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1. 发明申请

US20120173114A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE MOBILE APPARATUS 有权
标题翻译：逆变器类型移动设备的控制装置
公开(公告)号：US20120173114A1
公开(公告)日：2012-07-05
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： G06F7/00
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。

2. 发明授权

US08554391B2 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：US08554391B2
公开(公告)日：2013-10-08
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： G01P15/00
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。

3. 发明授权

US08478490B2 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：US08478490B2
公开(公告)日：2013-07-02
申请号：US13394618
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： G01P15/14
CPC分类号： B62K1/00 , B62K11/007
摘要： A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 includes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting part 3 and a traveling velocity of a representative point of the vehicle 1 closer to a desired value. In the second processing mode, the traveling motion unit controlling element 50 determines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.
摘要翻译：根据车辆的运行状态，能够控制车辆的行驶速度的变动的倒立摆式车辆的控制装置。倒立摆式车辆1的行驶单元控制元件50包括第一处理模式和第二处理模式。在第一处理模式中，确定用于控制的操作变量，以使得有效载荷支撑部分3的倾斜角度和车辆1的代表点的行进速度更接近期望值。在第二处理模式中，行驶单元控制单元50确定用于控制的操作变量，同时对于代表点的行驶速度的测量值对控制用操作量的变化具有敏感度，以相对低于在第一种处理模式下。

4. 发明申请

US20120179352A1 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：US20120179352A1
公开(公告)日：2012-07-12
申请号：US13395516
申请日：2009-09-23
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： G06F7/00
CPC分类号： B62K1/00 , B62J1/00 , B62J25/00 , B62K11/007
摘要： Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP 21), a posture control calculator 80 performs a first mode arithmetic process (STEP 22) to update the tilt offset adjusting variable θb_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd via a second mode arithmetic process (STEP 23) by using the tilt offset adjusting variable θb_xy_offset updated in the first mode arithmetic process.
摘要翻译：提供一种倒立摆式车辆的控制装置，其能够将基体的倾斜角度与期望的倾斜角度的偏差进行调整，以便将车辆保持在倾斜角度与期望的倾斜角度匹配的正常状态，并且车辆停了当满足用于更新倾斜偏移调整变量＆amp; b_xy_offset的更新条件（步骤21）时，姿势控制计算器80执行第一模式运算处理（步骤22），以更新倾斜偏移调整变量＆amp; b_xy_offset，同时确定通过使用倾斜偏移调整变量＆amp;第二模式运算处理（步骤23），在第一模式算术处理中更新的b_xy_offset，假想轮旋转角加速度指令ωwdot_x_cmd和ωwdot_y_cmd。

5. 发明申请

US20120173106A1 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：US20120173106A1
公开(公告)日：2012-07-05
申请号：US13394648
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： G06F7/00
CPC分类号： B62K1/00 , B62K11/007 , B62K2207/04
摘要： Provided is a controller of an inverted pendulum type vehicle capable of being moved smoothly by a guided subject as a support. In the inverted pendulum type vehicle 1, an upper portion of a base body 9 is fixed with a grip 18 extending vertically, and a joystick 20 is disposed at an upper end of the grip 18 and is configured to be held by a guided subject to issue commands to every direction of 360° according to thumb operations thereof. A manipulated variable of the joystick 20 is detected by a position sensor 55, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities of Vb_x_aim and Vb_y_aim according to the detected manipulated variable of the joystick 20, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：提供了一种倒立摆式车辆的控制器，其能够被作为支撑件的被导向物体平滑地移动。在倒立摆式车辆1中，基体9的上部由垂直延伸的把手18固定，操纵杆20设置在把手18的上端，并被构造成被被导向物保持根据其拇指操作向360°的每个方向发出命令。操纵杆20的操纵变量由位置传感器55检测，所需重心速度发生器74根据检测到的操纵杆20的操纵变量来确定Vb_x_aim和Vb_y_aim的所需重心速度，并依次其基础是，行驶单元控制器确定用于控制的操作变量。

6. 发明申请

US20120173042A1 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：US20120173042A1
公开(公告)日：2012-07-05
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： G06F7/00
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。

7. 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。

8. 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。

9. 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。

10. 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。

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