Patents by Inventor Shinichiro Kobashi
Shinichiro Kobashi has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20210373561Abstract: A movable body control device controls a movable body on which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding. The movable body control device includes: an acquisition part that acquires information based on information regarding the progress of the work task of the worker; and a control part that controls movement of the movable body based on the information which is acquired by the acquisition part.Type: ApplicationFiled: May 26, 2021Publication date: December 2, 2021Inventors: Taiki Iimura, Shinichiro Kobashi, Takeshi Echizenya, Tomokazu Sakamoto, Takayuki Nakagawara, Etsuko Takasugi
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Publication number: 20210369521Abstract: A movable body control system includes: a movable body on which a user is capable of riding; a support device that supports a body of the user in a lying posture; a body detection device that detects a state of the user supported by the support device; a periphery monitor device that monitors a periphery of the support device; and a determination part that determines whether or not the movable body is capable of approaching the support device based on a detection result of the periphery monitor device. In the movable body control system, in a case where the body detection device detects that the user is in a predetermined state and the determination part determines that the movable body is capable of approaching the support device, the movable body approaches the support device.Type: ApplicationFiled: May 27, 2021Publication date: December 2, 2021Inventors: Taiki Iimura, Takayuki Nakagawara, Takeshi Echizenya, Tomokazu Sakamoto, Etsuko Takasugi, Shinichiro Kobashi
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Publication number: 20210373551Abstract: A movable body control device controls a movable body which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding. The movable body control device includes: an acquisition part that acquires, from a terminal device that is carried by the worker and that receives information which is input by the worker in accordance with the work task, information based on input information which is input by the worker in accordance with the work task; and a control part that controls a speed of the movable body based on the information which is acquired by the acquisition part.Type: ApplicationFiled: May 26, 2021Publication date: December 2, 2021Inventors: Tomokazu Sakamoto, Shinichiro Kobashi, Takeshi Echizenya, Taiki Iimura, Takayuki Nakagawara, Etsuko Takasugi
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Publication number: 20210251826Abstract: A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).Type: ApplicationFiled: April 5, 2019Publication date: August 19, 2021Inventors: Toru Takenaka, Shinichiro Kobashi, Seiji Kato, Takeshi Echizenya, Makoto Hasegawa, Masaki Goto
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Patent number: 9891624Abstract: Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.Type: GrantFiled: November 5, 2015Date of Patent: February 13, 2018Assignee: Honda Motor Co., Ltd.Inventors: Hideo Murakami, Kazumasa Ozaki, Yui Tadano, Yoshiki Tatsutomi, Shinichiro Kobashi, Makoto Hasegawa
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Patent number: 9630447Abstract: In a frictional propulsion device comprising a main wheel including a plurality of driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disk each carrying a plurality of drive rollers about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, a diameter of a drive side contact circle is smaller than a diameter of a driven side contact circle, and the drive disks are vertically offset relative to the main wheel so that only those drive rollers adjoining the main wheel are in contact with the driven rollers. Thereby, the power efficiency of the device can be improved while minimizing the manufacturing cost and the weight of the device.Type: GrantFiled: April 14, 2016Date of Patent: April 25, 2017Assignee: Honda Motor Co., Ltd.Inventors: Tsutomu Yoshino, Wataru Yada, Makoto Hasegawa, Shinichiro Kobashi, Jun Inada
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Publication number: 20160303900Abstract: In a frictional propulsion device comprising a main wheel including a plurality of driven rollers rotatably supported by an annular core member about a tangential direction and a pair of drive disk each carrying a plurality of drive rollers about a rotational center line at an angle with respect to both a tangential line of the drive disk and the rotational center line of the drive disk such that the drive rollers at least partly engage the driven rollers, a diameter of a drive side contact circle is smaller than a diameter of a driven side contact circle, and the drive disks are vertically offset relative to the main wheel so that only those drive rollers adjoining the main wheel are in contact with the driven rollers. Thereby, the power efficiency of the device can be improved while minimizing the manufacturing cost and the weight of the device.Type: ApplicationFiled: April 14, 2016Publication date: October 20, 2016Inventors: Tsutomu YOSHINO, Wataru YADA, Makoto HASEGAWA, Shinichiro KOBASHI, Jun INADA
