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1. 发明授权

US08265774B2 Inverted pendulum type moving body and method of controlling the same 有权
标题翻译：倒摆式移动体及其控制方法
公开(公告)号：US08265774B2
公开(公告)日：2012-09-11
申请号：US12257886
申请日：2008-10-24
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： G05D1/00 , G06D7/00
CPC分类号： A61G5/04 , A61G2203/36 , A61G2203/38 , A61G2203/42 , B62K11/007
摘要： An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.
摘要翻译：根据本发明的倒立摆式移动体包括：第一致动器，其旋转地驱动各自设置在轴上的轮; 以及转动运动控制部分，当倒立摆式移动体与障碍物接触时，控制第一致动器，以允许倒立摆式移动体执行转动。

2. 发明申请

US20090108553A1 INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING SAME 有权
标题翻译：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。

3. 发明申请

US20110178667A1 VEHICLE, CONTROLLER AND CONTROLLING METHOD OF THE SAME 审中-公开
标题翻译：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。

4. 发明申请

US20090223728A1 WHEELED INVERTED PENDULUM MOBILE UNIT 有权
标题翻译：车轮倒立移动单元
公开(公告)号：US20090223728A1
公开(公告)日：2009-09-10
申请号：US12398549
申请日：2009-03-05
申请人： Mitsuo KOIDE , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
发明人： Mitsuo KOIDE , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
IPC分类号： B60K28/16
CPC分类号： G05D1/0891
摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
摘要翻译：具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

5. 发明申请

US20090107240A1 INVERTED PENDULUM TYPE MOVING BODY AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：反相型移动体及其控制方法
公开(公告)号：US20090107240A1
公开(公告)日：2009-04-30
申请号：US12257886
申请日：2008-10-24
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： G01P15/00
CPC分类号： A61G5/04 , A61G2203/36 , A61G2203/38 , A61G2203/42 , B62K11/007
摘要： An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.
摘要翻译：根据本发明的倒立摆式移动体包括：第一致动器，其旋转地驱动各自设置在轴上的轮; 以及转动运动控制部分，当倒立摆式移动体与障碍物接触时，控制第一致动器，以允许倒立摆式移动体执行转动。

6. 发明授权

US5111516A Apparatus for visual recognition 失效
标题翻译：视觉识别装置
公开(公告)号：US5111516A
公开(公告)日：1992-05-05
申请号：US507406
申请日：1990-04-11
申请人： Masaru Nakano , Kazutoshi Sukigara
发明人： Masaru Nakano , Kazutoshi Sukigara
IPC分类号： G06F15/18 , G06K9/64 , G06N3/00 , G06N99/00 , G06T7/00
CPC分类号： G06K9/6211
摘要： A basic image of objects is extracted from a two-dimensional image of objects. Geometrical elements of the objects are extracted from the extracted basic image. The objects to be recognized are identified by searching a combination of the geometrical elements which match a geometrical model and then utilizing candidate position/orientation of the objects to be recognized, said candidate position/orientation being determined from a relationship in relative position between the combination of geometrical elements and the geometrical model. Mesh cells fixed to the geometrical model are mapped on the basic image based on the candidate position/orientation. In addition, verification is made as to whether an image of the geometrical model mapped by the candidate position/orientation is accurately matched with an image of one of the objects to be recognized, through a neural network to which values got from the basic image included in the individual mesh cells are to be applied as input values. Combination weight factors employed in the neural network are learned according to the verified results. It is also possible to recognize the multi-purpose objects according to how to learn the combination weight factors.
摘要翻译：从对象的二维图像中提取对象的基本图像。从提取的基本图像中提取对象的几何元素。通过搜索与几何模型匹配的几何元素的组合然后利用要识别的对象的候选位置/取向来识别待识别的对象，所述候选位置/取向是根据组合之间的相对位置的关系确定的的几何元素和几何模型。固定在几何模型上的网格单元基于候选位置/方向映射到基本图像上。此外，通过从包括基本图像的值得到的神经网络，验证由候选位置/方向映射的几何模型的图像是否与要被识别的对象之一的图像精确匹配在单个网格单元格中将被用作输入值。根据验证结果了解神经网络中使用的组合权重因子。根据如何学习组合权重因子，也可以识别多用途对象。

7. 发明授权

US08151912B2 Wheeled inverted pendulum mobile unit 有权
标题翻译：轮式倒立摆机构
公开(公告)号：US08151912B2
公开(公告)日：2012-04-10
申请号：US12398549
申请日：2009-03-05
申请人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
发明人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
IPC分类号： B62D61/00
CPC分类号： G05D1/0891
摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
摘要翻译：具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

8. 发明授权

US08011459B2 Inverted wheel type moving body and method of controlling same 有权
标题翻译：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。

9. 发明授权

US4982342A Image processor system having multifunction look-up table units 失效
标题翻译：具有多功能查找表单元的图像处理器系统
公开(公告)号：US4982342A
公开(公告)日：1991-01-01
申请号：US266903
申请日：1988-11-03
申请人： Hiroshi Moribe , Kazutoshi Sukigara , Masaru Nakano , Toshio Kato , Yoshiaki Ito
发明人： Hiroshi Moribe , Kazutoshi Sukigara , Masaru Nakano , Toshio Kato , Yoshiaki Ito
IPC分类号： G06F1/03 , G06T1/20
CPC分类号： G06F1/03 , G06T1/20
摘要： In an image processor system, a processor includes a first two-dimensional look-up table for receiving first and second digital data as an address, a second two-dimensional look-up table for receiving an output digital data of the first two-dimensional look-up table and a third digital signal as an address, and a latch circuit for temporarily storing the output digital data of the second look-up table. The processor is flexible and the functions thereof can be varied by changing the contents of the look-up tables.
摘要翻译：在图像处理器系统中，处理器包括用于接收第一和第二数字数据作为地址的第一二维查找表，用于接收第一二维的输出数字数据的第二二维查找表查找表和第三数字信号作为地址，以及用于临时存储第二查找表的输出数字数据的锁存电路。处理器是灵活的，其功能可以通过改变查找表的内容来改变。

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