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1. 发明申请

WO2017070426A1 ROBOT AND ROBOT CONTROL SYSTEM 审中-公开
标题翻译：机器人和机器人控制系统
公开(公告)号：WO2017070426A1
公开(公告)日：2017-04-27
申请号：PCT/US2016/058039
申请日：2016-10-21
申请人： SRI INTERNATIONAL , YAMAHA HATSUDOKI KABUSHIKI KAISHA
发明人： LOW, Thomas , DE CANDIA, Thomas , YUN, Seungkook , EGAN, Thomas , CHAVEZ, Bryan , KERNBAUM, Alexander , SHEAR, Riley , GERARD, Leonard , MORFEY, Stephen , MAHONEY, Richard , VINCENT, Regis , BIRKMEYER, Paul, Michael , MORITA, Hiroyuki , MURAMATSU, Hirokatsu , NISHIMURA, Keiji , SAIJOU, Hiroshi , SATOU, Akira , UCHIYAMA, Toshifumi , WANATABE, Hitoshi , WATANABE, Shirou
IPC分类号： B25J11/00 , B25J9/04 , B25J9/10 , B25J19/02 , B25J13/00
CPC分类号： B25J19/023 , B25J9/104 , B25J11/008 , B25J13/08
摘要： An example system includes a vehicle, a robot, and a controller. The vehicle may include an accelerator operator and a steering operator. The robot may include as accelerator actuator configured to operate the accelerator operator, and a steering actuator configured to operate- the steering operator. The controller is configured to: in response to an accelerator command, send a first signal to the accelerator actuator to operate the accelerator operator of the vehicle, and in response to a steering command, send a second, signal to the steering actuator to steer the vehicle.
摘要翻译：示例系统包括车辆，机器人和控制器。车辆可以包括加速器操作器和转向操作器。机器人可以包括被配置成操作加速器操作器的加速器致动器和被构造成操作转向操作器的转向致动器。控制器被配置为：响应于加速器命令，向加速器致动器发送第一信号以操作车辆的加速器操作器，并且响应于转向命令向控制致动器发送第二信号以操控车辆。

2. 发明公开

EP4209407A1 LEANING VEHICLE 有权
公开(公告)号：EP4209407A1
公开(公告)日：2023-07-12
申请号：EP22213819.0
申请日：2020-09-02
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： NAGATA, Tatsuya , UCHIYAMA, Toshifumi
IPC分类号： B62H1/02 , B62J45/41 , B62K5/027 , B62K5/08 , B62K5/10
摘要： Provided is a leaning vehicle including a lean actuator for leaning a vehicle body. A leaning vehicle includes a vehicle body, a front wheel, a rear wheel, a leaning mechanism, a lean actuator, and a control device. The leaning mechanism causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle left direction when the vehicle turns in the vehicle left direction, and causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle right direction when the vehicle turns in the vehicle right direction. The lean actuator is connected to the leaning mechanism, and imparts a force to a leaning operation of the vehicle body, the front wheel, and the rear wheel. The control device controls the lean actuator. A getting on/getting off intention input indicates an intention of a rider of the leaning vehicle to get on or get off the vehicle. The control device controls the lean actuator so as to control a lean angle of the vehicle body while the vehicle is not in motion.

4. 发明公开

EP3365143A1 ROBOT AND ROBOT CONTROL SYSTEM 有权
公开(公告)号：EP3365143A1
公开(公告)日：2018-08-29
申请号：EP16858265.8
申请日：2016-10-21
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： LOW, Thomas , DE CANDIA, Thomas , YUN, Seungkook , EGAN, Thomas , CHAVEZ, Bryan , KERNBAUM, Alexander , SHEAR, Riley , GERARD, Leonard , MORFEY, Stephen , MAHONEY, Richard , VINCENT, Regis , BIRKMEYER, Paul , MORITA, Hiroyuki , MURAMATSU, Hirokatsu , NISHIMURA, Keiji , SAIJOU, Hiroshi , SATOU, Akira , UCHIYAMA, Toshifumi , WANATABE, Hitoshi , WATANABE, Shirou
IPC分类号： B25J11/00 , B25J9/04 , B25J9/10 , B25J19/02 , B25J13/00
摘要： An example system includes a vehicle, a robot, and a controller. The vehicle may include an accelerator operator and a steering operator. The robot may include as accelerator actuator configured to operate the accelerator operator, and a steering actuator configured to operate-the steering operator. The controller is configured to: in response to an accelerator command, send a first signal to the accelerator actuator to operate the accelerator operator of the vehicle, and in response to a steering command, send a second, signal to the steering actuator to steer the vehicle.

