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    Wheeled inverted pendulum mobile unit
    1.
    发明授权
    Wheeled inverted pendulum mobile unit 有权
    轮式倒立摆机构

    公开(公告)号：US08151912B2

    公开(公告)日：2012-04-10

    申请号：US12398549

    申请日：2009-03-05

    申请人： Mitsuo Koide ,  Kazutoshi Sukigara ,  Yuji Tsusaka ,  Takashi Izuo ,  Masaaki Yamaoka ,  Koji Yamada

    发明人： Mitsuo Koide ,  Kazutoshi Sukigara ,  Yuji Tsusaka ,  Takashi Izuo ,  Masaaki Yamaoka ,  Koji Yamada

    IPC分类号： B62D61/00

    CPC分类号： G05D1/0891

    摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

    摘要翻译： 具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动 相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

    WHEELED INVERTED PENDULUM MOBILE UNIT
    2.
    发明申请
    WHEELED INVERTED PENDULUM MOBILE UNIT 有权
    车轮倒立移动单元

    公开(公告)号：US20090223728A1

    公开(公告)日：2009-09-10

    申请号：US12398549

    申请日：2009-03-05

    申请人： Mitsuo KOIDE ,  Kazutoshi Sukigara ,  Yuji Tsusaka ,  Takashi Izuo ,  Masaaki Yamaoka ,  Koji Yamada

    发明人： Mitsuo KOIDE ,  Kazutoshi Sukigara ,  Yuji Tsusaka ,  Takashi Izuo ,  Masaaki Yamaoka ,  Koji Yamada

    IPC分类号： B60K28/16

    CPC分类号： G05D1/0891

    摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

    摘要翻译： 具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动 相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

    INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING SAME
    4.
    发明申请
    INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING SAME 有权
    反转轮式移动体及其控制方法

    公开(公告)号：US20090108553A1

    公开(公告)日：2009-04-30

    申请号：US12258002

    申请日：2008-10-24

    申请人： Takuya Serai ,  Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Chisao Hayashi ,  Mitsuo Koide ,  Kazutoshi Sukigara

    发明人： Takuya Serai ,  Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Chisao Hayashi ,  Mitsuo Koide ,  Kazutoshi Sukigara

    IPC分类号： E02F3/76

    CPC分类号： B62K11/007 ,  Y02T10/7258

    摘要： To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

    摘要翻译： 提供一种能够提高可操作性的倒车轮型移动体及其控制方法。 根据本发明的一个方面的倒车轮型移动体包括用于分别旋转地驱动右驱动轮18和左驱动轮20的马达34和36，通过摆臂旋转地支撑在安装件26和28上的乘客座74 如图17和图19所示，用于驱动乘客座椅74的乘员座椅驱动马达70，用于判断操作量是否超过阈值的控制部分80以及用于控制乘客座椅驱动马达70的马达驱动器70a， 当操作量不超过阈值时，乘客座椅74根据操作量移动，并且在操纵量超过阈值之后使乘客座椅74的移动恢复。

    Inverted wheel type moving body and method of controlling same
    6.
    发明授权
    Inverted wheel type moving body and method of controlling same 有权
    倒车轮型移动体及其控制方法

    公开(公告)号：US08011459B2

    公开(公告)日：2011-09-06

    申请号：US12258002

    申请日：2008-10-24

    申请人： Takuya Serai ,  Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Chisao Hayashi ,  Mitsuo Koide ,  Kazutoshi Sukigara

    发明人： Takuya Serai ,  Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Chisao Hayashi ,  Mitsuo Koide ,  Kazutoshi Sukigara

    IPC分类号： E02F3/76

    CPC分类号： B62K11/007 ,  Y02T10/7258

    摘要： To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.

