US007958956B2
`
`(12) United States Patent
`Kakinuma et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 7,958,956 B2
`*Jun. 14, 2011
`
`(54) COAXIAL TWO-WHEEL VEHICLE
`(75) Inventors: Takekazu Kakinuma, Tokyo (JP); Ikuo
`Yamano, Kanagawa (JP); Kunihito
`Sawai, Kanagawa (JP)
`(73) Assignee: Toyota Jidosha Kabushiki Kaisha,
`Toyota-shi (JP)
`
`(*)
`
`Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 605 days.
`This patent is Subject to a terminal dis
`claimer.
`
`3,693.987 A * 9, 1972 Bobard et al. ................ 28Of755
`3,712.404 A *
`1/1973 Walguist ........
`... 180,212
`3,833,215. A * 9/1974 Isdith .............................. 482.51
`4,020,914 A * 5/1977 Trautwein ..........
`... 180/210
`5,630,774 A * 5/1997 Geschwender ................. 482.57
`(Continued)
`
`JP
`
`FOREIGN PATENT DOCUMENTS
`63-305.082
`12, 1988
`(Continued)
`
`OTHER PUBLICATIONS
`
`U.S. Appl. No. 12/533,755, filed Jul. 31, 2009, Kosaka, et al.
`
`(21)
`(22)
`(65)
`
`(30)
`
`Appl. No.: 11/402,975
`Filed:
`Apr. 13, 2006
`
`Prior Publication Data
`US 2006/0260857 A1
`Nov. 23, 2006
`
`Primary Examiner — J. Allen Shriver, II
`Assistant Examiner — Bridget Avery
`(74) Attorney,
`Agent,
`or
`Firm — Oblon,
`McClelland, Maier & Neustadt, L.L.P.
`
`Spivak,
`
`Foreign Application Priority Data
`
`(57)
`
`ABSTRACT
`
`(JP) .............................. P 2005-117365
`(JP) ............................... P2006-105731
`
`Apr. 14, 2005
`Apr. 6, 2006
`(51) Int. Cl.
`(2006.01)
`B60K L/02
`(2006.01)
`B62D II/04
`(2006.01)
`B62D 6L/00
`U.S. Cl. ......................... 180/65.1; 180/6.5; 180/218
`Field of Classification Search ................. 180/65.1,
`180/65.5, 180, 181, 218, 6.5, 21, 7.1: 280/652,
`280/87.041, 33.992, 32.7, 63
`See application file for complete search history.
`
`(52)
`(58)
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`1,697.994 A *
`1/1929 Moore, Jr. ................ 280/87,042
`2.726,845 A * 12/1955 Hyslop, Jr. et al. ........... 254f131
`2,825,575 A * 3, 1958 Mickels ................... 280/87,042
`
`
`
`
`
`
`
`- A
`
`-
`
`s
`
`Life
`5
`
`17
`19
`
`2
`
`BR
`
`A coaxial two-wheel vehicle on which a rider stably travels
`without the upper body being Swayed left and right in a riding
`state of the center of gravity being positioned high is pro
`vided.
`The coaxial two-wheel vehicle includes: a step plate for a
`driver to ride; a vehicle body that supports the step plate so as
`to be capable of changing a posture in a roll direction of
`rotating around a roll axis as the center, when a traveling
`direction is made the roll axis; a pair of wheels disposed on
`both sides on the same axis in the direction orthogonal to the
`traveling direction of the vehicle body and rotatably sup
`ported by the vehicle body; a pair of wheel drive means to
`drive and rotate the pair of wheels independently; and a
`handle for directly changing a posture of the step plate or
`indirectly changing the posture through the vehicle body.
`
`14 Claims, 12 Drawing Sheets
`
`
`
`
`
`
`
`
`
` DGL Exhibit 1007
`Page 0001
`
`

