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31. 发明授权

US08577576B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08577576B2
公开(公告)日：2013-11-05
申请号：US13395545
申请日：2009-09-23
申请人： Toru Takenaka , Kazushi Akimoto , Hideo Murakami
发明人： Toru Takenaka , Kazushi Akimoto , Hideo Murakami
IPC分类号： G06F19/00
CPC分类号： B62J25/00 , B62K1/00 , B62K11/007
摘要： An inverted pendulum type vehicle includes a travelling motion unit capable of moving on a floor surface, an actuator for driving the travelling motion unit, a base body mounted with the travelling motion unit and the actuator, a tilt detector configured to detect a tilt of the base body, and a controller configured to control the actuator. The controller controls an operation of an actuator so as to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point of the vehicle and is determined according to a travelling velocity of the travelling motion unit and a tilt of the base body.
摘要翻译：倒立式车辆包括能够在地板表面上移动的行进运动单元，用于驱动行进运动单元的致动器，安装有行驶运动单元和致动器的基体;倾斜检测器，基体和配置成控制致动器的控制器。控制器控制致动器的操作，以便限制作为位于车辆的地面接触点上方的预定义代表点的行进速度的代表点速度，并且根据行驶运动单元的行进速度来确定基体倾斜。

32. 发明授权

US08463523B2 Control device of inverted pendulum type vehicle 有权
标题翻译：倒立摆式车辆控制装置
公开(公告)号：US08463523B2
公开(公告)日：2013-06-11
申请号：US13394449
申请日：2009-09-18
申请人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
IPC分类号： G01P15/14
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： An inverted pendulum type vehicle includes a loaded mode in which an object to be transported is loaded on a boarding unit, and a non-loaded state mode in which the object to be transported is not loaded thereon. When traveling velocities of a representative point of the vehicle in a steady-state, in which tilt errors θbe_x_s, θbe_y_s between actual tilt angles of a boarding unit and desired tilt angles thereof are maintained, constant are Vb_x_stb, Vb_y_stb, a traveling motion of a traveling motion unit is controlled such that at least a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s becomes a smaller ratio in the non-loaded state mode than in the loaded state mode. Such inverted pendulum type vehicle is difficult to move in the non-loaded state mode, and is easy to move in the loaded mode.
摘要翻译：倒立摆式车辆包括其中待运送物体被装载在登机单元上的加载模式，以及未装载被运送物体的未加载状态模式。当车辆的代表点的行驶速度处于稳定状态（其中倾斜误差为tabe_x_s）时，维持登机单元的实际倾斜角度与期望倾斜角度之间的tabe_y_s，常数为Vb_x_stb，Vb_y_stb，a 控制行驶运动单元，使得Vb_x_stb的大小相对于tabe_x_s的大小的至少比率在非加载状态模式下比在负载状态模式中变得较小。这种倒立摆式车辆难以在无负载状态下移动，并且容易在加载模式下移动。

33. 发明申请

US20120173109A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120173109A1
公开(公告)日：2012-07-05
申请号：US13395560
申请日：2009-09-23
申请人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
IPC分类号： G05D1/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： A desired travelling velocity of a representative point of a vehicle 1 is set under such a condition that it does not exceed a velocity permissible range which is defined to have anisotropy according to a posture of an occupant seated on a seat 3. An operation of a travelling motion unit 5 is controlled by controlling an operation of an actuator 7 on the basis of the desired travelling velocity.
摘要翻译：在车辆1的代表点的期望行驶速度被设定为不超过根据坐在座椅3上的乘员姿势具有各向异性的速度容许范围的条件。行驶运动单元5通过基于期望的行驶速度控制致动器7的操作来控制。

34. 发明授权

US08494746B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08494746B2
公开(公告)日：2013-07-23
申请号：US13395560
申请日：2009-09-23
申请人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Hideo Murakami , Toru Takenaka
IPC分类号： G05D1/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： A desired travelling velocity of a representative point of a vehicle 1 is set under such a condition that it does not exceed a velocity permissible range which is defined to have anisotropy according to a posture of an occupant seated on a seat 3. An operation of a travelling motion unit 5 is controlled by controlling an operation of an actuator 7 on the basis of the desired travelling velocity.
摘要翻译：在车辆1的代表点的期望行驶速度被设定为不超过根据坐在座椅3上的乘员姿势具有各向异性的速度容许范围的条件。行驶运动单元5通过基于期望的行驶速度控制致动器7的操作来控制。

