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1. 发明授权

US09089460B2 Pushcart 有权
标题翻译：手推车
公开(公告)号：US09089460B2
公开(公告)日：2015-07-28
申请号：US14657014
申请日：2015-03-13
申请人： Murata Manufacturing Co., Ltd.
发明人： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo
IPC分类号： B62D51/04 , A61G5/04 , G05B15/02 , G05D1/08 , A61G5/10
CPC分类号： A61G5/04 , A61G5/1089 , A61H3/04 , A61H2003/043 , A61H2201/5007 , A61H2201/5069 , G05B15/02 , G05D1/0891
摘要： A pushcart in which a user can adjust a balance direction based on his/her own sense even on a slope. The pushcart includes a pair of wheels, driving units, a pair of wheels are supported on a main body unit in a rotatable manner, a grip portion provided on another side of the main body unit, and a support portion that is connected to the main body unit on one side so as to be capable of rotating in a pitch direction and supports assist wheels in a rotatable manner on another side. An angle formed between the main body unit and a direction orthogonal to the ground surface is estimated based on detected angle between the main body and the support portion. An attitude of the main body unit in the pitch direction is controlled based on a target pitch angle corrected using a correction value.
摘要翻译：用户可以根据自己的感觉即使在坡度上也可以调整平衡方向的手推车。手推车包括一对车轮，驱动单元，一对轮以可旋转的方式支撑在主体单元上，夹持部分设置在主体单元的另一侧，以及支撑部分，其连接到主体主体单元能够以俯仰方向旋转并且以可旋转的方式在另一侧支撑辅助轮。基于主体和支撑部之间的检测角度，估计在主体单元和与地面垂直的方向之间形成的角度。基于使用校正值校正的目标俯仰角来控制主体单元在俯仰方向上的姿势。

2. 发明申请

US20150183463A1 PUSHCART 审中-公开
公开(公告)号：US20150183463A1
公开(公告)日：2015-07-02
申请号：US14658566
申请日：2015-03-16
申请人： Murata Manufacturing Co., Ltd.
发明人： Kenichi Shirato , Shigeru Tsuji
IPC分类号： B62D11/00 , A61H3/04 , B62K3/00 , B62D11/02
CPC分类号： B62D11/003 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62D11/02 , B62K11/007
摘要： Provided is a pushcart that can automatically change a yaw rotation range. A first main wheel (11A) and a second main wheel (11B) are respectively driven and controlled so that a change of angle in a yaw direction falls within a range of given target values (a first target value and a second target value). In the case where a yaw angular velocity ω is determined to be in a range from −α to α, a control unit (21) controls the first main wheel (11A) and the second main wheel (11B) so that the yaw angular velocity ω becomes 0, and corrects the yaw angular velocity to 0 (or a value near 0). Accordingly, the yaw angular velocity ω falls within the range from the first target value to the second target value (−α to α).
摘要翻译：提供了可以自动改变偏航旋转范围的手推车。分别驱动和控制第一主轮（11A）和第二主轮（11B），使得偏航方向上的角度变化落在给定目标值（第一目标值和第二目标值）的范围内。在偏航角速度ω被确定在-α至α的范围内的情况下，控制单元（21）控制第一主轮（11A）和第二主轮（11B），使得偏航角速度 ω变为0，并将偏航角速度校正为0（或接近0的值）。因此，偏航角速度ω落在从第一目标值到第二目标值（-α〜α）的范围内。

3. 发明申请

US20150183482A1 MOBILE BODY 有权
标题翻译：移动体
公开(公告)号：US20150183482A1
公开(公告)日：2015-07-02
申请号：US14656957
申请日：2015-03-13
申请人： Murata Manufacturing Co., Ltd.
发明人： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
IPC分类号： B62K3/00 , A61H3/04 , B62H1/12 , G05D1/08
CPC分类号： B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
摘要： Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
摘要翻译：提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向变为“1”，大于“the”; 1。在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。

4. 发明授权

US10052253B2 Hand-propelled vehicle 有权
公开(公告)号：US10052253B2
公开(公告)日：2018-08-21
申请号：US15185306
申请日：2016-06-17
申请人： Murata Manufacturing Co., Ltd.
发明人： Kenichi Shirato , Shigeru Tsuji , Masayuki Kubo , Yoshitaka Hane
IPC分类号： A61H3/04 , G01C9/00 , B62H1/12
CPC分类号： A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0192 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5092
摘要： A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination angle θ3 being a value in an inclination sensor as being equal to an inclination angle θ2 of the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from θ3 to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angle θ2 of the road surface to a target inclination angle determining unit.

