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    VEHICLE, CONTROLLER AND CONTROLLING METHOD OF THE SAME
    1.
    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。

    Inverted wheel type moving body and method of controlling same
    3.
    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。

    INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING SAME
    5.
    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。