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21. 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

22. 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。

23. 发明授权

US08583302B2 Electric vehicle 有权
标题翻译：电动车
公开(公告)号：US08583302B2
公开(公告)日：2013-11-12
申请号：US12889667
申请日：2010-09-24
申请人： Kazushi Akimoto , Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi
发明人： Kazushi Akimoto , Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B62D61/02 , B60K17/30 , B62D6/00 , B60L11/00
CPC分类号： B60L15/20 , B60L2200/12 , B60L2200/22 , B60L2200/34 , B60L2260/34 , B62K11/06 , B62K11/10 , B62K2204/00 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： An electric vehicle includes a base; a front wheel that can be driven omnidirectionally; a rear wheel that is mounted on the base so that a symmetry axis is parallel with a symmetry axis of the front wheel; a seat member that is mounted so that a straight line connecting a wheel center of the front wheel and a wheel center of the rear wheel specifies a fore-and-aft direction; an controller that detects an acceleration and deceleration command and a turning command; an inclination sensor that detects inclination of the base; and a control unit that controls acceleration and deceleration of the base based on the acceleration and deceleration command detected by the controller, that controls turning of the base based on the turning command detected by the controller, and that controls translational motion of the base based on inclination of the base detected by the inclination sensor.
摘要翻译：电动车辆包括底座; 可以全方位驱动的前轮; 后轮，其安装在所述基座上，使得对称轴线与所述前轮的对称轴线平行; 座椅构件，其安装成使得连接前轮的车轮中心和后轮的车轮中心的直线指定前后方向; 检测加速和减速命令和转弯指令的控制器; 检测基座的倾斜度的倾斜传感器; 以及控制单元，其基于由所述控制器检测到的所述加速和减速命令来控制所述基座的加速和减速，所述加速和减速命令基于由所述控制器检测到的转动命令来控制所述基座的转动，并且基于所述基座的平移运动，基于基座由倾斜传感器检测到的倾斜度。

24. 发明申请

US20120173088A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173088A1
公开(公告)日：2012-07-05
申请号：US13394898
申请日：2009-09-18
申请人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
发明人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
IPC分类号： G05D1/08
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。

25. 发明授权

US08645030B2 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：US08645030B2
公开(公告)日：2014-02-04
申请号：US13394898
申请日：2009-09-18
申请人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
发明人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。

26. 发明授权

US08577516B2 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：US08577516B2
公开(公告)日：2013-11-05
申请号：US13394875
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： G01P15/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： A control device of an inverted pendulum type vehicle capable of easily performing a circling movement of the vehicle, without requiring complex maneuvering operation. A control unit 50 of an inverted pendulum type vehicle 1 determines a desired tilt angle of a payload supporting part 3 according to a yaw rate measured value by a yaw rate sensor 53 equipped to the vehicle 1, and controls a traveling motion of a traveling motion unit 5 so as to bring an actual tilt angle close to the desired tilt angle.
摘要翻译：一种倒立摆式车辆的控制装置，其能够容易地执行车辆的盘旋运动，而不需要复杂的机动操作。倒立摆式车辆1的控制单元50根据由车辆1配备的偏航率传感器53根据偏航率测量值确定有效载荷支撑部件3的期望倾斜角度，并且控制行进运动的行进运动以使实际的倾斜角度接近所希望的倾斜角度。

27. 发明授权

US08532898B2 Control device of omnidirectional vehicle 有权
标题翻译：全方位车辆控制装置
公开(公告)号：US08532898B2
公开(公告)日：2013-09-10
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： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76
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。

28. 发明授权

US08521395B2 Control device of inverted pendulum type mobile apparatus 有权
标题翻译：倒摆式移动装置的控制装置
公开(公告)号：US08521395B2
公开(公告)日：2013-08-27
申请号：US13394885
申请日：2009-09-18
申请人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
发明人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
IPC分类号： G06F19/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus 1 is in halt state is detected, a control unit 50 determines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unit 5 toward a direction for the base body 9 to support the body of the user.
摘要翻译：本发明提供一种倒立式移动装置的控制装置，其能够在使用者的脚部以躺卧状态站立在地板上的状态下支撑使用者的身体。如果检测到移动装置1处于停止状态时用户具有由基体支撑的脚部站立在地板上的倾斜状态，则控制单元50确定用于控制的操作变量（假想轮旋转角度加速指令），以便朝向基体9的方向驱动行进运动单元5，以支撑使用者的身体。

29. 发明申请

US20120173043A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173043A1
公开(公告)日：2012-07-05
申请号：US13395503
申请日：2009-09-23
申请人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
发明人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62J25/00 , B62K11/007 , B62K21/12 , B62M23/00
摘要： To provide a control device of an inverted pendulum type vehicle capable of making an occupant perform boarding action or dismounting action easily. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 controls a traveling motion of a traveling motion unit 5 so that, in a mode for transition period at the time when the occupant intends to board or dismount from vehicle, a sensitivity of change of a traveling velocity or a sensitivity of change of a traveling acceleration of the traveling motion unit 5 with respect to a change in the actual tilt angle of a payload supporting part 3 (at least a tilt angle about an axis in one direction), at least in a part of the period, to be smaller than that in the during-boarding mode when the occupant is aboard.
摘要翻译：提供能够使乘客进行登机动作或拆卸动作的倒立摆式车辆的控制装置。倒立摆式车辆1的行驶运动单元控制元件50控制行驶运动单元5的行驶运动，使得在乘员想要从车辆上下车的过渡期间的模式中，灵敏度相对于有效载荷支撑部3的实际倾斜角度的变化（至少在一个方向上的轴的倾斜角度），行驶运动单元5的行驶速度的变化或行驶加速度的变化的灵敏度的变化，至少在一段时间内，当乘客乘坐时，要小于在登机模式。

30. 发明申请

US20120173041A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173041A1
公开(公告)日：2012-07-05
申请号：US13394632
申请日：2009-09-18
申请人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
发明人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
IPC分类号： G06F17/00
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04 , B62M23/00
摘要： Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle 1, one end of a cord member C is connected to a seat 3 via an engagement member 4. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.
摘要翻译：提供了能够容易地将车辆朝向期望方向移动的倒立摆式车辆的控制装置。在倒立摆式车辆1中，帘线构件C的一端通过接合构件4与座椅3连接。用三轴力传感器检测帘线构件C的张力。根据检测到的帘线构件C的张力，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，根据此确定用于控制的操作变量。

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