PARALLEL TWO WHEELED PASSENGER CARRIAGE
`
`
`[DETAILED DESCRIPTION OF THE INVENTION]
`
`[TECHNICAL FIELD]
`
`[0001] The present invention is related to a parallel two wheeled passenger
`carriage, which is capable of controlling a motor-driven parallel two wheeled
`vehicle by detecting the balance of a user on the vehicle to enable the vehicle
`to stand on its own, to move forward and reverse, and to steer the vehicle in
`any direction by only shifting the user's weight.
`
`[BACKGROUND TECHNOLOGY]
`
`[0002] Conventionally, a parallel two wheeled passenger carriage has been
`proposed and partially put to practical use, in which each wheel of two parallel
`wheels provided with a carriage are driven by motors that operate
`independently of each other, and the operation of each motor is controlled by
`detecting the gravitational balance applied to the carriage including the user
`riding on the carriage to enable the carriage to stand on its own. This
`conventional parallel two wheeled passenger carriage estimates the intention
`and degree of forward and backward movement of the user by detecting the
`center of gravity movement in the front-rear direction of the user, and controls
`the operating direction from a separate operating instruction given by the user.
`
`[0003] Such a parallel two wheeled passenger carriage is, for example, a
`scooter of parallel two wheeled type as illustrated in FIG. 3 (a). In this parallel
`two wheeled type scooter, wheels 42, 43 are provided on both sides of a
`carriage 41, each of which are supported parallel to each other and
`independently rotatable with respect to the carriage 41, and an aluminum
`steering rod 44 is fixed to the carriage 41.
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`[0004] As illustrated in FIG. 3 (b) in an exploded view, the carriage 41 includes
`a first motor 46 and a second motor 47 on both sides of a casing 45, a battery
`48, 48 arranged therebelow, and wheels 42, 43 corresponding to each of the
`motors are driven via a reduction gear. This motor is a brushless type of about
`2 horsepower and is highly efficient, durable, and maintenance-free.
`
`[0005] The battery 48 is a nickel-cadmium (NiCd) battery or a battery using
`nickel metal hydride, and is operable even when a person weighing about 110
`kg rides with a load of 34 kg, can travel a maximum of 28 km on a single charge
`of the battery, can travel about 17 km in a normal operating state, and is
`capable of traveling at a speed of 20 km per hour. The part that drives the
`wheels by these motors is also equipped with a reduction gear, and the wheels
`are driven by helical gears with a reduction ratio of roughly 24:1.
`
`[0006] The casing is equipped with a balance sensor 50, the actuation of which
`is detected by at least two rate gyros per degree of freedom, for a total of five
`rate gyros, in addition to a tilt sensor (accelerometer). Further, a pair of control
`circuit boards 51 are provided and various signals are input to these control
`circuit boards 51, such as the signals of the gyro and the tilt sensor described
`above, to control the rotation of both motors 46, 47 in the forward and reverse
`directions, allowing this carriage to stand on its own based on the stabilizing
`control method of the wheel type inverted pendulum. A handle 52 is provided
`at the upper end of the steering rod 44, and by rotating a grip 53 provided on
`one side of the handle 52, the rotation speed of the motor on both sides is
`adjusted to enable steering.
`
`[0007] Above the casing 45 is a chassis 54 which can seal and cover the
`casing 45, and it is provided with a rubber stepping mat 55 on the top surface
`thereof on which the user rides. A diaphragm switch is provided in this rubber
`stepping mat 55, so that when the user gets on, the switch is turned on and
`this parallel two-wheel type scooter is put into operation, and when the user
`gets off, the switch is turned off and the operation is stopped. The height of this
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`stepping mat is about 20 cm off of the ground and the area thereof is about 48
`x 64 cm.
`
`[0008] In addition, as illustrated in FIG. 3 (a), the steering rod 44 can be
`extended and retracted to adjust the height of the handle 52, and the handle
`52 is provided with a key 67 and a display part 68. The key 67 has a speed
`limit setting function as well as a theft prevention function. The display 68
`indicates the on/off status of the device, mode status, battery level and other
`information.
