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    Vehicle
    1.
    发明授权
    Vehicle 有权
    车辆

    公开(公告)号：US08016060B2

    公开(公告)日：2011-09-13

    申请号：US11885872

    申请日：2006-03-09

    申请人： Nobuaki Miki ,  Munehisa Horiguchi ,  Takumi Tachibana ,  Fumihiko Sakakibara ,  Katsunori Doi ,  Toshio Fukuda ,  Takayuki Matsuno

    发明人： Nobuaki Miki ,  Munehisa Horiguchi ,  Takumi Tachibana ,  Fumihiko Sakakibara ,  Katsunori Doi ,  Toshio Fukuda ,  Takayuki Matsuno

    IPC分类号： B60L3/00

    CPC分类号： B62K1/00 ,  B60L15/20 ,  B60L2200/34 ,  B60L2220/42 ,  B60L2220/46 ,  B60L2240/20 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2260/34 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/7275

    摘要： A vehicle has a drive wheel, a seat, an attitude sensor, a balancer movable relative to the seat, a drive control, an attitude control for controlling the attitude of the seat by moving the balancer and a main controller. The main controller calculates a torque T1 for tilting the seat and a torque T2 for moving the balancer forward, compares T1 with T2max (the maximum torque which can be generated by the balancer), and outputs commands to the drive control and the attitude control. When the calculated torque T1 exceeds T2max, responsive to a command for T2max, the attitude control moves the balancer to generate a reaction torque corresponding to T2max, and the main controller supplies an adjustment torque value T3 for the drive wheel. The drive control controls the drive wheel in accordance with the drive command and the adjustment torque value T3.

    摘要翻译： 车辆具有驱动轮，座椅，姿态传感器，可相对于座椅移动的平衡器，驱动控制器，用于通过移动平衡器和主控制器来控制座椅姿态的姿势控制器。 主控制器计算用于使座椅倾斜的扭矩T1和用于向前移动平衡器的扭矩T2，将T1与T2max（平衡器可产生的最大扭矩）进行比较，并将命令输出到驱动控制和姿态控制。 当计算出的转矩T1超过T2max时，姿态控制响应于T2max的指令，移动平衡器以产生对应于T2max的反作用转矩，主控制器为驱动轮提供调整转矩值T3。 驱动控制根据驱动指令和调整扭矩值T3控制驱动轮。

    Vehicle
    2.
    发明申请
    Vehicle 有权
    车辆

    公开(公告)号：US20080164083A1

    公开(公告)日：2008-07-10

    申请号：US11885872

    申请日：2006-03-09

    申请人： Nobuaki Miki ,  Munehisa Horiguchi ,  Takumi Tachibana ,  Fumihiko Sakakibara ,  Katsunori Doi ,  Toshio Fukuda ,  Takayuki Matsuno

    发明人： Nobuaki Miki ,  Munehisa Horiguchi ,  Takumi Tachibana ,  Fumihiko Sakakibara ,  Katsunori Doi ,  Toshio Fukuda ,  Takayuki Matsuno

    IPC分类号： B62K17/00 ,  B62K3/00 ,  B60L15/20

    CPC分类号： B62K1/00 ,  B60L15/20 ,  B60L2200/34 ,  B60L2220/42 ,  B60L2220/46 ,  B60L2240/20 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2260/34 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/7275

    摘要： A vehicle utilizing the attitude control of an inverted pendulum, wherein the attitude of the vehicle is dynamically controlled by moving a balancer. The inclination of a vehicle body is detected by a gyro-sensor, a torque T1 against the inclination of a boarding part is calculated by using the angular acceleration of the vehicle body, and a torque T2 for returning the boarding part in the opposite direction of an inclination direction by canceling that torque is generated by moving the balancer (B). Namely, a reaction torque T3 against the torque T2 is allowed to act on the boarding part by driving the balancer with the torque T2(>T1) in the inclination direction. The boarding part is pushed back in the opposite direction of the first inclination direction by the reaction torque T3. Since the boarding part is pushed back in the opposite direction, the angular acceleration of the vehicle body when the boarding part is tilted to the opposite side of a vertical line is detected by the gyro sensor, and the balancer is moved again in the opposite direction with the torque T2 corresponding to the angular acceleration.

