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1. 发明申请

US20110010066A1 INVERTED WHEEL TYPE MOVING BODY AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：倒车轮式移动体及其控制方法
公开(公告)号：US20110010066A1
公开(公告)日：2011-01-13
申请号：US12668284
申请日：2008-06-24
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： B60K31/00
CPC分类号： B62K11/007
摘要： An inverted wheel type moving body that can enhance convenience and a method of controlling the same. The inverted wheel type moving body includes a right chassis and a left chassis rotationally supporting a right driving wheel and a left driving wheel, motors rotationally driving the right driving wheel and the left driving wheel, a body rotatably supported on the right chassis and the left chassis through a right arm and a left arm, a pressure-sensitive sensor provided to judge whether a transportation object dismounts, and a control unit controlling the motors to reduce velocity upon judgment that the transportation object dismounts based on the output from the pressure-sensitive sensor when the moving body travels faster than a certain velocity, in which overturn preventing operation is executed after an absolute value of the velocity is lower than a threshold value.
摘要翻译：可以提高便利性的倒车轮型移动体及其控制方法。倒车型移动体包括右机架和左机架，其旋转地支撑右驱动轮和左驱动轮，旋转地驱动右驱动轮和左驱动轮的马达，可旋转地支撑在右机架和左侧的主体底架通过右臂和左臂，设置用于判断运输物体是否下降的压敏传感器;以及控制单元，其基于来自压敏敏感器的输出，判断出运输对象脱离时控制马达以减小速度传感器，当移动体的速度比一定速度快，其速度绝对值低于阈值后，执行翻转防止操作。

2. 发明申请

US20070052377A1 Running machine with wheels 有权
标题翻译：带轮的跑步机
公开(公告)号：US20070052377A1
公开(公告)日：2007-03-08
申请号：US11512093
申请日：2006-08-30
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： H02P5/00
CPC分类号： B62K3/00 , B62K11/007 , Y02T10/7258
摘要： A running machine that can prevent overturning of a body in the case of occurrence of an abnormality is provided. The running machine substantially supports the body with coaxially arranged drive wheels, and can drive while maintaining the balance of the body. A control module of the machine comprises a stabilization controller that computes a first torque command for maintaining the balance of the body and a travel controller that computes a second torque command for driving the running machine. A sum of the first torque command and the second torque command is inputted into the motors. When an abnormal condition detector detects occurrence of an abnormal condition, a safe mode controller prohibits the travel controller from outputting the second torque command. This could enable all torque that the motors can output to be used to maintain the balance of the body when occurrence of an abnormal condition is detected. Therefore, even when occurrence of an abnormal condition is detected, the balance of the body can be maintained. Or even if the balance cannot be maintained, it is possible to extend duration before overturning. During the duration, by pulling out a safety wheel from the body, for instance, overturning of the body can be prevented.
摘要翻译：提供了能够防止在发生异常的情况下翻倒身体的跑步机。跑步机基本上支撑具有同轴布置的驱动轮的主体，并且可以在保持身体平衡的同时进行驱动。机器的控制模块包括：稳定控制器，其计算用于维持身体平衡的第一扭矩指令;以及行驶控制器，其计算用于驱动行进机器的第二扭矩指令。第一转矩指令和第二转矩指令的和被输入到电动机中。当异常状态检测器检测到异常情况的发生时，安全模式控制器禁止行驶控制器输出第二扭矩命令。这可以使得当检测到异常状况发生时，电动机可以输出的所有扭矩用于维持身体的平衡。因此，即使检测到异常情况的发生，也能够维持身体的平衡。或者即使平衡不能维持，也可以在翻转之前延长时间。在此期间，通过从身体拉出安全轮，例如可以防止身体翻倒。