`

`US 7,958,956 B2
`Page 2
`
`U.S. PATENT DOCUMENTS
`280/32.7
`5,810,371. A *
`9, 1998 Welke
`5882,020 A
`3/1999 Veike . 286/327
`5,947,505 A * 9/1999 Martin .
`280,493
`6,000,705 A * 12/1999 Velke ...
`280/32.7
`6,062,582 A * 5/2000 Martin .
`280,493
`6,234.495 B1* 5/2001 Velke .............
`280/32.7
`6,288,505 B1* 9/2001 Heinzmann et al.
`318, 139
`6,488.291 B1* 12/2002 Bellis, Jr. .......
`280/32.7
`6,497.422 B1* 12/2002 Bellis, Jr. .
`280, 32.7
`6,651,766 B2 * 1 1/2003 Kamen et al.
`180.218
`6,692,010 B1* 2/2004 Johnson et all
`280/32.7
`7,011, 171 B1* 3/2006 Poulter .......................... 1808.2
`
`7,178,614 B2 * 2/2007 Ishii ............................... 18O, 7.1
`7,303,032 B2* 12/2007 Kahlert et al.
`180/651
`7,803,090 B2 * 9/2010 Kraus ............................. 482.62
`FOREIGN PATENT DOCUMENTS
`63305.082
`* 12, 1988 .................... 180,209
`JP
`2004074814
`* 3, 2004
`JP
`2005-6435
`1, 2005
`JP
`2005-006436
`1, 2005
`JP
`2005 OO1554
`1, 2005
`JP
`29.9999.85 A
`2996
`JP
`200503.9962
`JP
`2, 2007
`* cited by examiner
`
`
`
`ck
`ck
`
` DGL Exhibit 1007
`Page 0002
`
`

`

`U.S. Patent
`U.S. Patent
`
`Jun. 14, 2011
`Jun. 14, 2011
`
`Sheet 1 of 12
`Sheet 1 of 12
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`US 7,958,956 B2
`US 7,958,956 B2
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`F/G, IC
`
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`
`
`
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`
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`
`DGL Exhibit 1007
`Page 0003
`
` DGL Exhibit 1007
`Page 0003
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`

`

`U.S. Patent
`
`Jun. 14, 2011
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`Sheet 2 of 12
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`US 7,958,956 B2
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`Page 0004
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`U.S. Patent
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`Jun. 14, 2011
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`Sheet 3 of 12
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`US 7,958,956 B2
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` DGL Exhibit 1007
`Page 0005
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`U.S. Patent
`
`Jun. 14, 2011
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`Sheet 4 of 12
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`US 7,958,956 B2
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`

`

`Jun. 14, 2011
`Jun. 14, 2011
`
`Sheet 5 of 12
`Sheet 5 of 12
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`US 7,958,956 B2
`US 7,958,956 B2
`
`U.S. Patent
`U.S. Patent
`
`
`
`FIG, 8
`
`DGL Exhibit 1007
`Page 0007
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`Page 0007
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`

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`U.S. Patent
`U.S. Patent
`
`Jun. 14, 2011
`Jun. 14, 2011
`
`Sheet 6 of 12
`Sheet 6 of 12
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`US 7,958,956 B2
`US 7,958,956 B2
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`DGL Exhibit 1007
`Page 0008
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` DGL Exhibit 1007
`Page 0008
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`

`

`U.S. Patent
`
`Jun. 14, 2011
`
`Sheet 7 of 12
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`US 7,958,956 B2
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`

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`U.S. Patent
`U.S. Patent
`
`Jun. 14, 2011
`Jun. 14, 2011
`
`Sheet 8 of 12
`Sheet 8 of 12
`
`US 7,958,956 B2
`US 7,958,956 B2
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` DGL Exhibit 1007
`Page 0010
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`

`

`U.S. Patent
`
`Jun. 14, 2011
`
`Sheet 9 of 12
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`US 7,958,956 B2
`
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`Page 0011
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`

`

`U.S. Patent
`
`Jun. 14, 2011
`
`Sheet 10 of 12
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`US 7,958,956 B2
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`Page 0012
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`