    摘要翻译： 一种利用倒立摆的姿态控制的车辆，其中通过移动平衡器来动态地控制车辆的姿态。 通过陀螺仪传感器检测车身的倾斜度，通过使用车身的角加速度来计算抵抗登机部的倾斜度的转矩T 1，以及用于使相对的车厢部分返回的转矩T 2 通过移动平衡器（B）来产生扭矩消除倾斜方向的方向。 也就是说，通过以倾斜方向以扭矩T 2（> T 1）驱动平衡器，允许相对于转矩T 2的反作用转矩T 3作用于登机部。 通过反作用转矩T 3将登机部沿第一倾斜方向的相反方向推回。 由于登机部被向相反的方向推回，所以当通过陀螺传感器检测到登机部分倾斜到垂直线的相对侧时车身的角加速度，并且平衡器在相反方向上再次移动 其扭矩T 2对应于角加速度。

    Vehicle
    3.
    发明授权
    Vehicle 失效
    车辆

    公开(公告)号：US08073575B2

    公开(公告)日：2011-12-06

    申请号：US11922356

    申请日：2006-06-23

    申请人： Takumi Tachibana ,  Nobuaki Miki ,  Munehisa Horiguchi ,  Fumihiko Sakakibara

    发明人： Takumi Tachibana ,  Nobuaki Miki ,  Munehisa Horiguchi ,  Fumihiko Sakakibara

    IPC分类号： G05D1/00

    CPC分类号： G08G1/20 ,  B60L15/2009 ,  B60L15/32 ,  B60L2200/16 ,  B60L2200/34 ,  B60L2240/423 ,  B60L2250/20 ,  B60L2260/34 ,  B62K1/00 ,  B62K11/007 ,  G05D1/0295 ,  G05D2201/0212 ,  G08G1/165 ,  G08G1/166 ,  Y02T10/642 ,  Y02T10/72 ,  Y02T10/7275 ,  Y10T428/24967

    摘要： To provide a vehicle which can move independently as an own independent vehicle and can run integrally in linkage with another vehicle. A plurality of single-seat vehicles which can move independently are combined and they move integrally while a predetermined formation is maintained through linkage among respective vehicles. One of all the vehicles moving in linkage serves as a host vehicle and an occupant in the host vehicle becomes a driver in the linkage moving. A host vehicle 1 runs with speed/direction according to running operation conducted by an occupant. Simultaneously therewith, the host vehicle 1 instructs following vehicles 2 to 4 to synchronize (follow) the host vehicle. The host vehicle 1 transmits a speed, a direction, and a relative position to the host vehicle to the following vehicles 2 to 4 as moving information in order to synchronize the following vehicles with the host vehicle (maintain linkage relationship). The following vehicles 2 to 4 move based upon a follow-up instruction and feed status information including speeds and directions of the following vehicles, and their own positions back to the host vehicle 1 as own vehicle information.

    摘要翻译： 提供能够独立地作为独立车辆移动并且可以与另一车辆联动地一体地运行的车辆。 多个能够独立移动的单座车辆组合起来，并且通过各车辆之间的联动来维持预定的地面，它们一体地移动。 所有连接起来的车辆中的一个作为主车辆，主车辆中的乘客成为联动机构中的驾驶员。 主车1根据乘员进行的行驶操作，以速度/方向行驶。 同时，主车辆1指示后续车辆2至4同步（跟随）主车辆。 主车辆1将本车辆的速度，方向和相对位置作为移动信息发送到随后的车辆2至4，以使后续车辆与主车辆保持同步（保持联动关系）。 以下车辆2至4基于随后的指令和包括以下车辆的速度和方向的进给状态信息以及它们自己的位置作为本车辆信息移动到主车辆1。

    Vehicle
    4.
    发明申请
    Vehicle 失效
    车辆

    公开(公告)号：US20100030397A1

    公开(公告)日：2010-02-04

    申请号：US11922356

    申请日：2006-06-23

    申请人： Takumi Tachibana ,  Nobuaki Miki ,  Munehisa Horiguchi ,  Fumihiko Sakakibara

    发明人： Takumi Tachibana ,  Nobuaki Miki ,  Munehisa Horiguchi ,  Fumihiko Sakakibara

    IPC分类号： G06F17/00

    CPC分类号： G08G1/20 ,  B60L15/2009 ,  B60L15/32 ,  B60L2200/16 ,  B60L2200/34 ,  B60L2240/423 ,  B60L2250/20 ,  B60L2260/34 ,  B62K1/00 ,  B62K11/007 ,  G05D1/0295 ,  G05D2201/0212 ,  G08G1/165 ,  G08G1/166 ,  Y02T10/642 ,  Y02T10/72 ,  Y02T10/7275 ,  Y10T428/24967

    摘要： To provide a vehicle which can move independently as an own independent vehicle and can run integrally in linkage with another vehicle. A plurality of single-seat vehicles which can move independently are combined and they move integrally while a predetermined formation is maintained through linkage among respective vehicles. One of all the vehicles moving in linkage serves as a host vehicle and an occupant in the host vehicle becomes a driver in the linkage moving. A host vehicle 1 runs with speed/direction according to running operation conducted by an occupant. Simultaneously therewith, the host vehicle 1 instructs following vehicles 2 to 4 to synchronize (follow) the host vehicle. The host vehicle 1 transmits a speed, a direction, and a relative position to the host vehicle to the following vehicles 2 to 4 as moving information in order to synchronize the following vehicles with the host vehicle (maintain linkage relationship). The following vehicles 2 to 4 move based upon a follow-up instruction and feed status information including speeds and directions of the following vehicles, and their own positions back to the host vehicle 1 as own vehicle information.

