公开(公告)号：US08271175B2

公开(公告)日：2012-09-18

申请号：US11912957

申请日：2006-08-07

申请人： Toru Takenaka ,  Yasuji Shibahata

发明人： Toru Takenaka ,  Yasuji Shibahata

IPC分类号： B60W30/02 ,  G06F7/00 ,  B60G17/015 ,  B60G17/00

CPC分类号： B62D6/003 ,  B60T8/17551 ,  B60T2230/02 ,  B60T2270/86 ,  B60W10/184 ,  B60W10/20 ,  B60W10/22 ,  B60W40/068 ,  B60W40/08 ,  B60W40/10 ,  B60W40/101

摘要： A control means for controlling actuators of a vehicle creates a time series of a future behavior of the vehicle using a vehicle model. A state amount of the vehicle model is initialized on the basis of a state amount of the vehicle, and the future behavior is created starting from the initial state amount. The future behavior is created such that operation commands of the actuators in the vehicle model at the current time coincide with or approximate basic values based on operation of a manipulating device, such as a steering wheel of the vehicle. It is evaluated whether vehicle motion, road surface reaction force, and wheel sliding, in the created future behavior satisfy predetermined restrictive conditions. Based on the evaluation result, the operation commands of the actuators are successively decided. This permits ideal travel of the vehicle to be achieved by properly predicting future behaviors of the vehicle.

摘要翻译： 用于控制车辆的致动器的控制装置使用车辆模型创建车辆的未来行为的时间序列。 基于车辆的状态量来初始化车辆模型的状态量，并且从初始状态量开始创建未来行为。 创建将来的行为，使得当前时间的车辆模型中的致动器的操作命令基于诸如车辆的方向盘的操纵装置的操作来重合或接近基本值。 在创建的未来行为中是否评估车辆运动，路面反作用力和车轮滑动是否满足预定的限制条件。 根据评价结果，依次判定执行器的动作指令。 这允许通过适当地预测车辆的未来行为来实现车辆的理想行驶。

公开(公告)号：US20090088918A1

公开(公告)日：2009-04-02

申请号：US11912957

申请日：2006-08-07

申请人： Toru Takenaka ,  Yasuji Shibahata

发明人： Toru Takenaka ,  Yasuji Shibahata

IPC分类号： G06F7/00

CPC分类号： B62D6/003 ,  B60T8/17551 ,  B60T2230/02 ,  B60T2270/86 ,  B60W10/184 ,  B60W10/20 ,  B60W10/22 ,  B60W40/068 ,  B60W40/08 ,  B60W40/10 ,  B60W40/101

摘要： A control means for controlling actuators of a vehicle creates a time series of a future behavior of the vehicle using a vehicle model. A state amount of the vehicle model is initialized on the basis of a state amount of the vehicle, and the future behavior is created starting from the initial state amount. The future behavior is created such that operation commands of the actuators in the vehicle model at the current time coincide with or approximate basic values based on operation of a manipulating device, such as a steering wheel of the vehicle. It is evaluated whether vehicle motion, road surface reaction force, and wheel sliding, in the created future behavior satisfy predetermined restrictive conditions. Based on the evaluation result, the operation commands of the actuators are successively decided. This permits ideal travel of the vehicle to be achieved by properly predicting future behaviors of the vehicle.

摘要翻译： 用于控制车辆的致动器的控制装置使用车辆模型创建车辆的未来行为的时间序列。 基于车辆的状态量来初始化车辆模型的状态量，并且从初始状态量开始创建未来行为。 创建将来的行为，使得当前时间的车辆模型中的致动器的操作命令基于诸如车辆的方向盘的操纵装置的操作来重合或接近基本值。 在创建的未来行为中是否评估车辆运动，路面反作用力和车轮滑动是否满足预定的限制条件。 根据评价结果，依次判定执行器的动作指令。 这允许通过适当地预测车辆的未来行为来实现车辆的理想行驶。

