公开(公告)号：US20130306120A1

公开(公告)日：2013-11-21

申请号：US13949260

申请日：2013-07-24

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Shigeki FUKUNAGA ,  Arata SUZUKI ,  Kenichi SHIRATO

IPC: A61G5/02

CPC classification number: A61G5/022 ,  A61G5/024 ,  A61G2203/42 ,  A61H3/04 ,  A61H2003/043 ,  A61H2201/0173 ,  A61H2201/5007 ,  A61H2201/5069

Abstract: A walking assist apparatus includes a pair of wheels, at least one first driving unit that drives the pair of wheels, a main body that rotatably supports the pair of wheels, and a grip that is disposed at one end of the main body to be able to be gripped. The walking assist apparatus includes a sensor unit configured to detect an angular change in an inclination angle of the main body in a pitch direction, and a first control unit configured and programmed to control an operation of the at least one first driving unit based on an output of the sensor unit such that the angular change of the main body is zero.

Abstract translation: 行走辅助装置包括一对车轮，驱动该对车轮的至少一个第一驱动单元，可旋转地支撑所述一对车轮的主体和设置在主体的一端的把手，能够 被抓住 行走辅助装置包括：传感器单元，被配置为检测主体在俯仰方向上的倾斜角度的角度变化;以及第一控制单元，其被配置和编程为基于第一驱动单元控制所述至少一个第一驱动单元的操作 传感器单元的输出使得主体的角度变化为零。

公开(公告)号：US20160176429A1

公开(公告)日：2016-06-23

申请号：US15058749

申请日：2016-03-02

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Kenichi SHIRATO

IPC: B62B5/00 ,  B62B5/02 ,  B62B1/00

CPC classification number: B62B5/0069 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/5007 ,  A61H2201/5028 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5092 ,  B62B1/00 ,  B62B1/10 ,  B62B5/0033 ,  B62B5/02

Abstract: A pushcart configured to perform inverted pendulum control is made likely to negotiate a step.In a first control mode, a main body is maintained to have a constant posture by performing the inverted pendulum control all the time. For example, when a user operates a selector switch, the control mode is changed to a second control mode in which offset torque is added so that an amount of torque applied to a wheel driver unit becomes larger. In this case, because the pushcart moves faster than usual, even if there exists a step that is hard to negotiate in the state of usual inverted pendulum control, the pushcart is likely to negotiate that step.

Abstract translation: 配置成执行倒立摆控制的手推车可能会协商一个步骤。 在第一控制模式中，通过一直执行倒立摆控制，主体被保持为具有恒定的姿势。 例如，当用户操作选择器开关时，将控制模式改变为添加偏移扭矩的第二控制模式，使得施加到轮驱动单元的扭矩量变大。 在这种情况下，由于手推车的移动速度比通常的要快，即使在通常的倒立摆控制状态下存在难以协商的步骤，手推车也可能会协商该步骤。

公开(公告)号：US20150183340A1

公开(公告)日：2015-07-02

申请号：US14644285

申请日：2015-03-11

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Shigeru TSUJI ,  Kenichi SHIRATO ,  Masayuki KUBO

IPC: B60L15/10 ,  B60L15/20

CPC classification number: B60L15/10 ,  B60L3/00 ,  B60L7/24 ,  B60L11/18 ,  B60L15/20 ,  B60L2200/16 ,  B60L2240/423 ,  B60L2240/463 ,  B60L2260/34 ,  B62K11/007 ,  G05D1/0891 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/72 ,  Y02T10/7275

Abstract: A tire angular velocity controller (211) is input with a difference between a target value of a rotational angular velocity of 0 for main wheels (11) and a rotational angular velocity of the main wheels (11), which is a differential value of a signal output from a main wheels rotary encoder (26). The tire angular velocity controller (211) calculates an inclination angle for the main body (10) that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body (10) at the present time input from an inclination angle sensor (20) is input to a main body inclination angle controller (212).

Abstract translation: 输入轮胎角速度控制器（211），其中主轮（11）的旋转角速度的目标值为0，主轮（11）的旋转角速度之差为 来自主轮旋转编码器（26）的信号输出。 轮胎角速度控制器（211）计算将导致该差为零的主体（10）的倾斜角度。 在第二控制模式中，将计算出的倾斜角度用作目标倾斜角度，并且从倾斜角度传感器（20）输入的当前时刻该目标倾斜角度与主体（10）的倾斜角度之间的差为 输入到主体倾斜角度控制器（212）。

公开(公告)号：US20150182393A1

公开(公告)日：2015-07-02

申请号：US14657014

申请日：2015-03-13

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Kenichi SHIRATO ,  Shigeru TSUJI ,  Masayuki KUBO

IPC: A61G5/04 ,  G05D1/08 ,  G05B15/02

CPC classification number: A61G5/04 ,  A61G5/1089 ,  A61H3/04 ,  A61H2003/043 ,  A61H2201/5007 ,  A61H2201/5069 ,  G05B15/02 ,  G05D1/0891

Abstract: A pushcart in which a user can adjust a balance direction based on his/her own sense even on a slope. The pushcart includes a pair of wheels, driving units, a pair of wheels are supported on a main body unit in a rotatable manner, a grip portion provided on another side of the main body unit, and a support portion that is connected to the main body unit on one side so as to be capable of rotating in a pitch direction and supports assist wheels in a rotatable manner on another side. An angle formed between the main body unit and a direction orthogonal to the ground surface is estimated based on detected angle between the main body and the support portion. An attitude of the main body unit in the pitch direction is controlled based on a target pitch angle corrected using a correction value.

Abstract translation: 用户可以根据自己的感觉即使在坡度上也可以调整平衡方向的手推车。 手推车包括一对车轮，驱动单元，一对轮以可旋转的方式支撑在主体单元上，夹持部分设置在主体单元的另一侧，以及支撑部分，其连接到主体 主体单元能够以俯仰方向旋转并且以可旋转的方式在另一侧支撑辅助轮。 基于主体和支撑部之间的检测角度，估计在主体单元和与地面垂直的方向之间形成的角度。 基于使用校正值校正的目标俯仰角来控制主体单元在俯仰方向上的姿势。

公开(公告)号：US20160296411A1

公开(公告)日：2016-10-13

申请号：US15185306

申请日：2016-06-17

Applicant: Murata Manufacturing Co., Ltd.

Inventor： Kenichi SHIRATO ,  Shigeru TSUJI ,  Masayuki KUBO ,  Yoshitaka HANE

IPC: A61H3/04

CPC classification number: A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0192 ,  A61H2201/5007 ,  A61H2201/5028 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5092

Abstract: A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination angle θ3 being a value in an inclination sensor as being equal to an inclination angle θ2 of the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from θ3 to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angle θ2 of the road surface to a target inclination angle determining unit.

Abstract translation: 支撑单元连接到主轮的轴，因此总是与主体的倾斜角度保持平行或与路面成预定的角度。 因此，倾斜估计单元将倾斜传感器中的值的倾斜角θ3与路面的倾斜角θ2相等（或者在支撑单元相对于路面倾斜预定角度的情况下， 从θ3到预定角度的角度从交叉角度减去或相加），并将估计的路面倾斜角θ2输出到目标倾斜角确定单元。