`

`U.S. Patent
`
`Jun. 14, 2011
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`Sheet 11 of 12
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`US 7,958,956 B2
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`

`

`U.S. Patent
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`Jun. 14, 2011
`
`Sheet 12 of 12
`
`US 7,958,956 B2
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` DGL Exhibit 1007
`Page 0014
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`

`

`1.
`COAXAL TWO-WHEEL VEHICLE
`
`CROSS REFERENCES TO RELATED
`APPLICATIONS
`
`The present invention contains Subject matter related to
`Japanese Patent Application JP 2005-117365, filed in the
`Japanese Patent Office on Apr. 14, 2005, and Japanese Patent
`Application JP 2006-105731 filed in the Japanese Patent
`Office on Apr. 6, 2006, the entire contents of which are incor
`porated herein by reference.
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`The present invention relates to a coaxial two-wheel
`vehicle including two wheels disposed on the same axis cen
`ter line, and it particularly relates to a coaxial two-wheel
`vehicle which can travel freely with people riding thereon.
`2. Description of the Related Art
`As a coaxial two-wheel vehicle of this kind in related art,
`there is one described in Patent Reference 1, for example. In
`Patent Reference 1, there is a description relating to a coaxial
`two-wheel vehicle including wheels at both ends of the same
`axle. The coaxial two-wheel vehicle described in Patent Ref
`erence 1 is “a coaxial two-wheel vehicle configured to have a
`pair of wheels; a wheel axle provided between the pair of
`wheels; a base capable of tilting supported above the wheel
`axle; a pair of drive motors mounted on the base to drive each
`of the pair of wheels; and a controller that sends an operation
`command to the pair of drive motors, wherein an acceleration
`detector for detecting acceleration in the vertical direction is
`provided in the base, and the controller sends an operation
`command to decelerate to each of the pair of drive motors
`when an absolute value of the acceleration detected during
`travel by the acceleration detector is a predetermined thresh
`old value or more'.
`According to the coaxial two-wheel vehicle of Patent Ref
`erence 1 having the above-described configuration, the
`vehicle is expected to obtain such effectiveness that “ina case,
`for example, of running onto a step, since the acceleration
`detector for detecting acceleration in the vertical direction is
`included and the operation command to decelerate is sent to
`each of the pair of drive motors when an absolute value of the
`acceleration detected during travel by the acceleration detec
`tor is a predetermined threshold value or more, safe travel can
`be performed by following the step and the like.”
`In addition, as another example of a coaxial two-wheel
`vehicle in related art, there is one described in Patent Refer
`ence 2, for example. In Patent Reference 2, there is a descrip
`tion relating to a method of controlling the posture of a
`coaxial two-wheel vehicle. The posture control method in the
`coaxial two-wheel vehicle described in Patent Reference 2 is
`“in the coaxial two-wheel vehicle configured to have a pair of
`wheels; a wheel axle provided between the both wheels; a
`vehicle body supported above the wheel axle in a turnable
`manner; a wheel drive motor mounted on the vehicle body; a
`control computer that sends an operation command to the
`wheel drive motor, and an angle detector for detecting an
`inclination of the vehicle body, an angle of inclination of the
`vehicle body detected by the angle detector is sampled at
`short-time intervals, computation is performed by assigning a
`sampled value to a control input calculation formula that is
`input and set in advance in the control computer, where the
`sampling inclination angle of the vehicle body is used as a
`state variable and a feed-back gain is used as a coefficient,
`controlling torque for the wheel drive motor is calculated
`
`2
`based on the computation; and a command to perform an
`operation equivalent to the calculated control torque is sent
`from the control computer to the wheel drive motor.”
`According to the posture control method in the coaxial
`two-wheel vehicle of Patent Reference 2 that has the above
