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1. 发明申请

US20100324753A1 VEHICLE, SYSTEM INCLUDING THE SAME, VEHICLE MOTION PRODUCING METHOD 审中-公开
标题翻译：车辆，包括它的系统，车辆运动生产方法
公开(公告)号：US20100324753A1
公开(公告)日：2010-12-23
申请号：US12816582
申请日：2010-06-16
申请人： Yoshihiro OKUMATSU
发明人： Yoshihiro OKUMATSU
IPC分类号： G06F19/00
CPC分类号： B62K11/007 , Y02T10/7258
摘要： A robot executes motion by modifying a motion behavior on the basis of a motion direction of a user on board according to a state of mind of the user on board. This produces the motion of the vehicle under conditions that reflect the user's state of mind. The robot preferably includes a direction input portion that receives the motion direction from the user and generates a reference input corresponding to the motion direction, and an inverted control reference input generator that generates a motion reference input that makes the robot execute motion in a behavior different from the motion behavior on the basis of the motion direction, based at least on a reduction coefficient with a value corresponding to the user's state of mind and the reference input generated in the direction input portion. The reduction coefficient is determined by measuring the pulse rate of the user on board.
摘要翻译：机器人根据船上用户的心理状态，根据船上用户的运动方向修改运动行为，执行运动。这会在反映用户心态的条件下产生车辆的运动。机器人优选地包括方向输入部分，其从用户接收运动方向并产生与运动方向相对应的参考输入;以及反相控制参考输入生成器，其生成运动参考输入，其使得机器人执行运动不同的运动至少基于与用户心理状态对应的值的减小系数和在方向输入部分生成的参考输入，基于运动方向的运动行为。降低系数通过测量船上用户的脉搏速率来确定。

2. 发明授权

US08621684B2 Transfer assist apparatus 失效
标题翻译：转运辅助装置
公开(公告)号：US08621684B2
公开(公告)日：2014-01-07
申请号：US13145692
申请日：2010-01-21
申请人： Yoshihiro Okumatsu
发明人： Yoshihiro Okumatsu
IPC分类号： A61G7/10
CPC分类号： A61G7/1017 , A61G7/1048 , A61G7/1053 , A61G7/1065 , A61G7/1076 , A61G2200/52 , A61G2203/46
摘要： A transfer assist apparatus includes an anxiety measurement unit that detects a physical change linked to a sense of anxiety in the care-receiver and measures a degree of anxiety in the care-receiver, and a control unit that control the drive unit correspondingly to a trajectory inputted by the operation unit and performs feedback control so as to reduce the degree of anxiety measured by the anxiety measurement unit. The anxiety measurement unit detects at least one of a heart rate, an amount of perspiration, a breathing rate, an eyeball movement, an electric resistance of skin, and a skin temperature as the physical change linked to a sense of anxiety in the care-receiver. The control unit sets a speed limit of the drive unit correspondingly to the degree of anxiety measured by the anxiety measurement unit and restricts the drive speed of the drive unit not to exceed the speed limit.
摘要翻译：转移辅助装置包括焦虑测量单元，其检测与护理者中的焦虑感有关的物理变化，并且测量护理者中的焦虑程度;以及控制单元，其相应于轨迹控制驱动单元由操作单元输入并执行反馈控制，以减少由焦虑测量单元测量的焦虑程度。焦虑测量单元检测与心理感觉中的焦虑感相关联的物理变化的心率，出汗量，呼吸频率，眼球运动，皮肤电阻和皮肤温度中的至少一个，接收器。控制单元对应于由焦虑测量单元测量的焦虑程度来设定驱动单元的速度限制，并且限制驱动单元的驱动速度不超过限速。