3. 发明授权

US07107945B2 Electromagnetically driven valve control system and method 失效
标题翻译：电磁阀控制系统及方法
公开(公告)号：US07107945B2
公开(公告)日：2006-09-19
申请号：US10793813
申请日：2004-03-08
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： F01L9/04
CPC分类号： F01L9/04 , F01L2009/0436 , F01L2800/00 , F02D41/20 , F02D2041/2027
摘要： In an electromagnetically driven valve control system, it is determined whether an electromagnetically driven valve is in an attraction period at which a valve body is displaced. When it is determined that the electromagnetically driven valve is in the attraction period, it is further determined whether the period is in a first attraction period at which the valve body is close to a neutral position. When it is determined that the valve body is in the first attraction period, the upper control frequency or the lower control frequency is set to the value indicating the low frequency. When it is determined that the valve body is in the second attraction period at which the valve body is close to either the full-open position or the full-close position, the upper control frequency or the lower control frequency is set to the value indicating the high frequency.
摘要翻译：在电磁驱动的阀控制系统中，确定电磁驱动阀是否处于阀体移位的吸引期间。当确定电磁驱动阀处于吸引期间时，进一步确定该期间是否处于阀体接近中立位置的第一吸引期间。当确定阀体处于第一吸引期间时，将上控制频率或下控制频率设定为表示低频的值。当确定阀体处于阀体接近全开位置或全闭位置的第二吸引期间时，将上控制频率或下控制频率设定为指示高频率。

4. 发明授权

US06866012B2 Electromagnetically driven valve control apparatus and electromagnetically driven valve control method for internal combustion engine 失效
标题翻译：用于内燃机的电磁驱动阀控制装置和电磁驱动阀控制方法
公开(公告)号：US06866012B2
公开(公告)日：2005-03-15
申请号：US10699860
申请日：2003-11-04
申请人： Yuichiro Hayase , Kenji Tsubone , Akihiro Yanai , Yoshinori Kadowaki , Toshio Fuwa
发明人： Yuichiro Hayase , Kenji Tsubone , Akihiro Yanai , Yoshinori Kadowaki , Toshio Fuwa
IPC分类号： F01L1/26 , F01L9/04 , F02D13/02 , F02D41/20 , F02D41/26 , F02F1/42
CPC分类号： F02D13/0253 , F01L1/267 , F01L9/04 , F01L2009/0436 , F01L2800/00 , F02D41/20 , F02D41/266 , F02D2041/001 , F02F1/4214 , Y02T10/18
摘要： A main CPU determines whether or not there is a request for one valve driving based on an engine operating state such as an engine speed and a load factor, with reference to a control map. When it is determined that there is a request for one valve driving, it is determined whether or not there is an overlapping period between opening periods. When it is determined that there is no overlapping period, a high speed control is performed for controlling electromagnetically driven valves. When it is determined that there is no request for one valve driving, or when it is determined that there is the overlapping period, a low speed control is performed for controlling electromagnetically driven valves.
摘要翻译：参照控制图，主CPU基于诸如发动机转速和负载系数的发动机运转状态来确定是否存在针对一个阀驱动的请求。当确定存在对一个阀驱动的请求时，确定在打开周期之间是否存在重叠的周期。当确定没有重叠周期时，执行用于控制电磁驱动阀的高速控制。当确定不需要一个阀驱动时，或者当确定存在重叠周期时，执行用于控制电磁阀的低速控制。

5. 发明授权

US06832149B2 Sliding mode controlling apparatus and sliding mode controlling method 失效
标题翻译：滑动模式控制装置和滑动模式控制方法
公开(公告)号：US06832149B2
公开(公告)日：2004-12-14
申请号：US10279837
申请日：2002-10-25
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： F01L134
CPC分类号： F02D35/0007 , F01L9/04 , F02D13/0253 , F02D41/1403 , F02D2041/001 , G05B13/047 , Y02T10/18
摘要： A valve of an internal combustion engine includes a valve body movable between a fully opened position and a fully closed position, an armature coupled to the valve body, a pair of springs urging the valve body, and a pair of electromagnets. Each electromagnet generates electromagnetic force to attract the armature, thereby moving the valve body. The engine valve is controlled by means of sliding mode. That is, when the valve body is moved from the fully closed position to the fully opened position, the electromagnets are controlled such that the state quantity of the valve body (the position and the moving speed) converges on a previously set switching hyperplane. The switching hyperplane is changed in accordance with the position of the valve body. As a result, a number of factors required for controlling the engine valve are satisfied.
摘要翻译：内燃机的阀包括可在完全打开位置和完全关闭位置之间移动的阀体，连接到阀体的电枢，推动阀体的一对弹簧和一对电磁体。每个电磁体产生电磁力以吸引电枢，从而移动阀体。发动机阀门通过滑动模式进行控制。也就是说，当阀体从完全关闭位置移动到完全打开位置时，电磁体被控制，使得阀体的状态量（位置和移动速度）收敛在预先设定的切换超平面上。切换超平面根据阀体的位置而改变。结果，满足控制发动机气门所需的多个因素。