`described configuration, it is expected to have such effective
`ness that “in case that the vehicle body tilts, immediately the
`wheel shifts in the direction of the vehicle body inclined and
`so a restoration of posture of the vehicle body is performed
`without fail, because the computation is performed by assign
`ing a sampled value to the control input calculation formula
`that is input and set in advance in the control computer, where
`the sampling inclination angle of the vehicle body and the
`feed-back gain are used as the coefficients; controlling torque
`for the wheel drive motor is calculated based on the compu
`tation; and feed-back control of the wheel drive motor is
`performed based on the result of this calculation'.
`Patent Reference 1 Japanese Published Patent Application
`No. 2005-6436
`Patent Reference 2 Japanese Published Patent Application
`No S63-305082
`However, in the coaxial two-wheel vehicles described in
`the above-mentioned Patent References 1 and 2, a handle is
`fixed to a step plate (riding portion) for a man to ride, a
`Support portion Supporting the wheels in a freely rotatable
`manner is fixed to the step plate, and the upper Surface of the
`step plate (riding Surface) is continuously in parallel with a
`traveling Surface (road Surface). Accordingly, when the center
`of gravity is at a high position like a standing posture in which
`a man is riding in a standing State, an upper body of the rider
`becomes unstable by being swayed right and left due to an
`action of gravitational force at the time of traveling on a cant
`road surface where the road surface inclines in the direction
`orthogonal to a traveling direction or due to an action of
`centrifugal force at the time of turning, and there is a possi
`bility that the vehicle body is overturned in the lateral direc
`tion when the force becomes considerably large.
`Details are explained in this regard by referring to FIGS. 1
`through 3. FIGS. 1A through 1C are explanatory diagrams
`respectively showing a state of the coaxial two-wheel vehicle
`of related art viewed from the front side of the vehicle. In
`FIGS. 1A through 1C, reference numeral 1 denotes the whole
`of a coaxial two-wheel vehicle in which a vehicle body 2 used
`also as a step plate is provided. Left and right wheels 3L and
`3R are rotatably provided on both sides in the direction
`orthogonal to a traveling direction of the vehicle body 2. In
`addition, reference numeral 4 denotes a riding object (such as
`a man, for example) riding on the vehicle body 2, reference
`symbol G denotes the center of gravity of the rider 4, and
`reference symbol W denotes a weight (load) of the rider 4.
`FIG. 1A shows a state of the coaxial two-wheel vehicle 1
`traveling straightona flat road Surface without an influence of
`lateral force and centrifugal force. In this state, the center of
`gravity G of the rider 4 is positioned approximately above the
`center of the coaxial two-wheel vehicle 1 and the load W acts
`vertically to work at the approximate center of the vehicle
`body 2. Accordingly, approximately the same load acts on the
`left and right wheels 3L and 3R, and the reaction force thereof
`becomes approximately the same at ground contact points TL
`and TR where the wheels 3L and 3R come into contact with
`a road Surface E.
`FIG. 1B shows a state of the coaxial two-wheel vehicle 1
`making a turn on the flat road Surface E. In this state, cen
`trifugal force (lateral force) Facts on the rider 4 from the right
`wheel3R side, and a weight vector W of the load W slants by
`an angle 0 due to the influence of the centrifugal force F.
`
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`3
`When a ground contact point R where an extended line of the
`weight vector W intersects the road surface E is inside the
`ground contact point TL of the left wheel 3L, the coaxial
`two-wheel vehicle 1 can make a turn with stability. However,
`when the ground contact point R is outside the ground contact
`point TL, as shown in FIG. 1B, the stability of the traveling is
`impaired, because the left and right wheels 3L and 3R are
`unable to bear the centrifugal force F, and the vehicle may
`overturn (falling in the lateral direction), as shown in FIG.1C,
`when the centrifugal force F becomes considerably large.
`A difficulty level causing this coaxial two-wheel vehicle 1
