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公开(公告)号：US09089460B2
公开(公告)日：2015-07-28
申请号：US14657014
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo
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。
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公开(公告)号：US09522611B2
公开(公告)日：2016-12-20
申请号：US14644285
申请日：2015-03-11
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Shigeru Tsuji , Kenichi Shirato , Masayuki Kubo
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）。
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公开(公告)号：US20160221594A1
公开(公告)日：2016-08-04
申请号：US15094172
申请日：2016-04-08
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato
CPC classification number: B62B5/0069 , A61H3/04 , A61H2003/043 , A61H2201/0173 , A61H2201/5007 , A61H2201/5069 , B62B3/001 , B62B5/0046 , B62B5/064 , B62B5/068 , B62B7/042
Abstract: A pushcart includes a steering unit, a main wheel, a dolly portion, an auxiliary wheel, a connecting unit, a slope angle sensor, a gyrosensor, and a case. On one end of the steering unit, there is provided a cylinder-shaped hinge unit that is supported in a rotatable manner at the other end of the connecting unit on the opposite side to the main wheels, and a holding portion is provided on the other end of the steering unit. A controller performs inverted pendulum control in which the main wheels are rotated based on the detection results of the gyrosensor and the slope angle sensor.
Abstract translation: 手推车包括转向单元，主轮，小车部分，辅助轮，连接单元，倾斜角度传感器，陀螺传感器和壳体。 在转向单元的一端设置有一个圆筒状的铰链单元，该单元在与主轮相反的一侧的连接单元的另一端以可旋转的方式支撑，另一端设置有保持部 转向单元的末端。 控制器根据陀螺传感器和倾斜角度传感器的检测结果执行倒档摆控制，其中主轮旋转。
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Patent Agency Ranking
公开(公告)号：US20150183482A1
公开(公告)日：2015-07-02
申请号：US14656957
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
CPC classification number: B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
Abstract: Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
Abstract translation: 提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。 在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。 例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向变为“1”，大于“the”; 1。 在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。
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公开(公告)号：US10183687B2
公开(公告)日：2019-01-22
申请号：US15094172
申请日：2016-04-08
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato
Abstract: A pushcart includes a steering unit, a main wheel, a dolly portion, an auxiliary wheel, a connecting unit, a slope angle sensor, a gyrosensor, and a case. On one end of the steering unit, there is provided a cylinder-shaped hinge unit that is supported in a rotatable manner at the other end of the connecting unit on the opposite side to the main wheels, and a holding portion is provided on the other end of the steering unit. A controller performs inverted pendulum control in which the main wheels are rotated based on the detection results of the gyrosensor and the slope angle sensor.
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公开(公告)号：US10052253B2
公开(公告)日：2018-08-21
申请号：US15185306
申请日：2016-06-17
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo , Yoshitaka Hane
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.
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公开(公告)号：US09956977B2
公开(公告)日：2018-05-01
申请号：US15386419
申请日：2016-12-21
Applicant: MURATA MANUFACTURING CO., LTD.
Inventor： Masayuki Kubo , Yoshitaka Hane
CPC classification number: B62B3/02 , B62B5/0006 , B62B5/06 , B62B7/008 , B62B7/04 , B62B9/005 , B62B2203/02 , B62B2203/04 , B62B2203/50 , B62B2301/00 , B62B2301/08
Abstract: A pushcart according to the present disclosure provides a warning on the basis of a first weight at a position outside a region between a shaft of front wheels and a shaft of rear wheels when viewed from the vertical direction and a predetermined weight. For example, the predetermined weight is the weight on a mounting portion located between the shaft of the front wheels and the shaft of the rear wheels when viewed from the vertical direction. When the first weight is larger than the predetermined weight, an informing unit can provide a warning by using a sound, light, and the like and enable a user to recognize that there is a possibility that the pushcart will turn over.
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公开(公告)号：US09463836B2
公开(公告)日：2016-10-11
申请号：US14656957
申请日：2015-03-13
Applicant: Murata Manufacturing Co., Ltd.
Inventor： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
CPC classification number: B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
Abstract: Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
Abstract translation: 提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。 在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。 例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向成为大于θ1的θ1'。 在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。
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