6. 发明授权

US06390039B1 Engine valve drive control apparatus and method 有权
公开(公告)号：US06390039B1
公开(公告)日：2002-05-21
申请号：US09879229
申请日：2001-06-13
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： F01L904
摘要： A drive control apparatus and method control driving of an engine valve of an internal combustion engine based on electromagnetic force generated by a certain electromagnet. A controller of the apparatus sets a target drive velocity in accordance with a displacement of the engine valve, such that the target drive velocity corresponds to a velocity of the engine valve when there is no engine load. The controller then controls a magnitude of the electromagnetic force by controlling current applied to the electromagnet, depending upon a degree of separation between an actual drive velocity of the engine valve and the target drive velocity, so that the actual drive velocity is made substantially equal to the target drive velocity.

7. 发明授权

US08000925B2 Moving body with tilt angle estimating mechanism 有权
标题翻译：具有倾斜角估计机构的移动体
公开(公告)号：US08000925B2
公开(公告)日：2011-08-16
申请号：US12297323
申请日：2007-09-27
申请人： Toshio Fuwa , Issei Nakashima
发明人： Toshio Fuwa , Issei Nakashima
IPC分类号： G01C9/00
CPC分类号： G01B21/22 , G01C9/06 , G01C21/16
摘要： A moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. The moving body includes: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: a device for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; a device for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and a device for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.
摘要翻译：具有能够高精度地估计车体的倾斜角度的倾斜角估计机构的移动体。移动体包括：加速度传感器，用于检测两个轴向的加速度; 用于检测车体的角速度的陀螺传感器; 以及用于估计车体的倾斜角度的倾斜角估计机构。倾斜角估计机构包括：基于由加速度传感器检测到的加速度来估计响应于加速度传感器的倾斜角度的装置; 用于基于由陀螺仪传感器检测的角速度估计第二倾斜角的装置; 以及根据基于加速度传感器的倾斜角度和基于陀螺仪传感器的倾斜角度将运动体的线性模型方程作为观察者来估计倾斜角度的装置。

8. 发明申请

US20070073425A1 Running object and method of controlling the same 有权
标题翻译：运行对象和控制方法
公开(公告)号：US20070073425A1
公开(公告)日：2007-03-29
申请号：US11515946
申请日：2006-09-06
申请人： Issei Nakashima , Toshio Fuwa , Yoshikazu Motozono
发明人： Issei Nakashima , Toshio Fuwa , Yoshikazu Motozono
IPC分类号： G05B11/01
CPC分类号： B62K17/00 , B62K3/00 , B62K5/027 , B62K11/007 , Y02T10/7258
摘要： A running object includes a body, at least two drive wheels disposed on a first axel, and at least one driven wheel disposed on a second axel. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.
摘要翻译：跑步物体包括主体，设置在第一轴上的至少两个驱动轮以及设置在第二轴上的至少一个从动轮。跑步物体能够在从动轮悬挂在空气中的站立姿态和从动轮放置在地面上的稳定姿态之间切换。运行对象包括存储装置，其存储在从站立姿势到稳定姿势的过渡期间按时间顺序描述身体的目标倾斜角度的目标倾斜图案; 检测装置，其检测身体的倾斜角度和/或倾斜角速度; 扭矩计算装置，其基于存储在存储装置中的目标倾斜图案与检测装置检测出的检测值之间的偏差来计算转矩; 以及用于将由计算装置计算的扭矩施加到驱动轮的致动器。