`to overturn greatly depends on the height of the center of
`gravity G of the rider 4. FIG. 2 is a diagram to explain about
`that. When the center of gravity G of the rider 4 is at a low
`position, a tilt angle allowed to the weight vector W of the
`center of gravity G is an angle 0 as shown in FIG. 2. However,
`when the center of gravity G of the rider 4 is high and shifts to
`the center of gravity G1, the tilt angle at the center of gravity
`G1 becomes an angle 01 which is smaller than the angle 0
`(01<0), since a distance S from the center of the vehicle body
`2 to the ground contact points TL and TR of the left and right
`wheel 3L and 3R remains unchanged.
`From the above, it is understood that the difficulty level of
`causing the coaxial two-wheel vehicle 1 to overturn is
`expressed by a product of the height of the center of gravity G
`25
`and the centrifugal force F. Specifically, assuming that the
`ground contact point R of the weight vector W corresponds to
`the ground contact point TL of the left wheel 3L when the
`centrifugal force F acts on the center of gravity G, FxH=S
`(expression 1) can be obtained. Similarly, assuming that the
`ground contact point R of a weight vector W1 corresponds to
`the ground contact point TL of the left wheel 3L when a
`centrifugal force F1 acts on the center of gravity G1,
`F1xH1=S (expression 2) can be obtained. Accordingly,
`FxH=F1XH1. Here, F>F1 because H<H1. Therefore, when
`35
`the center of gravity is positioned higher, the coaxial two
`wheel vehicle 1 may overturn, even if the centrifugal force
`becomes smaller by that much.
`Such a overturn of the coaxial two-wheel vehicle 1 can be
`prevented with a structure shown in FIG. 3. FIG. 3 is a
`diagram showing the vehicle body 2 being inclined toward the
`road surface E on the right wheel3R side where the centrifu
`gal force Facts. When the vehicle body 2 is thus inclined to
`the side where the centrifugal force Facts, a overturn of the
`coaxial two-wheel vehicle 1 can be prevented and a stable
`turning 1 becomes possible, because the ground contact point
`R of the weight vector W1 shifts to the inside of the ground
`contact point TL of the left wheel 3L.
`
`10
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`15
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`US 7,958,956 B2
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`4
`direction is set as the roll axis; a pair of wheels disposed on the
`same axis on both sides in a direction orthogonal to the
`traveling direction of the vehicle body and rotatably sup
`ported by the vehicle body; a pair of wheel drive means to
`drive and rotate the pair of wheels independently; and a
`handle for directly changing a posture of the step plate or
`indirectly changing the posture through the vehicle body.
`According to the embodiment of the coaxial two-wheel
`vehicle of the present invention, the posture of the step plate
`is changed at the time of making a turn and the like to shift a
`ground contact point of a weight vector of the center of
`gravity of a rider or the like to the inside of a ground contact
`point of the wheel, an overturn of the coaxial two-wheel
`vehicle is prevented and a stable turning becomes possible.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIGS. 1A to 1C are explanatory diagrams to explain a
`relation between a coaxial two-wheel vehicle and centrifugal
`force, in which FIG. 1A shows a state of the centrifugal force
`not acting, FIG. 1B shows a state of the centrifugal force
`acting, and FIG. 1C shows a state of the vehicle being over
`turned by the centrifugal force, respectively;
`FIG. 2 is an explanatory diagram to explain a relation
`among a coaxial two-wheel vehicle, centrifugal force, and a
`height of the center of gravity of a rider;
`FIG. 3 is an explanatory diagram showing a countermea
`Sure against centrifugal force that acts on a coaxial two-wheel
`vehicle:
`FIGS. 4A and 4B are diagrams showing a first embodiment
`of a coaxial two-wheel vehicle according to the present inven
`tion, in which FIG. 4A is a front view and FIG. 4B is a lateral
`view;
`FIG.5 is an explanatory diagram showing a relevant part of
`the coaxial two-wheel vehicle shown in FIG. 4A enlarged;
`FIG. 6 is an explanatory diagram showing a relevant part of
`the coaxial two-wheel vehicle shown in FIG. 4B enlarged;