3. 发明申请

US20110277235A1 TRANSFER ASSIST APPARATUS 失效
标题翻译：转移辅助装置
公开(公告)号：US20110277235A1
公开(公告)日：2011-11-17
申请号：US13145692
申请日：2010-01-21
申请人： Yoshihiro Okumatsu
发明人： Yoshihiro Okumatsu
IPC分类号： A61G7/10
CPC分类号： A61G7/1017 , A61G7/1048 , A61G7/1053 , A61G7/1065 , A61G7/1076 , A61G2200/52 , A61G2203/46
摘要： A transfer assist apparatus includes an anxiety measurement unit that detects a physical change linked to a sense of anxiety in the care-receiver and measures a degree of anxiety in the care-receiver, and a control unit that control the drive unit correspondingly to a trajectory inputted by the operation unit and performs feedback control so as to reduce the degree of anxiety measured by the anxiety measurement unit. The anxiety measurement unit detects at least one of a heart rate, an amount of perspiration, a breathing rate, an eyeball movement, an electric resistance of skin, and a skin temperature as the physical change linked to a sense of anxiety in the care-receiver. The control unit sets a speed limit of the drive unit correspondingly to the degree of anxiety measured by the anxiety measurement unit and restricts the drive speed of the drive unit not to exceed the speed limit.
摘要翻译：转移辅助装置包括焦虑测量单元，其检测与护理者中的焦虑感有关的物理变化，并且测量护理者中的焦虑程度;以及控制单元，其相应于轨迹控制驱动单元由操作单元输入并执行反馈控制，以减少由焦虑测量单元测量的焦虑程度。焦虑测量单元检测与心理感觉中的焦虑感相关联的物理变化的心率，出汗量，呼吸频率，眼球运动，皮肤电阻和皮肤温度中的至少一个，接收器。控制单元对应于由焦虑测量单元测量的焦虑程度来设定驱动单元的速度限制，并且限制驱动单元的驱动速度不超过限速。

4. 发明授权

US06850027B2 Stepping motor driver 失效
标题翻译：步进电机驱动
公开(公告)号：US06850027B2
公开(公告)日：2005-02-01
申请号：US10389775
申请日：2003-03-18
申请人： Yoshifumi Kuwano , Akio Takemori , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura
发明人： Yoshifumi Kuwano , Akio Takemori , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura
IPC分类号： H02P21/00 , H02P8/00 , H02P8/14 , H02P8/22 , H02P27/04
CPC分类号： H02P21/04 , H02P8/14 , H02P8/22
摘要： The stepping motor driver comprises an inverter for feeding stepped currents to windings of a stepping motor, a position detector for obtaining a detected angle of a rotor of the stepping motor and a current controller for controlling the inverter. In a d-q rotational coordinate system in which the d-axis is in the direction of the magnetic flux of the rotor and the q-axis is in the direction perpendicular to the d-axis, an excitation angle for a winding is determined from a d-axis component and a q-axis component of a command current to the winding, a lead angle control signal is computed from the excitation angle, and a phase of an applied voltage to the stepping motor is controlled using the lead angle control signal.
摘要翻译：步进电动机驱动器包括用于将步进电流馈送到步进电动机的绕组的逆变器，用于获得步进电动机的转子的检测角度的位置检测器和用于控制逆变器的电流控制器。在d轴为转子磁通方向且q轴为d轴的方向的dq旋转坐标系中，绕组的励磁角由d 轴分量和对绕组的指令电流的q轴分量，从励磁角度计算引导角控制信号，并且使用引导角控制信号来控制对步进电机的施加电压的相位。