    摘要翻译： 提供一种能够提高可操作性的倒车轮型移动体及其控制方法。 根据本发明的一个方面的倒车轮型移动体包括用于分别旋转地驱动右驱动轮18和左驱动轮20的马达34和36，通过摆臂旋转地支撑在安装件26和28上的乘客座74 如图17和图19所示，用于驱动乘客座椅74的乘员座椅驱动马达70，用于判断操作量是否超过阈值的控制部分80以及用于控制乘客座椅驱动马达70的马达驱动器70a， 当操作量不超过阈值时，乘客座椅74根据操作量移动，并且在操纵量超过阈值之后使乘客座椅74的移动恢复。

    VEHICLE, CONTROLLER AND CONTROLLING METHOD OF THE SAME
    7.
    发明申请
    VEHICLE, CONTROLLER AND CONTROLLING METHOD OF THE SAME 审中-公开
    车辆，控制器及其控制方法

    公开(公告)号：US20110178667A1

    公开(公告)日：2011-07-21

    申请号：US13120571

    申请日：2008-09-25

    申请人： Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Takuya Serai ,  Mitsuo Koide ,  Kazutoshi Sukigara ,  Chisao Hayashi

    发明人： Yoshiyuki Senba ,  Koji Yamada ,  Takashi Izuo ,  Takuya Serai ,  Mitsuo Koide ,  Kazutoshi Sukigara ,  Chisao Hayashi

    IPC分类号： B60L15/20

    CPC分类号： A61G5/045 ,  A61G5/1075 ,  A61G2203/14 ,  A61G2203/42 ,  B60L15/025 ,  B60L15/20 ,  B60L15/2036 ,  B60L2200/16 ,  B60L2200/34 ,  B60L2240/12 ,  B60L2240/14 ,  B60L2240/24 ,  B60L2240/423 ,  B60L2240/429 ,  B60L2260/34 ,  B60L2260/44 ,  B62K11/007 ,  Y02T10/643 ,  Y02T10/72 ,  Y02T10/7275

    摘要： The vehicle is provided with a body; a pair of right and left wheels; a first motor that drives one of the wheels; a second motor that drives the other one of wheels; a controller for receiving a target current value for the first motor and controlling current of the first motor; a calculator for receiving the target current value and an actual movement amount of the first motor and calculating a disturbance torque loaded on the first motor; an adjuster for adjusting the target current value for the first motor in a basis of the disturbance torque; a controller for receiving a target current value for the second motor and controlling current of the second motor; a calculator for receiving the target current value and an actual movement amount of the second motor and calculating a disturbance torque loaded on the second motor; an adjuster for adjusting the target current value for the second motor in a basis of the disturbance torque. Accordingly, even if the disturbance torque is loaded, the vehicle can keep running as intended.

    摘要翻译： 车辆设有车身; 一对左右车轮; 驱动其中一个车轮的第一马达; 驱动另一个车轮的第二马达; 用于接收第一电动机的目标电流值并控制第一电动机的电流的控制器; 计算器，用于接收目标电流值和第一电动机的实际移动量，并计算装载在第一电动机上的扰动转矩; 调整器，用于根据干扰转矩调整第一电动机的目标电流值; 用于接收第二电动机的目标电流值并控制第二电动机的电流的控制器; 计算器，用于接收目标电流值和第二电动机的实际移动量，并计算装载在第二电动机上的扰动转矩; 调整器，用于根据干扰转矩来调整第二电动机的目标电流值。 因此，即使加载了扰动转矩，车辆也能按预期运转。

    Control unit of electromagnetically driven valve and control method thereof
    8.
    发明授权
    Control unit of electromagnetically driven valve and control method thereof 失效
    电磁阀控制单元及其控制方法