`
`[0009] With regards to the configuration of a control device portion of a parallel
`two wheeled scooter with this type of configuration, as illustrated in FIG. 4, the
`left and right motors 46, 47, which drive the left and right wheels 42, 43, are
`controlled by the respective left and right motor controllers 61, 62 in the control
`device 60. The signals of the rate gyro 63 and the tilt sensor 64 of the balance
`sensor 50 described above, and the stepping mat sensor 65 of the stepping
`mat 55 are input to the control device 60, and the signals of the grip operation
`amount sensors 66, 66 for steering of the left and right grips 53 provided on
`the handlebars 52, and the signal of the key switch 67 are input to the control
`device 60. Overall control is performed for each motor controller 61, 62, and
`display signals are output to the display part 68.
`
`[0010] In a parallel two wheeled scooter having the configuration described
`above, when a user operates a key 67 to activate the equipment and rides on
`the stepping mat 65 of the carriage 41, the balance control and the like of the
`scooter are activated. In this state, a balance sensor 50 equipped with a rate
`gyro and a tilt sensor detects the weight balance of the entire carriage including
`the user riding on the carriage 41, and by detecting the tilt of the carriage,
`driving control of the left and right motors 46, 47 is performed using the
`stabilization control method of the wheel type inverted pendulum such that the
`carriage can remain standing on its own.
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`[0011] The movement of the center of gravity of the user in the front-rear
`direction on the carriage 41 is detected, and when movement of the center of
`gravity is more than a prescribed level, it is assumed that the user wishes to
`move in that direction, and the rotation speed of the wheels is adjusted
`according to the degree of movement, so that the user can move forward and
`backward at a desired speed. Further, by rotating the left and right grips 53
`provided at both ends of the handle 52, the user is able to perform steering
`operations to adjust the number of rotations of the left and right wheels and to
`adjust the direction of travel.
`
`[0012] In order to make the operation described above take place, a control
`system as illustrated in FIG. 4 is provided inside this device, and the control
`device 60 which forms the center of the system is provided with motor
`controllers 61, 62 which control the driving of the left and right motors 46, 47.
`The signals of the rate gyro 63 and the tilt sensor 64 of the balance sensor 50
`are input to this control device 60 to perform independent control based on the
`wheel type inverted pendulum stabilizing control method. In addition, the signal
`of the stepping mat sensor 65 is input to enable detection as to whether or not
`a user is on the stepping mat 65. In addition, the tilt sensor 64 detects the tilt
`in the front-rear direction to perform forward and reverse control, and the signal
`of the grip operation amount sensor 66 of the handle 52 is input to control the
`rotational speed of the left and right motors or the direction of rotation to
`perform steering control. Furthermore, the signal of the key switch 67 on the
`handle 52 is input, and furthermore, necessary indications can be given on the
`display part 68 provided on the handle 52. The following patent document
`exists as a technology for orientation control methods in coaxial two wheel
`vehicles.
`Patent Document 1: Japanese Unexamined Patent Application S63-305082
`
`DISCLOSURE OF THE INVENTION
`
`[Problems to be Solved by the Invention]
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`[0013] In a conventional parallel two wheeled type scooter as a parallel two
`wheeled passenger carriage, as illustrated in FIG. 3, a steering rod 44
`protrudes from a carriage 41, a grip 53 is provided at one end of a handle 52
`provided at the upper end thereof, and the rotating speed of the motors for the
`left and right wheels is adjusted by independently turning and operating the
`grip 53, which performs steering.
`
`[0014] Therefore, it is necessary to make the steering rod 44 extendable and
`retractable so that the handle 52 can be extended from a relatively low position
`to a high position such that a user standing on the carriage 41 can easily
`perform this steering operation, whether the user is relatively short or tall.
`
`[0015] Therefore, even if an aluminum alloy is used to make the handle as light
`as possible, the overall weight will be heavy because the steering rod is
`configured to fit a tall person and the handle is provided as such. In addition,
`when such a handle is installed on the carriage, the whole carriage becomes
`bulky, and this, together with the increase in weight as described above, makes
`it difficult to carry the parallel two wheeled passenger carriage, and it is
`inconvenient to carry the carriage into a train, to lift it up on the curb of a road,
`to carry it up and down stairs, and to store it. In particular, it is difficult for weak
`people, such as women and children, to handle the carriage.