5. 发明授权

US08575885B2 Motor drive system, control method of motor drive system, and traveling device 失效
标题翻译：电动机驱动系统，电动机驱动系统的控制方法和行走装置
公开(公告)号：US08575885B2
公开(公告)日：2013-11-05
申请号：US13123270
申请日：2010-01-25
申请人： Yoshihiro Okumatsu
发明人： Yoshihiro Okumatsu
IPC分类号： H02P27/04
CPC分类号： H02P29/0243
摘要： To make it possible to avoid an unstable state with a simple configuration even one of the phases of the motor fails. A motor drive system in accordance with the present invention includes a motor to which a plurality of phase coils of five phases or more are connected in a star connection, an inverter connected to one end of each of the phase coils, the inverter being configured to convert a DC power into an AC power and supply the AC power to each phase of the motor, a power relay disposed at another end of each of the phase coils, the power relay being configured so as to be able to cut off a supply power to at least one phase coil among the plurality of phase coils of the motor by using a plurality of contact points interposed between the star-connected coils, and a control unit that generates a control signal for the inverter and thereby controls driving of the motor. When one or more phase of the motor fails, the control unit opens a contact point of the power relay corresponding to the failed phase and drives three or more phases that are disposed at roughly equal phase-intervals among a plurality of remaining phases.
摘要翻译：为了能够以简单的结构避免不稳定的状态，甚至电动机的一个相都失效。根据本发明的电动机驱动系统包括以星形连接有五相或更多相的多个相线圈的电动机，连接到每个相线圈的一端的逆变器，所述逆变器被配置为将直流电力转换为交流电力，并将交流电力提供给所述电动机的各相;电力继电器，设置在所述各相线圈的另一端，所述动力继电器构成为能切断电力供给通过使用插入在星形连接的线圈之间的多个接触点和产生用于逆变器的控制信号从而控制电动机的驱动的控制单元，在电动机的多个相位线圈中的至少一个相线圈。当电动机的一个或多个相位失效时，控制单元打开与故障相位相对应的功率继电器的接触点，并驱动在多个剩余相位之间以大致相等的相位间隔布置的三个或多个相位。

6. 发明申请

US20110298404A1 MOTOR DRIVE SYSTEM, CONTROL METHOD OF MOTOR DRIVE SYSTEM, AND TRAVELING DEVICE 失效
标题翻译：电机驱动系统，电机驱动系统的控制方法和行驶装置
公开(公告)号：US20110298404A1
公开(公告)日：2011-12-08
申请号：US13123270
申请日：2010-01-25
申请人： Yoshihiro Okumatsu
发明人： Yoshihiro Okumatsu
IPC分类号： H02H7/08
CPC分类号： H02P29/0243
摘要： To make it possible to avoid an unstable state with a simple configuration even one of the phases of the motor fails. A motor drive system in accordance with the present invention includes a motor to which a plurality of phase coils of five phases or more are connected in a star connection, an inverter connected to one end of each of the phase coils, the inverter being configured to convert a DC power into an AC power and supply the AC power to each phase of the motor, a power relay disposed at another end of each of the phase coils, the power relay being configured so as to be able to cut off a supply power to at least one phase coil among the plurality of phase coils of the motor by using a plurality of contact points interposed between the star-connected coils, and a control unit that generates a control signal for the inverter and thereby controls driving of the motor. When one or more phase of the motor fails, the control unit opens a contact point of the power relay corresponding to the failed phase and drives three or more phases that are disposed at roughly equal phase-intervals among a plurality of remaining phases.
摘要翻译：为了能够以简单的结构避免不稳定的状态，甚至电动机的一个相都失效。根据本发明的电动机驱动系统包括以星形连接有五相或更多相的多个相线圈的电动机，连接到每个相线圈的一端的逆变器，所述逆变器被配置为将直流电力转换为交流电力，并将交流电力提供给所述电动机的各相;电力继电器，设置在所述各相线圈的另一端，所述动力继电器构成为能切断电力供给通过使用插入在星形连接的线圈之间的多个接触点和产生用于逆变器的控制信号从而控制电动机的驱动的控制单元，在电动机的多个相位线圈中的至少一个相线圈。当电动机的一个或多个相位失效时，控制单元打开与故障相位相对应的功率继电器的接触点，并驱动在多个剩余相位之间以大致相等的相位间隔布置的三个或多个相位。

7. 发明授权

US07068001B2 Motor control system 失效
公开(公告)号：US07068001B2
公开(公告)日：2006-06-27
申请号：US11186847
申请日：2005-07-22
申请人： Yoshihiro Okumatsu , Yasuo Matsuda , Shoji Ohiwa
发明人： Yoshihiro Okumatsu , Yasuo Matsuda , Shoji Ohiwa
IPC分类号： H02K37/00
CPC分类号： H02P6/16 , H02P23/14
摘要： A motor control system according to the present invention comprises a magnetic encoder including a magnetic drum fixed to an output shaft of a motor and a magnetic sensor provided against a periphery of the magnetic drum through a space, an angle calculating unit for calculating a rotational angle of the motor from an output of the magnetic encoder, an angle estimating unit for estimating the rotational angle, an error angle calculating unit for finding an error angle from an calculated angle calculated by the angle calculating unit and an estimated angle estimated by the angle estimating unit, an error-correction value calculating unit for calculating from the error angle an error-correction value that corresponds to the rotational angle, a correction calculating unit for calculating a correction angle or a correction speed from the calculated angle and the error-correction value, and a motor operation controlling unit for outputting to an inverter a voltage command value that corresponds to the correction angle or the correction speed.

