状态获得的信号乘以预定的增益，以计算用于维持的所述旋转体的驱动量 反转状态，并且当主体的倒置状态被确定为异常时，降低增益。

公开(公告)号：US20100179749A1

公开(公告)日：2010-07-15

申请号：US12440980

申请日：2008-09-17

申请人： Hideki Kajima ,  Yoshiyuki Semba

发明人： Hideki Kajima ,  Yoshiyuki Semba

IPC分类号： G05D1/08 ,  B62K17/00

CPC分类号： G05D1/0891 ,  B62K11/007 ,  Y02T10/7258

摘要： To provide an inverted type moving body capable of continuing the inversion control with stability even when abnormality occurs in the inversion control while the moving body is moving, and a method of controlling the inverted type moving body. In an inverted type moving body including a rotational body having a circular cross section, a driving portion that rotationally drives the rotational body, a main body that supports the rotational body, and a control portion that maintains the inverted state of the main body by controlling the driving portion such that the rotational driving of the rotational body touching a floor surface is controlled, the control portion multiplies a signal obtained based on the inclined state of the main body by a predefined gain to calculate the driving amount of the rotational body for maintaining the inverted state, and reduces the gain when the inverted state of the main body is determined to be abnormal.

摘要翻译： 为了提供能够即使在移动体移动时的反转控制中发生异常的情况下也能够稳定地继续反转控制的反转型移动体，以及控制倒置型移动体的方法。 在包括具有圆形横截面的旋转体的倒置型移动体中，旋转驱动旋转体的驱动部，支撑旋转体的主体，以及通过控制来保持主体的倒转状态的控制部 所述驱动部使得所述旋转体接触地板表面的旋转驱动被控制，所述控制部将基于所述主体的倾斜状态获得的信号乘以预定的增益，以计算用于维持的所述旋转体的驱动量 反转状态，并且当主体的倒置状态被确定为异常时，降低增益。

公开(公告)号：US20060247325A1

公开(公告)日：2006-11-02

申请号：US11412992

申请日：2006-04-28

申请人： Yoshiyuki Semba

发明人： Yoshiyuki Semba

IPC分类号： C08G18/00

CPC分类号： C08G18/4804 ,  C08G2101/0008 ,  C08G2101/005

摘要： A flexible polyurethane foam inhibited from discoloring is produced by foaming a polyurethane composition containing a polyol component and an isocyanate component. The polyol component contains two or more polyols with different molecular weights and the difference in molecular weight between one of the polyols that has the highest molecular weight and another one of the polyols that has the lowest molecular weight is 500 or more. Since the polyol component contains the high-molecular-weight polyol and the low-molecular-weight polyol, the flexible polyurethane foam has high discoloration resistance although the flexible polyurethane foam contains no antioxidant or ultraviolet absorber and is produced without using any aliphatic or aromatic isocyanate which is expensive and which causes a decrease in detergent resistance and/or a decrease in heat durability. The use of an antioxidant and/or an ultraviolet absorber allows the flexible polyurethane foam to have higher discoloration resistance and quality.

摘要翻译： 通过使包含多元醇组分和异氰酸酯组分的聚氨酯组合物发泡来制造抑制变色的柔性聚氨酯泡沫。 多元醇组分含有两种或更多种具有不同分子量的多元醇，并且具有最高分子量的多元醇之一和分子量最低的多元醇中的一种之间的分子量差为500或更大。 由于多元醇组分含有高分子量多元醇和低分子量多元醇，柔性聚氨酯泡沫体具有高耐变色性，尽管柔性聚氨酯泡沫不含抗氧化剂或紫外线吸收剂，并且不使用任何脂族或芳族异氰酸酯 这是昂贵的并且导致洗涤剂阻力降低和/或耐热性降低。 使用抗氧化剂和/或紫外线吸收剂使得柔性聚氨酯泡沫具有更高的耐变色性和质量。