`
`[0016] Furthermore, as the steering for the conventional parallel two wheeled
`passenger carriage described above is controlled by the grip 53, it is necessary
`to operate the grip with at least one hand when adjusting the direction of
`steering, which makes it difficult to operate the grip when, for example, carrying
`a load with both hands and also to adjust the steering appropriately when
`carrying a load with one hand.
`
`[0017] Accordingly, a principal object of the present invention is to provide a
`parallel two wheeled passenger carriage which enables the direction of
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`steering to be freely controlled in accordance with the user's will without the
`need for a handle.
`
`[Means for Solving the Problem]
`
`[0018] As means of the present invention to resolve the problem, the invention
`according to claim 1 is a parallel two wheeled passenger carriage, including:
`
` a
`
` base provided with parallel wheels on the left and right;
`a boarding platform provided in a freely tilting manner in the left-right direction
`on the base;
`motors that drive the wheels on the left and right independently;
`a rotation angle sensor that detects the rotation angle of the motors;
`a tilt angle sensor that detects the balance of the base;
`a tilt angle acceleration sensor;
`boarding platform tilt detecting means to detect the angle of the boarding
`platform relative to the base in the left-right direction; and
`a control device that controls rotation of the motors via at least the signals from
`the sensors described above; wherein,
`the control device controls the balance of the passenger carriage using the
`signals,
`controls the forward and reverse movement from the tilt angle of the base in
`the front-rear direction, and
`controls the steering direction from the angle of the boarding platform relative
`to the base in the left-right direction.
`
`[0019] In addition, the invention according to claim 2 is the parallel two wheeled
`passenger carriage according to claim 1, wherein the boarding platform tilt
`detecting means performs detection using signals from a boarding platform tilt
`sensor provided on the boarding platform and a base tilt sensor provided on
`the base corresponding to the boarding platform tilt sensor.
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`[0020] In addition, the invention according to claim 3 is the parallel two wheeled
`passenger carriage according to claim 1, wherein the boarding platform tilt
`detecting means detects the rotation angle of a tilt supporting part that
`supports the boarding platform in a manner tiltable in the left-right direction
`relative to the base.
`
`[Effects of the Invention]
`
`[0021] With the present invention configured as described above, there is no
`need to provide a handle protruding from the passenger carriage as in the case
`of conventional carriages, and the size and weight can be reduced. This allows
`the carriage of the present invention to be lifted onto the curb of road surfaces,
`up stairs, or into trains, creating a parallel two wheeled passenger carriage that
`is easy to use. In addition, since it is no longer necessary to adjust steering by
`rotating the left and right grips as in conventional carriages, and since the
`direction of steering can be controlled by shifting the user's weight, it is
`possible to travel with a load in both hands, making the carriage easy to use,
`especially for people with impaired hands.
`
`[PREFERRED EMBODIMENT OF THE INVENTION]
`
`[0022] The present invention, in order to provide a parallel two wheeled
`passenger carriage such that the direction of steering can be freely controlled
`according to the user’s will without a handle, includes:
`
`a boarding platform provided in a freely tilting manner in the left-right direction
`on the base;
`motors that drive the wheels on the left and right independently;
`a rotation angle sensor that detects the rotation angle of the motors;
`a tilt angle sensor that detects the balance of the base;
`a tilt angle acceleration sensor;
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`boarding platform tilt detecting means to detect the angle of the boarding
`platform relative to the base in the left-right direction; and
`a control device that controls the rotation of the motors via at least the signals
`from the sensors described above; wherein
`the control device controls the balance of the passenger carriage using the
`signals,
`controls the forward and reverse movement from the tilt angle of the base in
`the front-rear direction, and
`controls the steering direction from the angle of the boarding platform relative
`to the base in the left-right direction.