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Patent number: 9367066Abstract: An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.Type: GrantFiled: March 26, 2014Date of Patent: June 14, 2016Assignee: HONDA MOTOR CO., LTD.Inventors: Makoto Hasegawa, Shinichiro Kobashi, Shinya Shirokura
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Patent number: 9346511Abstract: An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ?z_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor K?z is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.Type: GrantFiled: March 24, 2014Date of Patent: May 24, 2016Assignee: HONDA MOTOR CO., LTD.Inventors: Makoto Hasegawa, Shinichiro Kobashi, Shinya Shirokura
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Publication number: 20160129957Abstract: Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.Type: ApplicationFiled: November 5, 2015Publication date: May 12, 2016Inventors: Hideo MURAKAMI, Kazumasa OZAKI, Yui TADANO, Yoshiki TATSUTOMI, Shinichiro KOBASHI, Makoto HASEGAWA
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Patent number: 9317039Abstract: An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.Type: GrantFiled: March 26, 2014Date of Patent: April 19, 2016Assignee: HONDA MOTOR CO., LTD.Inventors: Makoto Araki, Makoto Hasegawa, Shinichiro Kobashi, Shinya Shirokura
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Patent number: 9302727Abstract: An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.Type: GrantFiled: November 6, 2014Date of Patent: April 5, 2016Assignee: Honda Motor Co., Ltd.Inventors: Kazumasa Ozaki, Hiroshi Iwakami, Shinji Kawatani, Hideo Murakami, Shinya Shirokura, Atsushi Matsunaga, Tomokazu Sakamoto, Makoto Hasegawa, Shinichiro Kobashi
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Patent number: 9139224Abstract: An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.Type: GrantFiled: March 26, 2014Date of Patent: September 22, 2015Assignee: HONDA MOTOR CO., LTD.Inventors: Makoto Araki, Shinichiro Kobashi, Shinya Shirokura
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Publication number: 20150129326Abstract: An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.Type: ApplicationFiled: November 6, 2014Publication date: May 14, 2015Inventors: Kazumasa OZAKI, Hiroshi IWAKAMI, Shinji KAWATANI, Hideo MURAKAMI, Shinya SHIROKURA, Atsushi MATSUNAGA, Tomokazu SAKAMOTO, Makoto HASEGAWA, Shinichiro KOBASHI
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Patent number: 8949010Abstract: An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed.Type: GrantFiled: March 26, 2014Date of Patent: February 3, 2015Assignee: Honda Motor Co., Ltd.Inventors: Makoto Hasegawa, Shinichiro Kobashi, Shinya Shirokura, Hideo Murakami
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Publication number: 20140297124Abstract: An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.Type: ApplicationFiled: March 26, 2014Publication date: October 2, 2014Applicant: HONDA MOTOR CO., LTD.Inventors: Makoto HASEGAWA, Shinichiro KOBASHI, Shinya SHIROKURA
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Publication number: 20140291044Abstract: An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.Type: ApplicationFiled: March 26, 2014Publication date: October 2, 2014Applicant: HONDA MOTOR CO., LTD.Inventors: Makoto ARAKI, Shinichiro KOBASHI, Shinya SHIROKURA
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Publication number: 20140297076Abstract: An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ?z_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor K?z is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.Type: ApplicationFiled: March 24, 2014Publication date: October 2, 2014Applicant: HONDA MOTOR CO., LTD.Inventors: Makoto HASEGAWA, Shinichiro KOBASHI, Shinya SHIROKURA
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Publication number: 20140297126Abstract: An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed.Type: ApplicationFiled: March 26, 2014Publication date: October 2, 2014Applicant: HONDA MOTOR CO., LTD.Inventors: Makoto HASEGAWA, Shinichiro KOBASHI, Shinya SHIROKURA, Hideo MURAKAMI
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Publication number: 20140297127Abstract: An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.Type: ApplicationFiled: March 26, 2014Publication date: October 2, 2014Applicant: HONDA MOTOR CO., LTD.Inventors: Makoto ARAKI, Makoto HASEGAWA, Shinichiro KOBASHI, Shinya SHIROKURA