5. 发明公开

EP4005902A1 TILTING VEHICLE 审中-公开
公开(公告)号：EP4005902A1
公开(公告)日：2022-06-01
申请号：EP20859752.6
申请日：2020-09-02
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： NAGATA, Tatsuya , UCHIYAMA, Toshifumi
IPC分类号： B62H1/02 , B62K5/027 , B62K5/05 , B62K5/10
摘要： Provided is a leaning vehicle including a lean actuator for leaning a vehicle body. A leaning vehicle includes a vehicle body, a front wheel, a rear wheel, a leaning mechanism, a lean actuator, and a control device. The leaning mechanism causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle left direction when the vehicle turns in the vehicle left direction, and causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle right direction when the vehicle turns in the vehicle right direction. The lean actuator is connected to the leaning mechanism, and imparts a force to a leaning operation of the vehicle body, the front wheel, and the rear wheel. The control device controls the lean actuator. A getting on/getting off intention input indicates an intention of a rider of the leaning vehicle to get on or get off the vehicle. The control device controls the lean actuator so as to control a lean angle of the vehicle body while the vehicle is not in motion.

6. 发明公开

EP3889022A1 INCLINING VEHICLE EQUIPPED WITH ONE PAIR OF LEFT AND RIGHT WHEELS 有权
公开(公告)号：EP3889022A1
公开(公告)日：2021-10-06
申请号：EP19906491.6
申请日：2019-12-27
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA
发明人： TERADA, Keisuke , UCHIYAMA, Toshifumi , ARAKI, Keizo , KUBO, Shota
IPC分类号： B62K21/00 , B62K5/027 , B62K5/05 , B62K5/10
摘要： The present teaching provides a leaning vehicle with a left-right pair of wheels that easily detects a disturbance that will cause a leaning vehicle body of a leaning vehicle with a left-right pair of wheels to lean to the left or right of the leaning vehicle momentarily, for example, when only one of the left-right pair of wheels passes over a bump or pothole in the road. A leaning vehicle with a left-right pair of wheels includes an up-down direction acceleration detector that detects an acceleration in a vehicle's up-down direction or a vehicle body's up-down direction, and the up-down direction acceleration detector is attached to the leaning vehicle body or the suspension mechanism to detect an acceleration in the vehicle's up-down direction or the vehicle body's up-down direction generated as one of the left-right pair of wheels passes over a bump or pothole in a road. A steering controller controls one or two steerable front wheels in such a manner that the one or two steerable front wheels are in a free-steering state, so as to be able to swivel around the steering axis freely, based on the acceleration in the vehicle's up-down direction or the vehicle body's up-down direction detected by the up-down direction acceleration detector as an acceleration in the vehicle's up-down direction or the vehicle body's up-down direction generated as one of the left-right pair of wheels passes over a bump or pothole in the road.

7. 发明公开

EP3889021A1 INCLINING VEHICLE EQUIPPED WITH STEERABLE FRONT WHEEL 审中-实审转让
公开(公告)号：EP3889021A1
公开(公告)日：2021-10-06
申请号：EP19904568.3
申请日：2019-12-27
申请人： Yamaha Hatsudoki Kabushiki Kaisha , Aisin Corporation
发明人： TERADA, Keisuke , UCHIYAMA, Toshifumi , ARAKI, Keizo , KUBO, Shota
IPC分类号： B62K5/10 , B62J45/40 , B62J99/00 , B62K5/027
摘要： An objective of the present teaching is to provide a leaning vehicle with a steerable front wheel, including a turn operation input device that is configured to not transmit a turn operation inputted by the rider to the steerable front wheel mechanically, thereby preventing the steerable front wheel from swiveling due to mechanical transmission of the turn operation, and having enhanced robustness to turning. The leaning vehicle according to an embodiment includes a centripetal force generator. The centripetal force generator outputs torque that is controllable to generate an additional centripetal force that acts on one or two steerable front wheels and one or two rear wheels that are leaning during a turn of the leaning vehicle. A controller controls the torque outputted from a centripetal force generation actuator while controlling a lean actuator during the turn of the leaning vehicle, and thereby controls the leaning condition of the vehicle body during the turn of the leaning vehicle and the centripetal force acting on the one or two steerable front wheels and the one or two rear wheels during the turn of the leaning vehicle.