`
`[Embodiments]
`
`[0023] An embodiment of the present invention will be described in accordance
`with the diagrams. FIG. 1 shows a parallel two wheeled passenger carriage 1
`according to the present invention, the overview of a configuration as
`illustrated in FIG. 1 (a) where a steering rod 44, a handle 52, and a grip 53
`provided at one end thereof are excluded from the conventional parallel two
`wheeled vehicle illustrated in FIG. 3. That is to say, that a parallel two wheeled
`passenger carriage 1 illustrated in FIG. 1 (a) has parallel wheels 3, 4 rotatably
`arranged on both right and left sides of a carriage 2 as in the conventional case
`described above, and each wheel can rotate independently of the other by
`their corresponding motors as described below. The upper part of the carriage
`1 is provided with a boarding platform 5 on which a user stands and rides, and
`in the example illustrated in the diagram, a key switch 6 and a display part 7
`are provided as in the conventional example illustrated in FIG. 3 above.
`
`[0024] As illustrated in the cross-sectional view of the schematic configuration
`in FIG. 1 (b), the parallel two wheeled passenger carriage 1 includes a carriage
`2, the main configuration members made up of a base 8 and a boarding
`platform 5 to be placed thereon, and the boarding platform 5 is supported by
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`a tilt supporting part 10 of the base 8 in the embodiment illustrated in the
`diagram, to enable free tilting in the left-right direction relative to the base 8.
`
`[0025] In addition, springs 11 are provided between the boarding platform 5
`and the base 8 at the front, rear, left and right portions thereof, centering on
`the tilt supporting part 10, such that the boarding platform 5 can be tilted left
`and right accordingly when the weight of the user on the boarding platform 5
`moves in the left and right directions.
`
`[0026] Further, on the underside of this boarding platform 5, as well as the
`springs 11, boarding platform tilt sensors 13 are provided at left and right
`positions around the tilt supporting part 10, and base platform tilt sensors 14
`are provided on the upper surface of the base 8 at positions corresponding to
`the boarding platform tilt sensors 13. The signals of both these tilt sensors
`allow the relative tilt angle of the boarding platform 5 with respect to the base
`8 to be detected corresponding to the left and right direction.
`
`[0027] The base 8 is provided with motors 15, 16 on both the left and right
`sides thereof, and each motor enables the left and right wheels 3, 4 to rotate
`independently of each other. In the embodiment illustrated in the diagram,
`rotation angle sensors 22, 23 are provided for each of the motors 15, 16,
`respectively, to enable detection of the rotation angle of the motor, that is to
`say, the rotation angle of the wheels 3, 4 driven by the motor via a reduction
`gear (not shown). Additionally, in the embodiment illustrated in the diagram, a
`battery 17 is mounted below the base 8, and a circuit board 18 is provided
`above. Furthermore, in the embodiment illustrated in the diagram, a rate gyro
`20 and a base tilt sensor 21 are provided in an empty space in the base 8, and
`signals from the rate gyro 20, the base tilt sensor 21, and the motor rotation
`angle sensors 22, 23 are processed by the control circuit of the circuit board
`18. In addition, operation of the same stabilization control method of a wheel
`type inverted pendulum as the conventional method enables the parallel two
`wheeled passenger carriage 1 to stand freely on its own.
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`[0028] With the parallel two wheeled passenger carriage 1 of the embodiment
`illustrated in the diagram made up of a structure as described above, the
`signals of various sensors are input to perform a prescribed operation and
`these can be operated by a control system as illustrated in FIG. 2, for example.
`In other words, a control device 25 is provided with a system controller 26
`operated by software that performs integrated control of the entire control
`device, and inputs each sensor signal of the boarding platform tilt sensor 13
`provided at the left and right positions as described above for the boarding
`platform 5, and inputs each sensor signal of the base platform tilt sensor 14
`provided at the front, rear, left and right positions in the same manner for the
`base 8. Furthermore, the signals of the rate gyro 20 and the base tilt sensor
`21 provided in the base 8, the signal of the key switch 6, and signals from the
`motor rotation angle sensor 22 which detects rotation of the motor 15 and from
`the motor rotation angle sensor 23 which detects rotation of the motor 16 are
`input.
