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51. 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。

52. 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。

53. 发明申请

US20120150408A1 CONTROL DEVICE OF OMNIDIRECTIONAL VEHICLE 有权
标题翻译： OMNIDIRECTIONAL车辆的控制装置
公开(公告)号：US20120150408A1
公开(公告)日：2012-06-14
申请号：US13391494
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： G06F7/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： An omnidirectional vehicle capable of enhancing straight-line stability is provided.Within a period from the instant the execution of velocity component attenuation processing for reducing continuously or stepwise the magnitude of a desired velocity vector ↑Vb_aim of a predetermined representative point of a vehicle 1 having a traveling motion unit 5 capable of moving in all directions, including a first direction and a second direction, on a floor surface is started to the instant the magnitude of ↑Vb_aim attenuates to zero, the orientation of ↑Vb_aim is brought closer to the first direction. The first direction is defined as the fore-and-aft direction of an occupant aboard the vehicle 1, while the second direction is defined as the lateral direction of the occupant.
摘要翻译：提供了能够提高直线稳定性的全方位车辆。在从即将执行速度分量衰减处理的一段时间内，连续或逐步地减小具有能够在所有方向上移动的行进运动单元5的车辆1的预定代表点的期望速度矢量↑Vb_aim的大小，包括在↑Vb_aim的大小衰减到零的瞬间开始在地板表面上的第一方向和第二方向，使↑Vb_aim的取向靠近第一方向。第一方向被定义为车辆1上的乘员的前后方向，而第二方向被定义为乘员的横向方向。

54. 发明授权

US07658246B2 Leg joint assist device of legged mobile robot 失效
标题翻译：腿式移动机器人的腿关节辅助装置
公开(公告)号：US07658246B2
公开(公告)日：2010-02-09
申请号：US11575545
申请日：2005-08-17
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
IPC分类号： B25J19/00
CPC分类号： B62D57/032 , B25J19/0012 , Y10T403/32606
摘要： An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring means 21 in response to a flexing degree of the knee joint 8 can be restrained.
摘要翻译：辅助装置11配备有弹簧装置21（气弹簧），并且气缸23中的活塞24根据大腿4和小腿5的相对位移运动（弯曲或拉伸运动）向上或向下移动机器人腿3的膝关节8。在活塞24上方和下方的气室25和26充满气体。如果膝关节8的弯曲度为规定值以下，则气室25,26通过气缸23内的槽28连通，弹簧装置21不产生弹性力，但如果挠曲度超过预定值，则空气室25和26彼此气密地密封，并且弹簧装置21产生作为辅助驱动力的作用在膝关节8上的弹力。通过使用小而简单的结构，能够减轻腿的联合执行器的负担，同时减少机器人的能量消耗。此外，可以抑制响应于膝关节8的弯曲程度的弹簧装置21的辅助驱动力的特性的变化。

55. 发明授权

US08567537B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08567537B2
公开(公告)日：2013-10-29
申请号：US12884748
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： B62K15/00 , B62K11/02
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可以具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

56. 发明申请

US20110067938A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20110067938A1
公开(公告)日：2011-03-24
申请号：US12884748
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： B60L11/00 , B62D61/00
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可能具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

57. 发明申请

US20120175176A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120175176A1
公开(公告)日：2012-07-12
申请号：US13496487
申请日：2009-09-18
申请人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
发明人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
IPC分类号： B62D61/00
CPC分类号： B62K1/00 , B60L11/1805 , B62J1/005 , B62J25/00 , B62K11/007 , B62K15/008 , Y02T10/7005
摘要： An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.
摘要翻译：倒立摆式车辆（1）包括具有负载传感器的下框架，该负载传感器具有用于接收外力的输入部分60和设置有用于支撑乘员或货物的负载的鞍座11的上框架（3）握持手柄（31），用于使得不骑车的用户能够支撑车辆（1），上框架经由负载传感器的输入部分连接到下框架。因此，通过使用单个力传感器，在包括支撑车辆用推进单元的下框架和可拆卸地安装于下框架的上框架的车辆中，不仅作用在上框架的负载支撑部上的力可以可以检测出准确的方式，而且可以检测到当用户正在运送车辆时作用在负载支撑部分上的力。

58. 发明申请

US20110068738A1 RECHARGING SYSTEM FOR A RECHARGEABLE BATTERY OF AN INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆可充电电池的充电系统
公开(公告)号：US20110068738A1
公开(公告)日：2011-03-24
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi GOMI , Kazushi HAMAYA , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi GOMI , Kazushi HAMAYA , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/16 , H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译：用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的努力

59. 发明授权

US08513917B2 Recharging system for a rechargeable battery of an inverted pendulum type vehicle 有权
标题翻译：用于倒立摆式车辆的可充电电池的充电系统
公开(公告)号：US08513917B2
公开(公告)日：2013-08-20
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译：用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的努力

60. 发明授权

US08381859B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08381859B2
公开(公告)日：2013-02-26
申请号：US13496487
申请日：2009-09-18
申请人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
发明人： Kazushi Hamaya , Hironori Waita , Hiroshi Gomi , Joonheon Shin , Kazushi Akimoto
IPC分类号： B62D61/00
CPC分类号： B62K1/00 , B60L11/1805 , B62J1/005 , B62J25/00 , B62K11/007 , B62K15/008 , Y02T10/7005
摘要： An inverted pendulum type vehicle (1) includes a lower frame incorporated with load sensor having an input portion 60 for receiving an external force and an upper frame (3) provided with a saddle 11 for supporting a load of a rider or a cargo and a grip handle (31) for enabling a user not riding the vehicle to support the vehicle (1), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.
摘要翻译：倒立摆式车辆（1）包括具有负载传感器的下框架，该负载传感器具有用于接收外力的输入部分60和设置有用于支撑乘员或货物的负载的鞍座11的上框架（3）握持手柄（31），用于使得不骑车的用户能够支撑车辆（1），上框架经由负载传感器的输入部分连接到下框架。因此，通过使用单个力传感器，在包括支撑车辆用推进单元的下框架和可拆卸地安装于下框架的上框架的车辆中，不仅作用在上框架的负载支撑部上的力可以可以检测出准确的方式，而且可以检测到当用户正在运送车辆时作用在负载支撑部分上的力。

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