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1. 发明授权

US09381967B2 Inverted vehicle and its control method 有权
标题翻译：倒车及其控制方法
公开(公告)号：US09381967B2
公开(公告)日：2016-07-05
申请号：US14435665
申请日：2012-10-16
申请人： Takahiro Nakayama , Yusuke Kida , Tetsuya Taira , Hiroshi Bitoh
发明人： Takahiro Nakayama , Yusuke Kida , Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G06F17/10 , B62K3/00 , B62K17/00 , G05D1/08 , G05B9/02 , G05D13/62
CPC分类号： B62K3/007 , B62K3/00 , B62K11/007 , B62K17/00 , G05B9/02 , G05D1/08 , G05D1/0891 , G05D13/62
摘要： An inverted vehicle comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, an acceleration detection unit that detects accelerations along the axes, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.
摘要翻译：反转车辆包括第一传感器，其检测围绕从俯仰轴倾斜第一预定角度的轴线的角速度;第二传感器，其检测围绕从俯仰轴倾斜第二预定角度的轴线的角速度;第三传感器，传感器，其检测围绕俯仰轴的角速度;加速度检测单元，其检测沿着轴的加速度;以及控制单元，其基于检测到的角速度执行反转控制。控制单元基于由基于由第一和第二传感器检测的角速度计算出的俯仰轴之间的第一角速度之间的相互关系而使特定的安全功能运动，围绕由第三传感器检测的俯仰轴的第二角速度传感器以及基于检测到的加速度计算的围绕俯仰轴的第三角速度。

2. 发明申请

US20150259021A1 INVERTED VEHICLE AND ITS CONTROL METHOD 有权
标题翻译：反转车及其控制方法
公开(公告)号：US20150259021A1
公开(公告)日：2015-09-17
申请号：US14435665
申请日：2012-10-16
申请人： Takahiro KAYAMA , Yusuke KIDA , Tetsuya TAIRA , Hiroshi BITOH
发明人： Takahiro Nakayama , Yusuke Kida , Tetsuya Taira , Hiroshi Bitoh
IPC分类号： B62K3/00 , G05D13/62 , G05B9/02
CPC分类号： B62K3/007 , B62K3/00 , B62K11/007 , B62K17/00 , G05B9/02 , G05D1/08 , G05D1/0891 , G05D13/62
摘要： An inverted vehicle comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, an acceleration detection unit that detects accelerations along the axes, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.
摘要翻译：反转车辆包括第一传感器，其检测围绕从俯仰轴倾斜第一预定角度的轴线的角速度;第二传感器，其检测围绕从俯仰轴倾斜第二预定角度的轴线的角速度;第三传感器，传感器，其检测围绕俯仰轴的角速度;加速度检测单元，其检测沿着轴的加速度;以及控制单元，其基于检测到的角速度执行反转控制。控制单元基于由基于由第一和第二传感器检测的角速度计算出的俯仰轴之间的第一角速度之间的相互关系而使特定的安全功能运动，围绕由第三传感器检测的俯仰轴的第二角速度传感器以及基于检测到的加速度计算的围绕俯仰轴的第三角速度。

3. 发明申请

US20120245709A1 SAFETY CONTROLLER AND SAFETY CONTROL METHOD 有权
标题翻译：安全控制器和安全控制方法
公开(公告)号：US20120245709A1
公开(公告)日：2012-09-27
申请号：US13498829
申请日：2011-01-31
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G05B19/18
CPC分类号： B25J9/1674 , B25J9/1656 , G05B19/0426 , G05B19/0428 , G05B2219/24211 , G05B2219/25343 , G05B2219/25347 , G05B2219/34382 , G05B2219/34383 , G06F9/4887
摘要： Time partitions which need not be executed can be skipped. An OS partially includes a partition scheduler which selects and decides a time partition to be subsequently scheduled in accordance with a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP 3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler skips a TP including a program which need not be executed among TPs included in the scheduling pattern, in response to a notification of an execution result from a program executed in at least one of the time partitions TP1 to TP3.
摘要翻译：可以跳过不需要执行的时间分区。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监控程序的TP1的调度模式选择并决定随后调度的时间分区，其中执行时间被分配给正常控制程序和TP 3，其中执行时间被分配给安全控制程序。处理器执行OS以使分区调度器周期性地操作。响应于来自在至少一个时间分区TP1至TP3中执行的程序的执行结果的通知，分区调度器跳过包括不需要在包括在调度模式中的TP之间执行的程序的TP。