`FIG. 7 is an enlarged cross-sectional diagram of a D-D line
`portion of the coaxial two-wheel vehicle shown in FIG. 5;
`FIG. 8 is an explanatory diagram to explain an operation of
`the coaxial two-wheel vehicle shown in FIG. 4A, showing a
`state in which one wheel runs on a step;
`FIG. 9 is an explanatory diagram to explain an operation of
`the coaxial two-wheel vehicle shown in FIG. 4A, showing a
`state of turning on a flat road Surface;
`FIG. 10 is an explanatory diagram to explain an operation
`of the coaxial two-wheel vehicle shown in FIG. 4A, showing
`a state of straight travel on a cant road Surface;
`FIG. 11 is a block diagram Schematically showing a con
`figuration of a controller according to the first embodiment of
`the coaxial two-wheel vehicle of the present invention;
`FIGS. 12A to 12C are explanatory diagrams to explain a
`traveling state of the first embodiment of the coaxial two
`wheel vehicle according to the present invention, in which
`FIG. 12A shows a straight travel on a flat road surface, FIG.
`12B shows a turning on a flat road surface, and FIG. 12C
`shows a straight travel on a cant road Surface, respectively;
`FIGS. 13A and 13B are diagrams showing a second
`embodiment of a coaxial two-wheel vehicle according to the
`present invention, in which FIG. 13A is a front view and FIG.
`13B is a lateral view:
`FIGS. 14A and 14B are explanatory diagrams showing a
`relevant part of the coaxial two-wheel vehicle shown in FIG.
`13A enlarged, in which FIG. 14A is a state of straight travel
`and FIG. 14B is a state of turning, respectively;
`
`SUMMARY OF THE INVENTION
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`In a coaxial two-wheel vehicle in related art, the upper
`Surface (riding Surface) of a step plate is continuously in
`parallel with a traveling Surface (road surface), and so an
`upper body of a rider becomes unstable by being swayed left
`and right due to an action of gravitational force at the time of
`traveling on a cant road Surface and due to an action of
`centrifugal force at the time of turning when the center of
`gravity is at a high position in a standing posture in which a
`man is riding in a standing state, and further there is a possi
`bility that the vehicle may overturn when such force becomes
`considerably large.
`A coaxial two-wheel vehicle according to an embodiment
`of the present invention is configured to have: a step plate for
`a driver to ride; a vehicle body Supporting the step plate so as
`to be capable of changing a posture in a roll direction of
`rotating around a roll axis as the center when the traveling
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` DGL Exhibit 1007
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`FIGS. 15A and 15B are diagrams showing a third embodi
`ment of a coaxial two-wheel vehicle according to the present
`invention, in which FIG. 15A is a front view and FIG. 15B is
`a lateral view; and
`FIGS. 16A and 16B are explanatory diagrams showing a
`relevant part of the coaxial two-wheel vehicle shown in FIG.
`15A enlarged, wherein FIG. 16A is a state of straight travel
`and FIG. 16B is a state of turning, respectively.
`
`DESCRIPTION OF THE PREFERRED
`EMBODIMENTS
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`pair of coil springs 19L and 19R, showing a specific example
`of an elastic member that generates spring force to maintain
`the angle formed by the vehicle body upper member 16 and
`the vehicle body lower member 17 and the pair of lateral
`members 18L and 18R to be orthogonal are provided between
`the vehicle body upper member 16 and the vehicle body lower
`member 17 of this parallel link mechanism.
`Showing as a section in FIG. 7, the vehicle body upper
`member 16 and the vehicle body lower member 17 are con
`figured to have approximately quadrangular chassis portions
`16a and 17a respectively whose lower sides are open, bearing
`portions 16b and 17b at four positions which are formed to
`project in the lengthwise direction at four corners of each
`chassis portion of 16a and 17a, and a pair of spring bearing
`portions 16c. 16c and 17c, 17c each of which is formed to
`project to the side of the other member, respectively. Lengths
`in the left and right direction that is the vehicle width direction
`of the vehicle body upper member 16 and the vehicle body