    摘要翻译： 提供能够独立地作为独立车辆移动并且可以与另一车辆联动地一体地运行的车辆。 多个能够独立移动的单座车辆组合起来，并且通过各车辆之间的联动来维持预定的地面，它们一体地移动。 所有连接起来的车辆中的一个作为主车辆，主车辆中的乘客成为联动机构中的驾驶员。 主车1根据乘员进行的行驶操作，以速度/方向行驶。 同时，主车辆1指示后续车辆2至4同步（跟随）主车辆。 主车辆1将本车辆的速度，方向和相对位置作为移动信息发送到随后的车辆2至4，以使后续车辆与主车辆保持同步（保持联动关系）。 以下车辆2至4基于随后的指令和包括以下车辆的速度和方向的进给状态信息以及它们自己的位置作为本车辆信息移动到主车辆1。

    Vehicle
    5.
    发明申请
    Vehicle 有权
    车辆

    公开(公告)号：US20090256331A1

    公开(公告)日：2009-10-15

    申请号：US12083984

    申请日：2006-10-31

    申请人： Munehisa Horiguchi ,  Masahiro Hasebe ,  Nobuaki Miki ,  Takumi Tachibana ,  Takashi Naito ,  Katsunori Doi ,  Tsukasa Hosokawa

    发明人： Munehisa Horiguchi ,  Masahiro Hasebe ,  Nobuaki Miki ,  Takumi Tachibana ,  Takashi Naito ,  Katsunori Doi ,  Tsukasa Hosokawa

    IPC分类号： B60G21/05

    CPC分类号： B62K17/00 ,  B60G21/007 ,  B60G2300/122 ,  B60G2300/45 ,  B62D61/00 ,  B62K5/10 ,  B62K11/007

    摘要： By bending and stretching a link mechanism, both left and right wheels of a vehicle can be inclined toward inside of cornering to generate a camber thrust as a lateral force, i.e. an increase in cornering force. Further, by bending and stretching the link mechanism, the passenger compartment can be inclined in accordance with inclination of a connecting link, and thus the center of gravity of the vehicle can be moved toward its inner wheel during cornering. By preventing lifting of the inner wheel during cornering, cornering performance is improved. Because the passenger compartment is inclined toward the inner wheel during cornering, centrifugal force is less likely to be felt by the occupant.

    摘要翻译： 通过弯曲和拉伸连杆机构，车辆的左右两轮可以向转弯内侧倾斜，以产生作为侧向力的外倾力，即转弯力的增加。 此外，通过弯曲和拉伸连杆机构，乘客室可以根据连接链节的倾斜而倾斜，因此在转弯期间车辆的重心可以朝着内轮移动。 通过防止转弯期间的内轮升降，转弯性能提高。 由于乘客车厢在转弯期间向内轮倾斜，所以离心力不太可能被乘员感觉到。

    Vehicle
    6.
    发明授权
    Vehicle 有权
    车辆

    公开(公告)号：US08162328B2

    公开(公告)日：2012-04-24

    申请号：US12083984

    申请日：2006-10-31

    申请人： Munehisa Horiguchi ,  Masahiro Hasebe ,  Nobuaki Miki ,  Takumi Tachibana ,  Takashi Naito ,  Katsunori Doi ,  Tsukasa Hosokawa

    发明人： Munehisa Horiguchi ,  Masahiro Hasebe ,  Nobuaki Miki ,  Takumi Tachibana ,  Takashi Naito ,  Katsunori Doi ,  Tsukasa Hosokawa

    IPC分类号： A61G5/04 ,  B62D17/00

    CPC分类号： B62K17/00 ,  B60G21/007 ,  B60G2300/122 ,  B60G2300/45 ,  B62D61/00 ,  B62K5/10 ,  B62K11/007

    摘要： By bending and stretching a link mechanism, both left and right wheels of a vehicle can be inclined toward inside of cornering to generate a camber thrust as a lateral force, i.e. an increase in cornering force. Further, by bending and stretching the link mechanism, the passenger compartment can be inclined in accordance with inclination of a connecting link, and thus the center of gravity of the vehicle can be moved toward its inner wheel during cornering. By preventing lifting of the inner wheel during cornering, cornering performance is improved. Because the passenger compartment is inclined toward the inner wheel during cornering, centrifugal force is less likely to be felt by the occupant.