公开(公告)号：US08583302B2

公开(公告)日：2013-11-12

申请号：US12889667

申请日：2010-09-24

申请人： Kazushi Akimoto ,  Toru Takenaka ,  Hiroshi Gomi ,  Shinichiro Kobashi

发明人： Kazushi Akimoto ,  Toru Takenaka ,  Hiroshi Gomi ,  Shinichiro Kobashi

IPC分类号： B62D61/02 ,  B60K17/30 ,  B62D6/00 ,  B60L11/00

CPC分类号： B60L15/20 ,  B60L2200/12 ,  B60L2200/22 ,  B60L2200/34 ,  B60L2260/34 ,  B62K11/06 ,  B62K11/10 ,  B62K2204/00 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

摘要： An electric vehicle includes a base; a front wheel that can be driven omnidirectionally; a rear wheel that is mounted on the base so that a symmetry axis is parallel with a symmetry axis of the front wheel; a seat member that is mounted so that a straight line connecting a wheel center of the front wheel and a wheel center of the rear wheel specifies a fore-and-aft direction; an controller that detects an acceleration and deceleration command and a turning command; an inclination sensor that detects inclination of the base; and a control unit that controls acceleration and deceleration of the base based on the acceleration and deceleration command detected by the controller, that controls turning of the base based on the turning command detected by the controller, and that controls translational motion of the base based on inclination of the base detected by the inclination sensor.

摘要翻译： 电动车辆包括底座; 可以全方位驱动的前轮; 后轮，其安装在所述基座上，使得对称轴线与所述前轮的对称轴线平行; 座椅构件，其安装成使得连接前轮的车轮中心和后轮的车轮中心的直线指定前后方向; 检测加速和减速命令和转弯指令的控制器; 检测基座的倾斜度的倾斜传感器; 以及控制单元，其基于由所述控制器检测到的所述加速和减速命令来控制所述基座的加速和减速，所述加速和减速命令基于由所述控制器检测到的转动命令来控制所述基座的转动，并且基于所述基座的平移运动，基于 基座由倾斜传感器检测到的倾斜度。

公开(公告)号：US08460154B2

公开(公告)日：2013-06-11

申请号：US12884328

申请日：2010-09-17

申请人： Hiroshi Gomi ,  Toru Takenaka ,  Kazuya Kuwabara

发明人： Hiroshi Gomi ,  Toru Takenaka ,  Kazuya Kuwabara

IPC分类号： F16H13/10

CPC分类号： B60B19/125 ,  B60B9/06 ,  B60B9/10 ,  B60B19/003 ,  B60B2200/47 ,  B60B2310/305 ,  B60B2310/56 ,  B60B2360/10 ,  B60B2360/50 ,  B60B2380/12 ,  B60B2900/131 ,  B60L11/1805 ,  Y02T10/646 ,  Y02T10/7005

摘要： In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (84, 110) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86, 111) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, a resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other.

摘要翻译： 在一种摩擦驱动装置中，包括一对以相互相对的关系围绕中心轴线（A）由框架（10）可旋转地支撑的一对驱动盘（48），一对电动机（64）由框架支撑以单独地旋转 致动驱动盘，多个驱动辊（56），其沿着每个驱动盘的外周排列成规则间隔，并且每个驱动辊具有旋转中心线，以便能够沿着不平行于或不垂直于中心的平面旋转 轴线和环形主轮（84,110），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86,111）和多个 驱动辊（92）沿着​​环形构件被支撑以能够围绕环形构件的切线旋转，弹性被并入主轮或驱动辊中，使得相对大的数量 从动辊可以同时被驱动辊接合，因此即使当环形构件的轴向中心和驱动盘的轴向中心彼此偏移时，也能够维持相对高的驱动效率。