4. 发明授权

US08457766B2 Safety controller and safety control method 有权
标题翻译：安全控制器和安全控制方法
公开(公告)号：US08457766B2
公开(公告)日：2013-06-04
申请号：US13498829
申请日：2011-01-31
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G05B9/02 , G06F9/46
CPC分类号： B25J9/1674 , B25J9/1656 , G05B19/0426 , G05B19/0428 , G05B2219/24211 , G05B2219/25343 , G05B2219/25347 , G05B2219/34382 , G05B2219/34383 , G06F9/4887
摘要： Time partitions which need not be executed can be skipped. An OS partially includes a partition scheduler which selects and decides a time partition to be subsequently scheduled in accordance with a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP 3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler skips a TP including a program which need not be executed among TPs included in the scheduling pattern, in response to a notification of an execution result from a program executed in at least one of the time partitions TP1 to TP3.
摘要翻译：可以跳过不需要执行的时间分区。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监控程序的TP1的调度模式选择并决定随后调度的时间分区，其中执行时间被分配给正常控制程序和TP 3，其中执行时间被分配给安全控制程序。处理器执行OS以使分区调度器周期性地操作。响应于来自在至少一个时间分区TP1至TP3中执行的程序的执行结果的通知，分区调度器跳过包括不需要在包括在调度模式中的TP之间执行的程序的TP。

5. 发明申请

US20120291036A1 SAFETY CONTROLLER AND SAFETY CONTROL METHOD 有权
标题翻译：安全控制器和安全控制方法
公开(公告)号：US20120291036A1
公开(公告)日：2012-11-15
申请号：US13522875
申请日：2011-01-31
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G06F9/46
CPC分类号： B25J9/1674 , B25J9/1656 , G05B19/0426 , G05B19/0428 , G05B2219/25343 , G05B2219/25347 , G05B2219/34069 , G05B2219/34372 , G05B2219/34382 , G05B2219/34383 , G06F9/4887
摘要： Upon occurrence of an abnormality, a safety control can be executed more rapidly. An OS partially includes a partition scheduler that selects and decides a time partition to be subsequently scheduled according to a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler is activated upon detection of an abnormality by one of the safety monitoring program executed in TP1 and the normal control program executed in TP2, and switches the time partition from TP1 or TP2 to TP3.
摘要翻译：发生异常时，可以更快地执行安全控制。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监视程序的TP1的调度模式来选择并决定随后调度的时间分区，其中执行时间被分配给正常控制程序和TP3，其中执行时间被分配给安全控制程序。处理器执行OS以使分区调度器周期性地操作。通过在TP1中执行的安全监视程序和在TP2中执行的正常控制程序中的一个检测到异常，分区调度器被激活，并且将时间分区从TP1或TP2切换到TP3。

6. 发明申请

US20120197416A1 SAFETY CONTROLLER AND SAFETY CONTROL METHOD 有权
标题翻译：安全控制器和安全控制方法
公开(公告)号：US20120197416A1
公开(公告)日：2012-08-02
申请号：US13259839
申请日：2011-01-31
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G05B15/02
CPC分类号： G05B9/02 , G05B19/414 , G05B2219/25343 , G05B2219/25347 , G05B2219/33095 , G05B2219/34217 , G05B2219/34382 , G05B2219/34383
摘要： To perform control in synchronization with a control cycle of a control target while maintaining safety. A safety controller includes: a processor; a system program for controlling allocation of an execution time of the processor to tasks; a signal generation unit that generates a periodic carrier signal; a control unit that updates a control content for the control target with a control content instructed by instruction information output from the processor, every first predetermined cycle of the carrier signal, and performs PWM control for the control target; and an interrupt signal generation unit that outputs an interrupt signal to the processor every second predetermined cycle of the carried signal. The processor executes the system program to schedule the tasks in accordance with scheduling information on a safety-related time partition and a normal control time partition, switches the time partitions according to an output of the interrupt signal, and outputs the instruction information to the control unit by a normal control task or a safety-related task.
摘要翻译：与控制目标的控制周期同步进行控制，同时保持安全。安全控制器包括：处理器; 用于控制所述处理器执行时间到任务的分配的系统程序; 产生周期性载波信号的信号产生单元; 控制单元，利用由处理器输出的指令信息指示的控制内容，在载波信号的每第一预定周期，更新控制目标的控制内容，并对控制目标进行PWM控制; 以及一个中断信号产生单元，每个载送信号的每个第二预定周期向处理器输出一个中断信号。处理器执行系统程序以根据关于安全相关时间分区和正常控制时间分区的调度信息调度任务，根据中断信号的输出切换时间分区，并将指令信息输出到控制单位由正常的控制任务或安全相关的任务。

