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31. 发明授权

US08521395B2 Control device of inverted pendulum type mobile apparatus 有权
标题翻译：倒摆式移动装置的控制装置
公开(公告)号：US08521395B2
公开(公告)日：2013-08-27
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： G06F19/00
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。

32. 发明申请

US20120173088A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173088A1
公开(公告)日：2012-07-05
申请号：US13394898
申请日：2009-09-18
申请人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
发明人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
IPC分类号： G05D1/08
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。

33. 发明申请

US20120173043A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173043A1
公开(公告)日：2012-07-05
申请号：US13395503
申请日：2009-09-23
申请人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
发明人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62J25/00 , B62K11/007 , B62K21/12 , B62M23/00
摘要： To provide a control device of an inverted pendulum type vehicle capable of making an occupant perform boarding action or dismounting action easily. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 controls a traveling motion of a traveling motion unit 5 so that, in a mode for transition period at the time when the occupant intends to board or dismount from vehicle, a sensitivity of change of a traveling velocity or a sensitivity of change of a traveling acceleration of the traveling motion unit 5 with respect to a change in the actual tilt angle of a payload supporting part 3 (at least a tilt angle about an axis in one direction), at least in a part of the period, to be smaller than that in the during-boarding mode when the occupant is aboard.
摘要翻译：提供能够使乘客进行登机动作或拆卸动作的倒立摆式车辆的控制装置。倒立摆式车辆1的行驶运动单元控制元件50控制行驶运动单元5的行驶运动，使得在乘员想要从车辆上下车的过渡期间的模式中，灵敏度相对于有效载荷支撑部3的实际倾斜角度的变化（至少在一个方向上的轴的倾斜角度），行驶运动单元5的行驶速度的变化或行驶加速度的变化的灵敏度的变化，至少在一段时间内，当乘客乘坐时，要小于在登机模式。

34. 发明申请

US20120173041A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173041A1
公开(公告)日：2012-07-05
申请号：US13394632
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： G06F17/00
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04 , B62M23/00
摘要： Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle 1, one end of a cord member C is connected to a seat 3 via an engagement member 4. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.
摘要翻译：提供了能够容易地将车辆朝向期望方向移动的倒立摆式车辆的控制装置。在倒立摆式车辆1中，帘线构件C的一端通过接合构件4与座椅3连接。用三轴力传感器检测帘线构件C的张力。根据检测到的帘线构件C的张力，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，根据此确定用于控制的操作变量。

35. 发明申请

US20120166049A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120166049A1
公开(公告)日：2012-06-28
申请号：US13394466
申请日：2009-09-18
申请人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
IPC分类号： G05D1/08
CPC分类号： B62K1/00 , B60L2200/14 , B60L2240/20 , B60L2240/26 , B60L2260/34 , B62K11/007
摘要： In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and θb_x_obj, θb_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit.
摘要翻译：在倒立摆式车辆中，使用调整参数Ki_x，Ki_y（i = 1,2,3）和＆thetas; b_x_obj，＆thetas; b_y_obj来确定用于控制行驶运动单元的操作变量，其根据是否处于装载状态，其中运输对象被装载在倒立摆式车辆的装载部分上，或者是否处于未被装载物体的未装载状态。在从加载状态到非加载状态的转变的情况下，在从非加载状态到加载状态的转变的情况下，调整参数以更快的速度改变。用于控制的调整参数在过渡期间适当地改变，同时抑制行进运动单元的滑动的发生。

36. 发明授权

US08700268B2 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：US08700268B2
公开(公告)日：2014-04-15
申请号：US13393295
申请日：2009-09-18
申请人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami
发明人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami
IPC分类号： B62K1/00 , B62K3/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as θbe_x_s and θbe_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which θbe_x_s and θbe_y_s are retained constant are defined as Vb_x_stb and Vb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of Vb_y_stb with respect to θbe_y_s becomes a ratio different from each other.
摘要翻译：在具有行进运动单元的倒立摆式车辆中，当在实际倾斜角和有效载荷的期望倾斜角之间的倾斜误差内，当围绕第二方向的轴线的分量和围绕第一方向的轴线的分量时，分别被定义为＆thetas; be_x_s和＆thetas; be_y_s，以及当处于静止状态的车辆的代表点的行进速度内的第一方向上的分量和第二方向上的分量时， be_x_s和＆thetas; be_y_s被保持常数分别被定义为Vb_x_stb和Vb_y_stb，控制行进运动单元的行进运动，使得Vb_x_stb的大小相对于该等级的大小的比值; be_x_s和a 相对于＆thetas的Vb_y_stb的大小; be_y_s成为彼此不同的比率。