公开(公告)号：US08353378B2

公开(公告)日：2013-01-15

申请号：US12884738

申请日：2010-09-17

申请人： Hiroshi Gomi ,  Shinichiro Kobashi ,  Toru Takenaka ,  Kazushi Hamaya ,  Wataru Yada ,  Kazushi Akimoto ,  Yuichi Uebayashi ,  Hironori Waita

发明人： Hiroshi Gomi ,  Shinichiro Kobashi ,  Toru Takenaka ,  Kazushi Hamaya ,  Wataru Yada ,  Kazushi Akimoto ,  Yuichi Uebayashi ,  Hironori Waita

IPC分类号： B62K1/00

CPC分类号： B62K1/00 ,  B60B19/003 ,  B60B19/125 ,  B60B2200/47 ,  B60B2310/204 ,  B60B2310/228 ,  B60B2310/232 ,  B60B2310/305 ,  B60B2360/10 ,  B60B2360/147 ,  B60B2360/32 ,  B60B2360/348 ,  B60B2360/50 ,  B60B2380/12 ,  B60B2380/14 ,  B60L1/003 ,  B60L3/0061 ,  B60L11/1803 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/14 ,  B60L2220/42 ,  B60L2240/425 ,  B60L2240/461 ,  B60L2260/34 ,  B62K11/007 ,  Y02T10/646 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y10T74/19

摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.

摘要翻译： 一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架 用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转 其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86） ）和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。 减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。

公开(公告)号：US08315758B2

公开(公告)日：2012-11-20

申请号：US12704085

申请日：2010-02-11

申请人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

发明人： Toru Takenaka ,  Hiroyuki Urabe ,  Osamu Yano ,  Yoshihiro Mori ,  Tomoya Ushimura

IPC分类号： G01M17/00

CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/068 ,  B62D6/006 ,  Y10T152/10792

摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.

摘要翻译： 路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦 已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。 根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数 。

公开(公告)号：US08267213B2

公开(公告)日：2012-09-18

申请号：US12882688

申请日：2010-09-15

申请人： Toru Takenaka

发明人： Toru Takenaka

IPC分类号： B62M13/00

CPC分类号： B62K1/00 ,  B62K11/007

摘要： An inverted pendulum type omnidirectional vehicle includes: a pair of wheels; a drive mechanism; a control apparatus; an auxiliary wheel; and a vehicle body. Each of the wheels includes: a rotation member capable of rotating about the wheel axis; a plurality of free rollers which are disposed all around an outer circumference of the rotation member, and each of which is brought into contact with a road surface at a lowest position of the rotation member and is rotatable about a rotation axis diagonal with respect to the wheel axis. The free rollers on both sides in contact with the road surface at ground contact portions each have the rotation axis extending in parallel with the road surface, and are arranged in an orientation in which a distance between the rotation axes of the free rollers is shorter toward a side of the auxiliary wheel.

摘要翻译： 倒立摆型全方位车辆包括：一对车轮; 驱动机构; 控制装置; 辅助轮 和车体。 每个车轮包括：能够围绕车轮轴线旋转的旋转构件; 多个自由辊，其设置在所述旋转构件的外周周围，并且每个自由辊与所述旋转构件的最低位置处的路面接触，并且能够围绕相对于所述旋转构件的旋转轴对角线旋转 轮轴。 与地面接触部分的路面接触的两侧的自由滚轮各自具有与路面平行延伸的旋转轴线，并且配置成使自由辊的旋转轴线之间的距离朝向 辅助轮的一侧。

公开(公告)号：US08225891B2

公开(公告)日：2012-07-24

申请号：US12454394

申请日：2009-05-18

申请人： Toru Takenaka ,  Makoto Hirano ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Taiji Koyama ,  Shinichiro Kobashi

发明人： Toru Takenaka ,  Makoto Hirano ,  Hideharu Izumi ,  Kazuya Kuwabara ,  Taiji Koyama ,  Shinichiro Kobashi

IPC分类号： B62D61/00

CPC分类号： B62K11/007 ,  B60L2200/16 ,  B60L2240/22 ,  B60L2260/34

摘要： Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship. Thereby, even when the wheel supporting frame undergoes a rapid yaw movement either while traveling in a fore-and-aft direction or remaining stationary, the body frame that carries a vehicle occupant or a cargo is allowed to follow the yaw movement of the wheel supporting frame at a slower angular speed and/or acceleration/deceleration so that the vehicle occupant is prevented from experiencing discomfort and the cargo is prevented from shifting on the body frame or falling off from the vehicle.