8. 发明公开

EP4209408A1 LEANING VEHICLE 审中-实审
公开(公告)号：EP4209408A1
公开(公告)日：2023-07-12
申请号：EP22213827.3
申请日：2020-09-02
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： NAGATA, Tatsuya , UCHIYAMA, Toshifumi
IPC分类号： B62H1/02 , B62J45/41 , B62K5/027 , B62K5/08 , B62K5/10 , B62J17/086
摘要： Provided is a leaning vehicle including a lean actuator for leaning a vehicle body. A leaning vehicle includes a vehicle body, a front wheel, a rear wheel, a leaning mechanism, a lean actuator, and a control device. The leaning mechanism causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle left direction when the vehicle turns in the vehicle left direction, and causes the vehicle body, the front wheel, and the rear wheel to lean in a vehicle right direction when the vehicle turns in the vehicle right direction. The lean actuator is connected to the leaning mechanism, and imparts a force to a leaning operation of the vehicle body, the front wheel, and the rear wheel. The control device controls the lean actuator. A getting on/getting off intention input indicates an intention of a rider of the leaning vehicle to get on or get off the vehicle. The control device controls the lean actuator so as to control a lean angle of the vehicle body while the vehicle is not in motion.

9. 发明公开

EP4159607A1 LEAN CONTROL DEVICE AND LEANING VEHICLE 审中-实审
公开(公告)号：EP4159607A1
公开(公告)日：2023-04-05
申请号：EP22195880.4
申请日：2022-09-15
申请人： Yamaha Hatsudoki Kabushiki Kaisha
发明人： UCHIYAMA, Toshifumi , NAGATA, Tatsuya , KANEHARA, Masatomo
IPC分类号： B62K5/10 , B62K5/027 , B62K5/05 , B62K5/08 , B60G17/016 , B60G17/017
摘要： [Problem]
A problem to be solved by the present teaching is to make it possible to assist a leaning vehicle in a stopped state to stand by itself and make it easy to start a leaning vehicle and make it easy to walk the leaning vehicle.
[Solution to Problem]
A lean control device 17 is capable of executing at least gravity compensation control C1 and self-standing assist control C2. When a condition for a switch of control is satisfied, the lean control device 17 instructs an actuator 16 to conduct a switch between the gravity compensation control C1 and the self-standing assist control C2. The output torque, at least when the leaning vehicle 1 is at a stop and when the gravity compensation control C1 is being executed, is greater than zero and smaller than a leaning moment. The output torque, at least when the leaning vehicle 1 is at a stop, when the vehicle body 11 leans at an angle within a substantially self-standing range and when the self-standing assist control C2 is being executed, is greater than the leaning moment. The leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body 11 leans.

10. 发明公开

EP3508409A1 VEHICLE 有权转让
公开(公告)号：EP3508409A1
公开(公告)日：2019-07-10
申请号：EP18248056.6
申请日：2018-12-27
申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA , SRI International Inc.
发明人： UCHIYAMA, Toshifumi , LOW, Thomas P. , FOSTER, Brian W. , ZHAO, Huihua , GAUDREAULT, Martin
IPC分类号： B62K21/08 , B62K21/10 , B62K21/18 , B62K25/08 , B62J99/00
摘要： A vehicle (10, 110, 210) includes a main body (12, 112, 212), a steerable wheel (16), a steering (20), a steering actuator (36, 172, 272), and an electronic controller (60, 160, 182, 282). The main body includes a saddle (44). The steerable wheel is coupled to the main body via a suspension (38). The steering is turnably coupled to the main body to steer the steerable wheel. The steering actuator is configured to apply steering torque to the steerable wheel. The electronic controller is configured to control the steering torque using the steering actuator and configured to generate steering damper torque to the steerable wheel using the steering actuator upon determining a reduced contact of the steerable wheel with a traveling surface with respect to a first prescribed threshold (Th1).

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