`lower member 17 are set to the same length, and the bearing
`portions 16b and 17b of four positions provided at the respec
`tive corner portions are provided at positions to be mutually
`overlapped when the both members 16 and 17 are overlapped.
`In the vehicle body upper member 16, bearing holes are
`provided respectively at three positions in the middle and at
`the both ends in a lengthwise direction that is the left and right
`direction (six positions in total on both the front and rear
`sides). Also, in the vehicle body lower member 17, bearing
`holes are provided respectively at three positions in the
`middle and at both ends in a lengthwise direction that is the
`left and right direction (on the rear side two positions at both
`ends, and so five positions in total). The bearing holes of end
`portion at the both ends of the vehicle body upper member 16
`and those at the both ends of the vehicle body lower member
`17 are set at the same intervals so as to correspond to each
`other, and the pair of lateral members 18L and 18R are pro
`vided between the left and right bearing portions 16b. 16b and
`17b, 17b that have those bearing holes at the end portions.
`The pair of lateral members 18L and 18R is made of mem
`bers in a flat-plate shapehaving such a width that they slidably
`fit between the pair of bearing portions 16b. 16b disposed in
`the front and rear direction of the vehicle body upper member
`16 and the pair of bearing portions 17b, 17b disposed in the
`front and rear direction of the vehicle body lower member 17,
`and the pair is disposed on both left and right sides of the
`vehicle body upper member 16 and the vehicle body lower
`member 17, with plane portions thereof going upward and
`downward. Further, bearing holes corresponding to the pair
`of bearing holes of the vehicle body upper member 16 and
`corresponding to the pair of bearing holes of the vehicle body
`lower member 17 are provided at four positions on both sides
`of each of the lateral members 18L and 18.R.
`Into four bearing holes positioned in the upper portion
`among the eight bearing holes of the pair of lateral members
`18L and 18R, upper turning support pins 21L and 21R pen
`etrating through the bearing holes of the bearing portions 16b
`provided at the four positions of the vehicle body upper
`member 16 are attached by fitting in a turnable manner,
`respectively. Similarly, into four bearing holes positioned in
`the lower portion among the eight bearing holes of the pair of
`lateral members 18L and 18R, lower turning support pins 22L
`and 22R penetrating through the bearing holes of the bearing
`portions 17b provided at the four positions of the vehicle body
`lower member 17 are attached by fitting in a turnable manner
`respectively. Accordingly, the parallel link mechanism is
`formed by the vehicle body upper member 16, the vehicle
`body lower member 17, and the left and right lateral members
`18L and 18R.
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`A coaxial two-wheel vehicle capable of performing a
`stable turning without easily causing an overturn is obtained
`with a simplified structure in which a step plate is inclined to
`the inside of a turning direction.
`Hereinafter, embodiments of the present invention are
`explained by referring to the attached drawings. FIGS. 4
`through 16 are diagrams to explain embodiments of the
`present invention. Specifically, FIGS. 4A and 4B are a front
`view and a lateral view showing a first embodiment of a
`coaxial two-wheel vehicle according to the present invention;
`FIG. 5 is an explanatory diagram showing a relevant part of
`FIG. 4A enlarged; FIG. 6 is an explanatory diagram showing
`a relevant part of FIG. 4B enlarged: FIG. 7 is a D-D line
`cross-sectional diagram of FIG. 5: FIG. 8 is a diagram
`explaining an operation of the coaxial two-wheel vehicle
`according to the first embodiment; similarly FIGS. 9 and 10
`are explanatory diagrams of a relevant part to explain an
`operation; FIG. 11 is a block diagram for explaining a circuit
`of a controller of the coaxial two-wheel vehicle according to
`the first embodiment of the present invention: FIGS. 12A
`through 12C are explanatory diagrams showing the move
`ment of a rider; FIGS. 13A and 13B are a front view and a
`lateral view showing a second embodiment of a coaxial two