摘要翻译： 提供了一种倒立摆移动车辆，例如单乘客同轴二轮车辆，其能够以小的转动半径转动而不会引起乘客或车辆乘员的不适，或使车辆上的货物等移动 或从车辆脱落。 车辆包括车轮支撑框架（12），由车轮支撑框架支撑的主体框架（12），以便能够围绕垂直轴线旋转并且携带乘客和/或货物和车身联接器（52,78） 70），其以预定的动态位置关系相对于车轮支撑框架联接车体框架。 因此，即使当车轮支撑框架在前后方向上行进或保持静止时经历快速偏航运动时，允许携带车辆乘员或货物的车身框架跟随车轮支撑的偏航运动 框架以较慢的角速度和/或加速/减速，使得车辆乘员被防止体验不适，并且防止货物在车身框架上移动或从车辆脱落。

公开(公告)号：US20120175175A1

公开(公告)日：2012-07-12

申请号：US13395705

申请日：2009-09-18

申请人： Hiroshi Gomi ,  Toru Takenaka

发明人： Hiroshi Gomi ,  Toru Takenaka

IPC分类号： B60K1/00 ,  B62D61/00

CPC分类号： B62J1/005 ,  B62J25/00 ,  B62K1/00 ,  B62K11/007 ,  B62K15/00

摘要： The present invention provides an inverted pendulum type vehicle which can perform a turning movement with ease without requiring any additional device even though the vehicle is configured to travel on a single drive wheel. A substantially vertical principal axis of inertia of the vehicle is tilted rearward with respect to a plumb vertical line. As result, when a rider shift his gravitational center in either lateral direction and tilts the vehicle in the corresponding direction, the main wheel is caused to turn around the principal axis of inertia so that the main wheel is steering in effect, and the vehicle can be turned in a desired direction.

摘要翻译： 本发明提供了一种倒立摆式车辆，即使车辆构造成在单个驱动轮上行进，该车辆也可以容易地执行转动运动，而不需要任何附加装置。 车辆的基本上垂直的主要惯性轴相对于垂直垂直线向后倾斜。 结果，当乘客在横向方向上移动他的重力中心并使车辆沿相应的方向倾斜时，使主轮绕主要惯性轴转动，使得主轮有效转向，车辆可以 沿所需方向转动。

公开(公告)号：US20120173114A1

公开(公告)日：2012-07-05

申请号：US13394885

申请日：2009-09-18

申请人： Toru Takenaka ,  Kazushi Akimoto ,  Shinichiro Kobashi ,  Hideo Murakami ,  Yuichi Uebayashi

发明人： Toru Takenaka ,  Kazushi Akimoto ,  Shinichiro Kobashi ,  Hideo Murakami ,  Yuichi Uebayashi

IPC分类号： G06F7/00

CPC分类号： B62K1/00 ,  B62K11/007 ,  B62K2207/04

摘要： Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus 1 is in halt state is detected, a control unit 50 determines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unit 5 toward a direction for the base body 9 to support the body of the user.

摘要翻译： 本发明提供一种倒立式移动装置的控制装置，其能够在使用者的脚部以躺卧状态站立在地板上的状态下支撑使用者的身体。 如果检测到移动装置1处于停止状态时用户具有由基体支撑的脚部站立在地板上的倾斜状态，则控制单元50确定用于控制的操作变量（假想轮旋转角度 加速指令），以便朝向基体9的方向驱动行进运动单元5，以支撑使用者的身体。