35. 发明申请

US20120173108A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120173108A1
公开(公告)日：2012-07-05
申请号：US13395545
申请日：2009-09-23
申请人： Toru Takenaka , Kazushi Akimoto , Hideo Murakami
发明人： Toru Takenaka , Kazushi Akimoto , Hideo Murakami
IPC分类号： G06F7/00
CPC分类号： B62J25/00 , B62K1/00 , B62K11/007
摘要： According to an inverted pendulum type vehicle 1 of the present invention, an operation of an actuator 7 is controlled so as to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point of the vehicle 1 and is determined according to a travelling velocity of a travelling motion unit 5 and a tilt of a base body 9.
摘要翻译：根据本发明的倒立摆式车辆1，控制致动器7的操作，以限制作为位于车辆1的地面接触点上方的预定代表点的行进速度的代表点速度，以及根据行进运动单元5的行进速度和基体9的倾斜度来确定。

36. 发明授权

US08225891B2 Inverted pendulum mobile vehicle 有权
标题翻译：倒立摆移动车
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。

37. 发明申请

US20110233989A1 WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：车轮和摩擦驱动装置和使用其的OMNI方向车辆
公开(公告)号：US20110233989A1
公开(公告)日：2011-09-29
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B60B19/12 , B62M13/00 , B62K1/00
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译：在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在自由滚筒

38. 发明申请

US20110209932A1 OMNI-DIRECTIONAL VEHICLE 有权
标题翻译： OMNI-DIRECTIONAL车辆
公开(公告)号：US20110209932A1
公开(公告)日：2011-09-01
申请号：US12599223
申请日：2008-05-16
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： B62D9/00 , B62D61/00 , B62D51/02
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B62H1/12 , B62K11/007
摘要： [Task] Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places.[Solution] A omni-directional one-wheeled vehicle comprises a vehicle body (7) and a secondary wheel (35) configured to contact a ground surface at a point displaced from a contact point of a driven road wheel (2).
摘要翻译： [任务]提供一种车辆，可以在没有显着改变骑手的态度的情况下进行紧急转弯，而且在狭窄的地方非常方便。 [解决方案]一种全向单向车辆包括车身（7）和次轮（35），其被配置为在从被驱动的车轮（2）的接触点移位的点处接触地面。

39. 发明申请

US20100096905A1 OMNI-DIRECTIONAL DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译： OMNI方向驱动装置和OMNI方向车辆
公开(公告)号：US20100096905A1
公开(公告)日：2010-04-22
申请号：US12450357
申请日：2008-04-08
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： B60B19/12 , B60B19/14
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60B2360/32 , B60B2360/50 , B60Y2200/40 , B62K11/007
摘要： The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).
摘要翻译：全方向驱动装置包括主轮（2），其包括可围绕垂直于相应切线的横截面中心旋转的环形环形构件，用于产生绕主体的旋转轴线的旋转力的电动机（5R和5L）轮（2）和垂直于主轮（2）的对应切线的横截面的中心周围，以及装配有自由辊（3R和3L）的旋转构件（4R和4L）），用于将旋转力电动机（5R和5L）与围绕主轮（2）的旋转中心的旋转力和垂直于主轮（2）的相应切线的横截面的中心（C）相关联。

40. 发明申请

US20100038960A1 OMNI-DIRECTIONAL DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译： OMNI方向驱动装置和OMNI方向车辆
公开(公告)号：US20100038960A1
公开(公告)日：2010-02-18
申请号：US12450356
申请日：2008-04-08
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： B62D15/00
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60Y2200/40 , B62K11/007
摘要： [Task] Provided is an omni-directional drive device that does not complicate the arrangement for a power source for a drive source such as an electric motor, and achieves a high durability and an ease of maintenance.[Solution] A drive force in a first direction is produced by a movement of a first moveable member (10) itself, and a drive force in a second direction is produced by the rotation of first free rollers (14) retained by the first moveable member, the rotation of the first free rollers (14) being caused by engagement with second free rollers (15) that are retained by a second moveable member (11) and rotative actuation of the second moveable member (11). Electric motors serving as drive sources may be mounted on base members (4 and 5).
摘要翻译： [任务]提供了一种全功能驱动装置，其不会使诸如电动机之类的驱动源的电源的布置复杂化，并且实现了高耐久性和易于维护。 [解决方案]通过第一可移动构件（10）本身的运动产生沿第一方向的驱动力，并且通过第一可移动构件（10）保持的第一自由辊（14）的旋转产生沿第二方向的驱动力第一自由辊（14）的旋转是由与第二可移动构件（11）保持的第二自由辊（15）的接合和第二可动构件（11）的旋转致动引起的。用作驱动源的电动机可以安装在基座构件（4和5）上。

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