7. 发明授权

US09373253B2 Safety controller and safety control method 有权
标题翻译：安全控制器和安全控制方法
公开(公告)号：US09373253B2
公开(公告)日：2016-06-21
申请号：US14191645
申请日：2014-02-27
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G08C19/24 , G05B9/02
CPC分类号： G08C19/24 , G05B9/02 , G05B2219/25352 , G05B2219/34382
摘要： A safety controller includes a first interrupt signal output unit outputting a first interrupt signal in a cycle synchronous with that of a first carrier signal defining a control cycle of a control target; a second interrupt signal output unit outputting a second interrupt signal in a cycle synchronous with that of a second carrier signal defining a control cycle of the control target, the first and second carrier signals having the same cycle and a predetermined phase difference; and a control unit executing tasks and controlling the control target by switching and scheduling time partitions according to outputs of the first and second interrupt signals from the first and second interrupt signal output units. The control unit stops controlling the control target upon detecting, as an abnormality related to the first and second interrupt signals, that the first and second interrupt signals are not output in a predetermined order.
摘要翻译：安全控制器包括：第一中断信号输出单元，以与限定控制目标的控制周期的第一载波信号同步的周期输出第一中断信号; 第二中断信号输出单元，以与限定所述控制对象的控制周期的第二载波信号同步的周期输出第二中断信号，所述第一和第二载波信号具有相同的周期和预定的相位差; 以及控制单元，其根据来自第一和第二中断信号输出单元的第一和第二中断信号的输出，通过切换和调度时间分区来执行任务和控制控制目标。作为与第一和第二中断信号相关的异常，检测到第一和第二中断信号不以预定顺序输出，控制单元停止控制控制目标。

8. 发明授权

US09037331B2 Two-wheeled inverted pendulum vehicle and control method therefor 有权
标题翻译：两轮倒立摆车及其控制方法
公开(公告)号：US09037331B2
公开(公告)日：2015-05-19
申请号：US13974409
申请日：2013-08-23
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： B62K3/00 , B60W30/00 , B60W30/18 , B60T8/88 , B60T8/17 , B60L3/04 , B60L3/10 , B60L3/00 , B60L15/20 , B60T8/1755 , B60W30/188 , G06F17/10 , B60L11/18
CPC分类号： B62K3/007 , B60L3/0061 , B60L3/0076 , B60L3/0084 , B60L3/04 , B60L3/102 , B60L11/18 , B60L15/2009 , B60L2200/24 , B60T8/17 , B60T8/1755 , B60T8/88 , B60W30/00 , B60W30/18109 , B60W30/188 , B60W2300/34 , B62K11/007 , G06F17/10 , Y02T10/646 , Y02T10/7258 , Y10T477/23 , Y10T477/24 , Y10T477/322 , Y10T477/80 , Y10T477/82 , Y10T477/86
摘要： A two-wheeled inverted pendulum vehicle includes: single-winding first and second motors respectively rotating one of two wheels; first and second control systems respectively supplying drive currents to the first and second motors; a sensor detecting a physical quantity that varies with a turn of the vehicle; a dynamic brake unit being able to switch between active and inactive states of dynamic brake being applied to the first motor; and a control unit, when the control unit has determined that the vehicle is turning about the second motor side on the basis of the physical quantity while supply of drive current from the first control system to the first motor is inhibited, activating dynamic brake in the dynamic brake unit. The first control system, when an abnormality has been detected in the first control system, inhibits supply of drive current from the first control system to the first motor.
摘要翻译：双轮倒立摆车包括：单绕组第一和第二马达，分别旋转两个车轮之一; 第一和第二控制系统分别向第一和第二电动机提供驱动电流; 传感器，其检测随车辆转弯而变化的物理量; 动态制动单元能够在施加到第一电动机的动态制动器的主动和非动作状态之间切换; 以及控制单元，当控制单元已经基于物理量确定车辆在第二电动机侧转动时，同时从第一控制系统向第一电动机的驱动电流的供给被禁止，则在动态制动单元。当在第一控制系统中检测到异常时，第一控制系统禁止从第一控制系统向第一电动机提供驱动电流。