`
`[0029] The control device 25 includes, among others, a balance controller 28
`that controls free standing of the passenger carriage by means of signals from
`the rate gyro 20 and the base tilt sensor 21, a forward and reverse controller
`27 that controls the forward and reverse movement of the vehicle by means of
`signals from the base tilt sensor 21, a steering controller 29 that controls the
`direction of travel of the vehicle by means of signals from the left-right direction
`of the boarding platform tilt sensor 13 and the left-right direction of the base
`platform tilt sensor 14, a motor controller 30 that controls rotational speed and
`direction of the motor 15, as well as a motor controller 31 that similarly controls
`rotational speed and direction of the motor 16. The signal of the key switch 6
`is input to the control device 25, and the necessary display signal is output to
`the display part 7.
`
`[0030] The parallel two wheeled passenger carriage according to the present
`invention has the configuration and control system described above, so that
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`when a user riding on the stepping mat 9 of the boarding platform 5 moves
`their center of gravity by more than a prescribed amount in the front-rear
`direction, the signal of the base tilt sensor 21 and the center of gravity in the
`front-rear direction estimated by the system controller 26 are detected with
`respect to the front-back direction and the forward and reverse controller 27
`rotates the left and right motors 15, 16 in the same direction in proportion to
`the degree of the tilt, and controls the forward and reverse movement.
`
`[0031] When the user on the stepping mat 9 of the boarding platform 5 moves
`their center of gravity more than a prescribed amount in the left-right direction,
`the weight movement state of the user described above is detected by the
`signals of the boarding platform tilt sensor 13 and the base platform tilt sensor
`14 that are arranged in the left-right direction, and the steering controller 29
`rotates the left-right motors 15, 16 in different directions or at different speeds
`in proportion to the degree of the tilt. A diaphragm switch or the like may be
`used for the stepping mat described above as in the conventional carriage.
`
`[0032] In addition to the embodiments described above, the present invention
`may also be implemented in various ways, such as, for example, by providing
`a tilt sensor in the tilt supporting part 10 and using a sensor to detect the tilt
`angle of the tilt supporting part 10, in which case the relative angle of the
`boarding platform 5 to the base 8 is directly detected.
`
`[Industrial Applicability]
`
`[0033] The parallel two wheeled passenger carriage according to the present
`invention is particularly suitable as a portable carriage, but can also be applied
`to larger carriages, and the same technology can also be applied to robots
`such as bipedal two wheeled robots capable of running on wheels.
`
`[BRIEF DESCRIPTION OF THE DRAWINGS]
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`[0034] FIG. 1 illustrates an embodiment of the present invention, where (a) is
`a perspective view, and (b) is a cross-sectional view illustrating an overview
`structure thereof.
`FIG. 2 is a configuration diagram of the control system of the same
`embodiment.
`FIG. 3 illustrates a conventional example, where (a) is a perspective view, and
`(b) is an exploded perspective view of the carriage portion.
`FIG. 4 is a configuration diagram of the control system of a conventional
`example.
`
`Explanation of codes
`
`[0035] 1: Parallel two wheeled passenger carriage
`2: Carriage
`3,4: Wheel
`5: Boarding platform
`6: Key switch
`7: Display part
`8: Base
`9: Stepping mat
`10: Tilt supporting part
`11: Spring
`13: Boarding platform tilt sensor (left-right direction)
`14: Base tilt sensor (left-right direction)
`15, 16: Motor
`17: Battery
`18: Circuit board
`20: Rate gyro (front-rear direction)
`21: Base tilt sensor (front-rear direction)
`22, 23: Motor rotation angle sensor
`
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`[Claims]
`
`
`1.
`
`A parallel two wheeled passenger carriage, comprising:
`a base provided with parallel wheels on the left and right;
`a boarding platform provided in a freely tilting manner in the left-right
`direction on the base;
`motors that drive the left and right wheels independently,
`a rotation angle sensor that detects the rotation angle of the motors;
`a tilt angle sensor that detects the balance of the base in the front-rear
`direction;
`a tilt angle acceleration sensor;
`boarding platform tilt detecting means to detect the relative angle of the
`boarding platform to the base in the left-right direction; and
`a control device that controls the rotation of the motors via at least the
`signals from the sensors; wherein,
`the control device controls the balance of the passenger carriage based
`on the signals,
`controls forward and reverse movement based on the tilt angle of the
`base in the front-rear direction, and
`controls the steering direction based on the relative angle of the
`boarding platform to the base in the left-right direction.