`wheel vehicle according to the present invention; FIGS. 14A
`and 14B are explanatory diagrams of a relevant part to explain
`an operation of the coaxial two-wheel vehicle according to
`the second embodiment of the present invention; FIGS. 15A
`and 15B are a front view and a lateral view showing a third
`40
`embodiment of a coaxial two-wheel vehicle according to the
`present invention; and FIGS. 16A and 16B are explanatory
`diagrams of a relevant part to explain an operation of the
`coaxial two-wheel vehicle according to the third embodiment
`of the present invention.
`As shown in FIGS. 4A and 4B, FIG.5, and FIG. 6, a coaxial
`two-wheel vehicle 10 that is the first embodiment of the
`present invention includes two divided steps 11L and 11R
`showing a specific example of a step plate for a driver to ride,
`a vehicle body 12 supporting those divided steps 11L and 11R
`respectively so as to be capable of changing a posture in a roll
`direction X, a pair of wheels 13L and 13R rotatably supported
`by the vehicle body 12, a pair of wheel drive units 14L and
`14R showing a specific example of wheel drive means which
`drive and rotate the pair of wheels 13L and 13R, a handle 15
`to change a posture of two divided steps 11L and 11R indi
`rectly through the vehicle body 12, and the like.
`The two divided steps 11L and 11R are steps for a driver to
`ride by placing one foot each thereon and are made of a pair
`of flat boards formed with a size equivalent to or a little larger
`than a human foot. The vehicle body 12 has a parallel link
`mechanism in which a vehicle body upper member 16 and a
`vehicle body lower member 17 are disposed above and below
`in parallel with each other, and a pair of lateral members 18L
`and 18R are disposed left and right in parallel with each other
`and are connected to the vehicle body upper member 16 and
`the vehicle body lower member 17 in a turnable manner. A
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`Page 0017
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`US 7,958,956 B2
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`The wheel drive units 14L and 14R are attached to each
`outer surface of the pair of lateral members 18L and 18R,
`respectively. Each of the wheel drive units 14L and 14R may
`include an electric motor, a reduction gear row connected to a
`rotary shaft of the electric motor so as to be capable of trans
`mitting power and the like, for example. The wheel drive units
`14L and 14R are each configured to have a fixed portion that
`is fixed to the lateral members 18L, 18R, respectively, and a
`rotatable portion supported by the fixed portion in a freely
`rotatable manner, and the pair of wheels 13L and 13R are
`attached to the rotatable portion, respectively. Thus, the pair
`of wheels 13L and 13R supported by the pair of lateral mem
`bers 18L and 18R through the pair of wheel drive units 14L
`and 14R have the center of rotation corresponding with each
`other on the same axis center line when being positioned on a
`flat road surface.
`Further, upper end portions of the pair of lateral members
`18L and 18R are projected appropriately upward from the
`upper surface of the vehicle upper member 16, and the above
`described divided steps 11L and 11R are individually
`attached to upper end surfaces thereof. The pair of divided
`steps 11L and 11R is provided horizontally extending at the
`same height with a predetermined gap in between in the left
`and right direction that is a wheel axle direction. The distance
`between the pair of divided steps 11L and 11R is made to be
`a distance between both feet when a man is standing in a
`natural State.
`The pair of spring bearing portions 17 c. 17c of the vehicle
`body lower member 17 is provided in the center portion with
`a predetermined gap in between in the left and right direction.
`The pair of spring bearing portions 16c. 16c of the vehicle
`body upper member 16 is provided at positions correspond
`ing to the pair of spring bearing portions 17 c. 17c. Further, the
`coil springs 19L and 19R having appropriate spring force are
`mounted in an adequately compressed state between the
`spring bearing portions 16c and 17c corresponding to each
`other. Here, though not shown in the figure, it is preferable to
`provide each of the spring bearing portions 16c and 17c with
`a spring bearing pr