9. 发明授权

US07014167B2 Control apparatus and method of electromagnetic valve 失效
标题翻译：电磁阀控制装置及方法
公开(公告)号：US07014167B2
公开(公告)日：2006-03-21
申请号：US10093537
申请日：2002-03-11
申请人： Toshio Fuwa
发明人： Toshio Fuwa
IPC分类号： F16K31/02
CPC分类号： F02D13/0253 , F01L9/04 , F01L2009/0436 , F01L2009/0469 , F01L2009/0486 , F01L2820/02 , F02D13/0207 , Y02T10/18
摘要： A control apparatus of electromagnetic valve includes a valve body functioning as an intake valve or an exhaust valve of an internal combustion engine and an electromagnet for affecting an electromagnetic force relative to an armature provided on the valve body for actuating the valve body. A controler determines a target value regarding a force affecting the valve body when displacing the valve body from one displacement end to the other displacement end or a state quantity of the valve body varied in accordance with the force and controls the electromagnetic force of the electromagnet for attracting the armature to the one displacement side based on a deviation between the force or the state quantity and the target value so that the force or the state quantity conforms to the determined target value when displacing the valve body from the one displacement end to the other displacement end.
摘要翻译：电磁阀的控制装置包括用作内燃机的进气阀或排气阀的阀体和用于影响相对于设置在阀体上的用于致动阀体的电枢的电磁力的电磁体。当将阀体从一个位移端移动到另一个位移端时，控制器确定关于影响阀体的力的目标值，或阀体的状态量根据力而变化，并且控制电磁铁的电磁力，基于力或状态量与目标值之间的偏差将电枢吸引到一个位移侧，使得当将阀体从一个位移端移位到另一个位移端时，力或状态量与确定的目标值一致位移端

10. 发明授权

US06938591B2 Electromagnetically driven valve control apparatus and method 失效
标题翻译：电磁阀控制装置及方法
公开(公告)号：US06938591B2
公开(公告)日：2005-09-06
申请号：US10373812
申请日：2003-02-27
申请人： Toshio Fuwa , Hiroshi Satou
发明人： Toshio Fuwa , Hiroshi Satou
IPC分类号： F01L9/04 , F02D13/02 , F16K31/06
CPC分类号： F01L9/04
摘要： An electromagnetically driven valve control apparatus and method are provided for an electromagnetically driven valve which has a movable element that is driven by cooperation of a spring force and an electromagnetic force, and a valve body engageable with the movable element, and which causes an open-close motion of the valve body due to the movable element engaging with the valve body in accordance with the driving of the movable element. Positional information regarding the movable element is detected, and adjustment of an electromagnetic force for driving the movable element is performed so that the movable element reaches a target operation state based on the positional information detected and a model of the electromagnetically driven valve obtained as a spring-mass vibration system. It is determined whether the movable element is operating in a first state of engagement with the valve body or the movable element is operating in a second state of disengagement from the valve body based on the positional information detected. Changes in a model parameter of the model in the adjustment are determined corresponding to the determined state. Therefore, the control apparatus and method are able to always set suitable model parameter changes in the actual spring-mass vibration system, and are able to improve the precision in the control of the electromagnetically driven valve using an appropriate model.
摘要翻译：一种电磁驱动的阀控制装置和方法，用于电磁驱动的阀，该阀具有由弹簧力和电磁力相配合地驱动的可移动元件，以及可与可移动元件接合的阀体，由于可移动元件根据可移动元件的驱动而与阀体接合，阀体的紧密运动。检测关于可移动元件的位置信息，并且执行用于驱动可移动元件的电磁力的调整，使得可移动元件基于检测到的位置信息到达目标操作状态，并且获得作为弹簧获得的电磁驱动阀的型号 - 大震振动系统。基于检测到的位置信息来确定可动元件是否处于与阀体接合的第一状态或可动元件处于与阀体分离的第二状态。根据确定的状态确定调整中模型的模型参数的变化。因此，控制装置和方法能够始终在实际的弹簧质量振动系统中设定适当的模型参数变化，并且能够使用适当的模型提高电磁阀的控制精度。

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