8. 发明申请

US20060022628A1 Motor control system 失效
标题翻译：电机控制系统
公开(公告)号：US20060022628A1
公开(公告)日：2006-02-02
申请号：US11186847
申请日：2005-07-22
申请人： Yoshihiro Okumatsu , Yasuo Matsuda , Shoji Ohiwa
发明人： Yoshihiro Okumatsu , Yasuo Matsuda , Shoji Ohiwa
IPC分类号： H02P7/36
CPC分类号： H02P6/16 , H02P23/14
摘要： A motor control system according to the present invention comprises a magnetic encoder including a magnetic drum fixed to an output shaft of a motor and a magnetic sensor provided against a periphery of the magnetic drum through a space, an angle calculating unit for calculating a rotational angle of the motor from an output of the magnetic encoder, an angle estimating unit for estimating the rotational angle, an error angle calculating unit for finding an error angle from an calculated angle calculated by the angle calculating unit and an estimated angle estimated by the angle estimating unit, an error-correction value calculating unit for calculating from the error angle an error-correction value that corresponds to the rotational angle, a correction calculating unit for calculating a correction angle or a correction speed from the calculated angle and the error-correction value, and a motor operation controlling unit for outputting to an inverter a voltage command value that corresponds to the correction angle or the correction speed.
摘要翻译：根据本发明的电动机控制系统包括：磁性编码器，其包括固定到电动机的输出轴的磁鼓和通过空间设置在磁鼓的周围的磁传感器;角度计算单元，用于计算旋转角度从角度计算单元计算出的角度求出误差角的误差角计算单元，以及由角度推定单元计算出的估计角度的误差角计算单元，单元，误差校正值计算单元，用于从误差角度计算与旋转角度相对应的误差校正值，校正计算单元，用于从计算出的角度和误差校正值计算校正角度或校正速度以及马达运转控制单元，向逆变器输出电压指令值校正角度或校正速度。

9. 发明授权

US06897633B2 Stepping motor driver 有权
标题翻译：步进电机驱动
公开(公告)号：US06897633B2
公开(公告)日：2005-05-24
申请号：US10795415
申请日：2004-03-09
申请人： Yoshifumi Kuwano , Akio Takemori , Hiroaki Taka , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura , Yukinari Takahashi
发明人： Yoshifumi Kuwano , Akio Takemori , Hiroaki Taka , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura , Yukinari Takahashi
IPC分类号： H02P8/14 , H02P21/14 , H02P23/14 , H02P8/22
CPC分类号： H02P8/14 , H02P23/14 , H02P2203/01
摘要： A stepping motor driver which drives a stepping motor for position and speed control. The stepping motor driver comprises: a current control means which outputs values corresponding to applied voltages; current sensors which detect phase currents; and a magnetic pole position estimation unit which uses the values corresponding to applied voltages and detected phase current values as outputs of the current sensors to obtain a magnetic pole position estimate. The magnetic pole position estimation unit calculates a magnetic pole position estimate from speed electromotive force estimates or from differences between phase currents at zero speed and detected phase current values.
摘要翻译：驱动步进电机进行位置和速度控制的步进电机驱动器。步进电动机驱动器包括：电流控制装置，其输出与施加的电压对应的值; 检测相电流的电流传感器; 以及磁极位置估计单元，其使用与施加的电压和检测到的相电流值相对应的值作为电流传感器的输出，以获得磁极位置估计。磁极位置估计单元从速度电动势估计或从零速度的相电流和检测到的相电流值之间的差异来计算磁极位置估计。

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