    公开(公告)号：US06817324B2

    公开(公告)日：2004-11-16

    申请号：US10341469

    申请日：2003-01-14

    申请人： Masahiko Asano ,  Takashi Izuo ,  Kiyoharu Nakamura ,  Takeshi Sakuragi

    发明人： Masahiko Asano ,  Takashi Izuo ,  Kiyoharu Nakamura ,  Takeshi Sakuragi

    IPC分类号： F01L904

    CPC分类号： F01L9/04 ,  F01L1/465 ,  F01L2009/0469

    摘要： A control unit controls an electromagnetically driven valve including a valve body, an electromagnetic drive portion and a spring so as to be opened and closed by an electromagnetic force of the electromagnetic drive portion and a spring force of the spring that is formed of a pair of gas pressure springs each urging the valve body towards a valve opening end position and a valve closing end position, respectively. The control unit includes a controller, when an operation of the valve body is stopped and held in a holding position that is one of the valve opening end position and the valve closing end position, decreases a gas pressure of one of the pair of gas pressure springs that urges the valve body towards a non-holding position opposite to the holding position so as to become lower than a gas pressure of the one of the pair of gas pressure springs that urges the valve body towards the non-holding position when the valve body is operated.

    摘要翻译： 控制单元控制包括阀体，电磁驱动部分和弹簧的电磁驱动阀，以便由电磁驱动部分的电磁力打开和关闭，弹簧的弹簧力由一对 气体压力弹簧分别将阀体朝向阀开口端位置和阀关闭端位置推压。 控制单元包括控制器，当阀体的操作停止并保持在作为阀开启端位置和阀关闭端位置之一的保持位置时，减小一对气压中的一个气体压力 弹簧，其将阀体朝向与保持位置相反的非保持位置推压，使其低于当阀体朝向非保持位置时推动阀体朝向非保持位置的一对气体压力弹簧中的一个的气体压力 身体运作。

    Cylinder head having a solenoid valve control device for operating a valve of an internal combustion engine
    10.
    发明授权
    Cylinder head having a solenoid valve control device for operating a valve of an internal combustion engine 失效
    具有用于操作内燃机的阀的电磁阀控制装置的气缸盖

    公开(公告)号：US6089196A

    公开(公告)日：2000-07-18

    申请号：US55181

    申请日：1998-04-03

    申请人： Takashi Izuo ,  Tatsuo Iida ,  Masahiko Asano

    发明人： Takashi Izuo ,  Tatsuo Iida ,  Masahiko Asano

    IPC分类号： F01L9/04 ,  F01P3/02 ,  F01P3/14 ,  F02F1/24

    CPC分类号： F01L9/04

    摘要： A cylinder head having a solenoid valve control device for operating a valve of an internal combustion engine includes a valve element which constitutes one of an intake valve and an exhaust valve of the engine. An armature is connected to the valve element to operate the valve element. A first solenoid is provided above the armature to generate an electromagnetic force to attract the armature so that the valve element is moved to a valve-closing position. A second solenoid is provided below the armature to generate an electromagnetic force to attract the armature so that the valve element is moved to a valve-opening position. An upper head is provided on a top of the cylinder head, the upper head having a through hole at a given location in the upper head, the through hole having an upper open end and a lower open end in the upper head. The first solenoid is fitted to the upper open end of the through hole and the second solenoid is fitted to the lower open end of the through hole, so that the first solenoid and the second solenoid are held by the upper head at given positions relative to the armature.

    摘要翻译： 具有用于操作内燃机的阀的电磁阀控制装置的气缸盖包括构成发动机的进气门和排气门之一的阀元件。 电枢连接到阀元件以操作阀元件。 第一螺线管设置在电枢上方以产生电磁力来吸引电枢，使得阀元件移动到闭阀位置。 第二螺线管设置在电枢下方以产生电磁力以吸引电枢，使得阀元件移动到阀打开位置。 上头设置在气缸盖的顶部，上头在上头部的给定位置具有通孔，通孔在上头部具有上开口端和下开口端。 第一螺线管装配到通孔的上开口端，并且第二螺线管装配到通孔的下开口端，使得第一螺线管和第二螺线管由上头部相对于相对于 电枢。