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1. 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。

2. 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。

3. 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。

4. 发明授权

US08353378B2 Frictional drive device and inverted pendulum type vehicle using the same 有权
标题翻译：摩擦驱动装置和倒立摆式车辆使用它
公开(公告)号：US08353378B2
公开(公告)日：2013-01-15
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
发明人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
IPC分类号： B62K1/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2310/204 , B60B2310/228 , B60B2310/232 , B60B2310/305 , B60B2360/10 , B60B2360/147 , B60B2360/32 , B60B2360/348 , B60B2360/50 , B60B2380/12 , B60B2380/14 , B60L1/003 , B60L3/0061 , B60L11/1803 , B60L11/1861 , B60L11/1877 , B60L2200/14 , B60L2220/42 , B60L2240/425 , B60L2240/461 , B60L2260/34 , B62K11/007 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y10T74/19
摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.
摘要翻译：一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86））和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。

5. 发明授权

US08567537B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08567537B2
公开(公告)日：2013-10-29
申请号：US12884748
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： B62K15/00 , B62K11/02
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可以具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

6. 发明申请

US20110067938A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20110067938A1
公开(公告)日：2011-03-24
申请号：US12884748
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： B60L11/00 , B62D61/00
CPC分类号： B60L11/1877 , B60L2200/14 , B60L2240/26 , B60L2260/34 , B62K1/00 , B62K11/007 , B62K2208/00 , Y02T10/7005 , Y02T10/705
摘要： In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.
摘要翻译：在具有下框架（22）和可拆卸地接合到下框架的上端的上框架（21）的倒立摆式车辆中，每个限定中空内部的下框架和上框架，结合有驱动单元（3）在下框架中，并且电池单元（10）被容纳在上框架中，并经配置在上框架和下框架之间的狭窄部分中的电单元（11）向驱动单元提供电力。因此，车辆可以是紧凑且小的脚印设计。特别地，当使用具有相对较小宽度的主轮将该结构应用于通过使车辆的上部匹配具有相应的小宽度时，车辆的整体轮廓可能具有非常小的宽度。此外，车辆的总重量可以相对均匀地分布在上部和下部之间，以方便操作和控制。

7. 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

8. 发明授权

US08522902B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08522902B2
公开(公告)日：2013-09-03
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00 , B62K15/00 , B62K1/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle configured to travel on a ground surface while maintaining an upright posture under an inverted pendulum control, comprising a base frame supporting a propulsion unit, the propulsion unit including a main wheel configured to roll on the ground surface, and a seat unit provided on the base frame for supporting hips of a rider, the seat unit includes a saddle having at least a center located ahead of an axial line extending between a rotational center line of the main wheel and a gravitational center of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆中，其构造成在倒立摆控制下保持直立姿势的同时在地面上行进，包括支撑推进单元的基座框架，所述推进单元包括构造成在地面上滚动的主轮，以及所述座椅单元设置在所述基座上，用于支撑骑手的臀部，所述座椅单元包括鞍座，所述鞍座至少具有位于在所述主轮的旋转中心线与所述倒立摆型重力中心之间延伸的轴线前方的中心车辆。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

9. 发明授权

US08162092B2 Friction drive vehicle 有权
标题翻译：摩擦驱动车
公开(公告)号：US08162092B2
公开(公告)日：2012-04-24
申请号：US12633300
申请日：2009-12-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B62M13/00
CPC分类号： B60K17/043 , B60B19/003 , B60B19/125 , B60B19/14 , B60B2200/47 , B60B2360/10 , B60B2360/32 , B60B2360/324 , B60B2360/50 , B60K17/30 , B60Y2200/81 , B62D61/00 , B62K1/00 , B62K3/002 , B62K11/007 , B62K2204/00
摘要： In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts (3L, 3R, 25) toward each other. Thereby, the contact pressure between the two frictionally engaging parts is maintained at an optimum level under all conditions. A weight of a rider may be transmitted to a drive member that frictionally engages a main wheel via a four-link parallel link mechanism (40, 50).
摘要翻译：在摩擦驱动车辆中，作用在车辆上的负载（诸如骑车人的重量）的载荷被转换成彼此相对推动两个摩擦接合部分（3L，3R，25）的力。因此，在所有条件下，两个摩擦接合部分之间的接触压力保持在最佳水平。骑车人的重量可以被传递到驱动构件，该驱动构件经由四连杆平行连杆机构40,50与摩擦接合主轮。

10. 发明授权

US08758191B2 Drive unit 有权
标题翻译：驱动单元
公开(公告)号：US08758191B2
公开(公告)日：2014-06-24
申请号：US12882468
申请日：2010-09-15
申请人： Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Masao Sasaki , Hideharu Izumi , Kazuya Kuwabara
发明人： Toru Takenaka , Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Masao Sasaki , Hideharu Izumi , Kazuya Kuwabara
IPC分类号： F16H13/08 , B60B19/12 , B62K1/00
CPC分类号： B60B19/125 , B60B19/003 , B60B2200/47 , B60B2360/348 , B60B2360/50 , B62K1/00 , B62K11/007
摘要： A drive unit includes a main wheel having an annular member, and a plurality of driven rollers that are rotatably attached to the annular member, a plurality of first drive rollers and a plurality of second drive rollers, which are provided with the annular member between them and arranged such that they make contact with the outer peripheral faces of the driven rollers, a first holder and a second holder, which are arranged with the annular shaft between them and respectively hold the plurality of first drive rollers and the plurality of second drive rollers while allowing them to rotate, and a first drive unit and a second drive unit that rotationally drive the first holder and the second holder respectively; grooves are formed in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof.
摘要翻译：驱动单元包括具有环形构件的主轮和可旋转地附接到环形构件的多个从动辊，多个第一驱动辊和多个第二驱动辊，在它们之间设置有环形构件并且布置成使得它们与从动辊的外周面接触，第一保持器和第二保持器，其间设置有环形轴，并分别保持多个第一驱动辊和多个第二驱动辊同时允许它们旋转;以及第一驱动单元和第二驱动单元，其分别旋转地驱动第一保持器和第二保持器; 在从动辊的外周面上形成有与其圆周方向成一定角度的槽。

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