5. 发明授权

US09463836B2 Mobile body 有权
标题翻译：移动体
公开(公告)号：US09463836B2
公开(公告)日：2016-10-11
申请号：US14656957
申请日：2015-03-13
申请人： Murata Manufacturing Co., Ltd.
发明人： Masayuki Kubo , Kenichi Shirato , Shigeru Tsuji
IPC分类号： B62K3/00 , A61H3/04 , B62H1/12 , G05D1/08
CPC分类号： B62K3/007 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/1633 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5084 , A61H2201/5092 , B62H1/12 , B62K11/007 , G05D1/0891
摘要： Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion (10) is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller (21) shifts to a second control mode in which the rotation of main wheels (11) is driven and controlled so that an angle of the main body portion (10) with respect to the vertical direction becomes θ1′ which is greater than θ1. In the second control mode, the main wheels (11) and an auxiliary wheel (13) are in contact with the ground.
摘要翻译：提供一种移动体，其构造成在不设置辅助轮或辅助轮不与地面接触的状态下使用时防止其主体翻倒。在第一控制模式中，通过一直执行倒立摆控制，主体部分（10）的姿势保持恒定。例如，在用户操作切换开关的情况下，控制器（21）转移到主轮（11）的旋转被驱动和控制的第二控制模式，使得主体部（10 ）相对于垂直方向成为大于θ1的θ1'。在第二控制模式中，主轮（11）和辅助轮（13）与地面接触。

6. 发明授权

US10982679B2 Blowing apparatus 有权
公开(公告)号：US10982679B2
公开(公告)日：2021-04-20
申请号：US15898761
申请日：2018-02-19
申请人： Murata Manufacturing Co., Ltd.
发明人： Yuzo Higashiyama , Shigeru Tsuji
IPC分类号： F04D25/06 , F04D29/42 , F04D17/16 , F04D27/00 , F04D29/66 , A61M16/00 , A61M16/08 , A61M16/10
摘要： A blowing apparatus includes a blowing unit, a first circuit board, a second circuit board, a top casing, a middle casing, and a bottom casing. The bottom casing has an intake hole. The middle casing has a nozzle to which a tube is attached, and also has an exhaust hole inside the nozzle. The exhaust hole is connected to a mask, with the tube interposed therebetween. The blowing unit includes a fan and a motor configured to rotate the fan. The blowing unit is located in a region between the first circuit board and the second circuit board. The first circuit board intersects a rotation axis of the fan. The first circuit board covers the blowing unit as viewed from the top casing in plan view of the first circuit board.

7. 发明授权

US10168715B2 Ball-balancing robot 有权
公开(公告)号：US10168715B2
公开(公告)日：2019-01-01
申请号：US15687588
申请日：2017-08-28
申请人： Murata Manufacturing Co., Ltd.
发明人： Shigeru Tsuji , Mitsuru Kitagawa
IPC分类号： B60B19/14 , G05D1/08 , A63H11/00 , G01C9/02 , G01P3/00 , G01P21/00 , H02K7/00 , A63H33/00
摘要： A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle θp), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.

8. 发明授权

US09522611B2 Inverted pendulum vehicle 有权
标题翻译：倒立摆车
公开(公告)号：US09522611B2
公开(公告)日：2016-12-20
申请号：US14644285
申请日：2015-03-11
申请人： Murata Manufacturing Co., Ltd.
发明人： Shigeru Tsuji , Kenichi Shirato , Masayuki Kubo
IPC分类号： B60L15/10 , B60L15/20 , B62K3/00 , G05D1/08 , B60L3/00 , B60L7/24 , B60L11/18
CPC分类号： B60L15/10 , B60L3/00 , B60L7/24 , B60L11/18 , B60L15/20 , B60L2200/16 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K11/007 , G05D1/0891 , Y02T10/645 , Y02T10/7005 , Y02T10/72 , Y02T10/7275
摘要： A tire angular velocity controller (211) is input with a difference between a target value of a rotational angular velocity of 0 for main wheels (11) and a rotational angular velocity of the main wheels (11), which is a differential value of a signal output from a main wheels rotary encoder (26). The tire angular velocity controller (211) calculates an inclination angle for the main body (10) that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body (10) at the present time input from an inclination angle sensor (20) is input to a main body inclination angle controller (212).
摘要翻译：输入轮胎角速度控制器（211），其中主轮（11）的旋转角速度的目标值为0，主轮（11）的旋转角速度之差为来自主轮旋转编码器（26）的信号输出。轮胎角速度控制器（211）计算将导致该差为零的主体（10）的倾斜角度。在第二控制模式中，将计算出的倾斜角度用作目标倾斜角度，并且从倾斜角度传感器（20）输入的当前时刻该目标倾斜角度与主体（10）的倾斜角度之间的差为输入到主体倾斜角度控制器（212）。

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