37. 发明授权

US08583342B2 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：US08583342B2
公开(公告)日：2013-11-12
申请号：US13391690
申请日：2009-09-18
申请人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami
发明人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04 , Y02T10/7258
摘要： A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit 50 of an inverted pendulum type vehicle sequentially determines a target-of-retaining velocity magnitude amount which is a magnitude of a desired velocity of a predetermined representative point in a predetermined period of time, or a magnitude of a component in a predetermined direction of the desired velocity, to be retained stable to a value identical to the target-of-retaining velocity magnitude amount in relation to the desired velocity determined immediately before start of the period of time, in the case where a predetermined condition is satisfied, and control the traveling motion of a traveling motion unit 5 in accordance with the determined desired velocity.
摘要翻译：提供一种能够简化车辆的转向并提高其操作质量的倒立摆式车辆的控制装置。倒立摆型车辆的控制单元50顺序地确定作为预定时间段内的预定代表点的期望速度的大小的保持目标速度幅度量，或预定时间段内的分量的大小在满足预定条件的情况下，期望速度的方向被保持稳定到相对于紧接在时间段开始之前确定的期望速度的保持目标速度量值的相同值，并且根据所确定的期望速度来控制行驶运动单元5的行进运动。

38. 发明授权

US08567535B2 Inverted pendulum type moving body 有权
标题翻译：倒摆式移动体
公开(公告)号：US08567535B2
公开(公告)日：2013-10-29
申请号：US12884454
申请日：2010-09-17
申请人： Toru Takenaka , Kazushi Akimoto
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： B62D57/00 , B62D61/00
CPC分类号： B62K1/00 , B60L2200/14 , B60L2240/18 , B60L2240/20 , B60L2260/34 , B62K11/007
摘要： An inverted pendulum type moving body comprising: a base body; a moving behavior unit movable in all directions on a floor surface; an actuator driving the moving behavior unit; and a control unit controlling the actuator so that at least a tilt angle of the base body equals a predetermined target angle, the control unit also controlling the actuator so that the moving behavior unit moves along a predetermined trajectory.
摘要翻译：一种倒立摆型移动体，包括：基体; 移动行为单元，可在地板表面上的所有方向移动; 驱动运动行为单元的致动器; 以及控制单元，其控制所述致动器，使得所述基体的至少倾斜角度等于预定目标角度，所述控制单元还控制所述致动器，使得所述移动行为单元沿着预定轨迹移动。

39. 发明授权

US08548711B2 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：US08548711B2
公开(公告)日：2013-10-01
申请号：US13395516
申请日：2009-09-23
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： G01P15/14
CPC分类号： B62K1/00 , B62J1/00 , B62J25/00 , B62K11/007
摘要： Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP 21), a posture control calculator 80 performs a first mode arithmetic process (STEP 22) to update the tilt offset adjusting variable θb_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd via a second mode arithmetic process (STEP 23) by using the tilt offset adjusting variable θb_xy_offset updated in the first mode arithmetic process.
摘要翻译：提供一种倒立摆式车辆的控制装置，其能够将基体的倾斜角度与期望的倾斜角度的偏差进行调整，以便将车辆保持在倾斜角度与期望的倾斜角度匹配的正常状态，并且车辆停了当满足用于更新倾斜偏移调整变量thab_xy_offset的更新条件（步骤21）时，姿势控制计算器80执行第一模式运算处理（步骤22），以更新倾斜偏移调整变量thetab_xy_offset，同时确定假想轮旋转角度通过使用在第一模式运算处理中更新的倾斜偏移调整变量thetab_xy_offset，经由第二模式运算处理（步骤23）加速命令omegawdot_x_cmd和omegawdot_y_cmd。

40. 发明授权

US08527154B2 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：US08527154B2
公开(公告)日：2013-09-03
申请号：US13394466
申请日：2009-09-18
申请人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60L2200/14 , B60L2240/20 , B60L2240/26 , B60L2260/34 , B62K11/007
摘要： In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and θb_x_obj, θb_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit.
摘要翻译：在倒立摆型车辆中，使用调整参数Ki_x，Ki_y（i = 1,2,3）和tab_x_obj，tab_y_obj来确定用于控制行驶运动单元的操作变量，该变量根据其是否在将要运输的物体的装载状态装载在倒立摆式车辆的装载部分上，或者是否处于未被装载物体的未装载状态。在从加载状态到非加载状态的转变的情况下，在从非加载状态到加载状态的转变的情况下，调整参数以更快的速度改变。用于控制的调整参数在过渡期间适当地改变，同时抑制行进运动单元的滑动的发生。

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