9. 发明申请

US20120198464A1 SAFETY CONTROLLER AND SAFETY CONTROL METHOD 审中-公开
标题翻译：安全控制器和安全控制方法
公开(公告)号：US20120198464A1
公开(公告)日：2012-08-02
申请号：US13259795
申请日：2011-01-31
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： G06F9/46 , G06F9/48
CPC分类号： G05B9/02 , G05B19/0426 , G05B19/0428 , G05B2219/25343 , G05B2219/25347 , G05B2219/34382 , G05B2219/34383 , G06F9/4812 , G06F9/4887 , G06F9/5077
摘要： The present invention relates to time partitioning to prevent a failure of processing while suppressing execution delay of interrupt processing even when the interrupt processing is executed. A safety controller includes: a processor; a system program for controlling allocation of an execution time of the processor to a safety-related task, a non-safety-related task, and an interrupt processing task; and an interrupt handler. Upon generation of an interrupt, the processor executes the interrupt handler to reserve execution of the interrupt processing task as an execution reserved task, and executes the system program to schedule the tasks in accordance with scheduling information on a safety-related TP to which the safety-related task belongs, a non-safety-related TP to which the non-safety-related task belongs, and a reservation execution TP to which the execution reserved task belongs. When execution of a task in a previous TP is finished before the period of the previous TP prior to the execution reservation TP has expired, the execution time in the previous TP is allocated to the execution reserved task.
摘要翻译：本发明涉及时间分割，以防止即使执行中断处理也能够抑制中断处理执行延迟的处理失败。安全控制器包括：处理器; 用于控制处理器执行时间到安全相关任务，非安全相关任务和中断处理任务的系统程序; 和一个中断处理程序。在产生中断时，处理器执行中断处理程序以保留中断处理任务的执行作为执行保留任务，并且执行系统程序以根据安全性相关的TP的调度信息安排任务相关任务属于非安全相关任务所属的非安全相关TP，以及执行保留任务所属的预约执行TP。在执行预约TP之前的先前TP的周期结束之前完成先前TP中的任务的执行时，将先前TP中的执行时间分配给执行保留任务。

10. 发明申请

US20150231971A1 INVERTED VEHICLE AND ITS CONTROL METHOD 审中-公开
标题翻译：反转车及其控制方法
公开(公告)号：US20150231971A1
公开(公告)日：2015-08-20
申请号：US14424920
申请日：2012-08-30
申请人： Tetsuya Taira , Hiroshi Bitoh
发明人： Tetsuya Taira , Hiroshi Bitoh
IPC分类号： B60L3/00 , B60K28/04 , B62K3/00 , B60L15/38 , B60L15/20
CPC分类号： B60L3/0084 , B60K28/04 , B60L3/04 , B60L15/20 , B60L15/38 , B60L58/25 , B60L2200/16 , B60L2220/46 , B60L2240/421 , B60L2240/423 , B60L2240/545 , B62K5/10 , B62K11/007 , Y02T10/645 , Y02T10/7005 , Y02T10/705 , Y02T10/72 , Y02T10/7275
摘要： An inverted vehicle according to the present invention includes a plurality of multiplexed control systems, and performs inversion control and thereby moves by providing torque to a wheel and thereby driving the wheel by using the plurality of control systems. The control systems include a switching detection unit that detects switching to inversion control in which at least one of the plurality of control systems is disabled, and an inversion control unit that performs inversion control of the inverted vehicle while restricting at least one of a speed and a posture angle of the inverted vehicle when the switching of the inversion control is detected by the switching detection unit.
摘要翻译：根据本发明的倒车辆包括多个多路复用控制系统，并且通过向车轮提供扭矩并由此通过使用多个控制系统来驱动车轮来执行反转控制并由此移动。控制系统包括：切换检测单元，其检测切换到反转控制，其中多个控制系统中的至少一个被禁用;以及反转控制单元，其执行倒车的反转控制，同时限制速度和当切换检测单元检测到反转控制的切换时，倒车的姿态角度。

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