    摘要翻译： 通过弯曲和拉伸连杆机构，车辆的左右两轮可以向转弯内侧倾斜，以产生作为侧向力的外倾力，即转弯力的增加。 此外，通过弯曲和拉伸连杆机构，乘客室可以根据连接链节的倾斜而倾斜，因此在转弯期间车辆的重心可以朝着内轮移动。 通过防止转弯期间的内轮升降，转弯性能提高。 由于乘客车厢在转弯期间向内轮倾斜，所以离心力不太可能被乘员感觉到。

    Motor Vehicle
    9.
    发明申请
    Motor Vehicle 有权
    摩托车

    公开(公告)号：US20100017069A1

    公开(公告)日：2010-01-21

    申请号：US12084388

    申请日：2006-11-24

    申请人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

    发明人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

    IPC分类号： G05D1/00 ,  B62D33/00

    CPC分类号： B62D61/00 ,  B60N2/0244 ,  B60N2/04 ,  B60N2/06 ,  B60N2/0745 ,  B60N2/10 ,  B62D37/00 ,  B62K1/00 ,  B62K11/007 ,  G05D1/0891 ,  Y02T10/7258

    摘要： A motor vehicle (1) having a body (2), a wheel (5) rotatably supported and coaxially disposed on the body (2), and an occupant riding portion (3) supported by the body (2) and mounted with an occupant, the motor vehicle including: body attitude detection means (121, 122) for detecting an attitude of the body; and body attitude control means (120) for controlling the body attitude detected by the body attitude detection means (121, 120), wherein, in response to an inertial force or a centrifugal force generated by acceleration, deceleration or a turning motion of the motor vehicle (1), the occupant riding portion (3) is moved so as to balance the inertial force or the centrifugal force. The motor vehicle (1) further includes occupant attitude control means (130) for controlling an attitude of the occupant riding portion (3) in accordance with a detection value detected by the body attitude detection means (121, 122).

    摘要翻译： 具有主体（2）的车辆（1），可旋转地支撑并同轴地设置在主体（2）上的轮（5）和由主体（2）支撑并安装有乘员的乘员搭乘部 所述机动车辆包括：身体姿态检测单元，用于检测身体姿势; 以及用于控制由身体姿态检测装置（121,120）检测到的身体姿态的身体姿态控制装置（120），其中响应于马达的加速度，减速度或转动运动产生的惯性力或离心力 车辆（1），乘员搭乘部（3）移动，以平衡惯性力或离心力。 机动车辆（1）还包括乘员姿势控制装置（130），用于根据由身体姿态检测装置（121,122）检测到的检测值来控制乘员搭乘部（3）的姿势。

    Motor vehicle with dynamic balancing occupant riding portion
    10.
    发明授权
    Motor vehicle with dynamic balancing occupant riding portion 有权
    机动车动态平衡乘员骑行部分

    公开(公告)号：US08346441B2

    公开(公告)日：2013-01-01

    申请号：US12084388

    申请日：2006-11-24

    申请人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

    发明人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

    IPC分类号： B60R22/00 ,  E05F15/00 ,  G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00

    CPC分类号： B62D61/00 ,  B60N2/0244 ,  B60N2/04 ,  B60N2/06 ,  B60N2/0745 ,  B60N2/10 ,  B62D37/00 ,  B62K1/00 ,  B62K11/007 ,  G05D1/0891 ,  Y02T10/7258

    摘要： A motor vehicle has a body, a wheel rotatably supported and coaxially disposed on the body, and an occupant riding portion supported by the body. The motor vehicle is provided with a body attitude detector for detecting an attitude of the body and a body attitude controller for controlling the body attitude detected by the body attitude detector, wherein, in response to an inertial force or a centrifugal force generated by acceleration, deceleration or a turning motion of the motor vehicle, the occupant riding portion is moved so as to balance the inertial force or the centrifugal force. The motor vehicle further includes an occupant attitude controller for controlling an attitude of the occupant riding portion in accordance with a detection value detected by the body attitude detector.

    摘要翻译： 机动车辆具有主体，可旋转地支撑并同轴地设置在主体上的轮子和由身体支撑的乘员骑行部分。 机动车辆设置有用于检测身体姿态的身体姿态检测器和用于控制由身体姿态检测器检测到的身体姿态的身体姿态控制器，其中响应于由加速度产生的惯性力或离心力， 减速或机动车辆的转动运动，使乘员搭乘部移动，以平衡惯性力或离心力。 机动车辆还包括乘员姿态控制器，用于根据由身体姿态检测器检测到的检测值来控制乘员搭乘部的姿势。