`
`The parallel two wheeled passenger carriage according to claim 1,
`2.
`wherein the boarding platform tilt detecting means performs detection using
`signals from a boarding platform tilt sensor provided on the boarding platform
`and a base tilt sensor provided on the base corresponding to the boarding
`platform tilt sensor.
`
`The parallel two wheeled passenger carriage according to claim 1,
`3.
`wherein the boarding platform tilt detecting means detects the rotation angle
`relative to the base of a tilt supporting part that supports the boarding platform
`in a manner tiltable in the left-right direction.
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`Abstract
`
`[PROBLEM]
`The steering direction control of conventional parallel two wheeled passenger
`carriages is performed by rotation of a grip of a handle protruding from the
`carriage. This causes the entirety of the carriage to be bulky, heavy, and
`inconvenient to carry, in addition to making it impossible to carry things using
`both hands.
`[RESOLUTION MEANS]
`To provide a tilt supporting part 10 in the upper center position of a base 8,
`provided with motors 15, 16 that drive wheels 3, 4 on both sides thereof, such
`that the tilt supporting part 10 tiltably supports an upper boarding platform 5 to
`tilt towards the front, rear, left, and right directions. The boarding platform 5 is
`supported on the base 8 by springs 11 on the front, rear, left, and right, a
`boarding platform tilt sensor 13 is provided on the boarding platform 5 on the
`front, rear, left, and right, and a base platform tilt sensor 14 is similarly provided
`on the base 8 on the right and left. With the control device of a circuit board
`18, balance control is performed on the basis of a wheel type inverted
`pendulum by a signal such as a rate gyro 20, a base tilt sensor 21, and the
`like. Forward/reverse control is performed by detecting the forward and
`backward weight movements of the user riding on a stepping mat 9, and
`control of the traveling direction is performed by detecting left and right body
`weight movements.
`
`[Selected drawing] FIG. 1
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`[FIG. 2]
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`[FIG. 4]
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`Page 0015
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`

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`Multiling
`
`4 Questel Company
`
`TRANSLATOR’S CERTIFICATE OF TRANSLATION
`
`Review client provided translation from: Japanese to English
`MultiLing Project Number: SPB2120001HQ
`Client: Squire Patton Boggs
`
`MultiLing Corporation, a Delaware corporation, withits principal office at 180 North University Avenue,
`Suite 600, Provo, UT 84601-4474, USA, certifies that:
`
`a)
`b)
`
`c)
`
`it is a professional translation company of multiple languages, including Japanese & English;
`it has reviewed and compared the original documentto the translated documentidentified
`below, and to the bestof its knowledge, information, and belief the translation of that document
`is accurate as a publication quality translation; and further,
`these statements were made with the knowledgethatwillful false statements and the like so
`made are punishable by fine or imprisonment, or both, under Section 1001 of Title 18 of the
`United States Code.
`
`Original DocumentIdentifier:
`
`JP 2005-94898 A. pdf
`
`Translated DocumentIdentifier: JP 2005-94898 A_en-US.docx
`
`
`
`ACKNOWLEDGMENT BEFORE NOTARY
`
`State of Utah)
`
`ss.
`County of Utah)
`
`On 3% day of May, in the year 2021, before me (Stephanie Haymore), a notary public, personally appeared
`Joseph Haymore, proved onthe basis of satisfactory evidence to be the person whose nameis subscribed
`to this Translator’s Certificate of Translation, and acknowledged that he or she executed the same.
`
`IN WITNESS WHEREOF, | hereunto set my hand andofficial seal.
`
`Loa
`
`Notary Public, residing at Orem, UT
`
`AS coMslisetans 712174
`
` COMM.EXP. 05-21-2024
`
`MultiLing Corporation |180 North University Avenue, Provo, Utah 84601 U.S.A.
`
`| Tel: 801.377.2000 | www.multiling.com
`
`DGL Exhibit 1009
`Page 0016
`
` DGL Exhibit 1009
`Page 0016
`
`