[Problem] To provide a mobile body control device that moves a mobile body to accompany a subject according to the walking state of the subject. [Solution] This mobile body control device 6 comprises: an observation trajectory acquisition means 611 that acquires as an observation trajectory 11 the trajectory in which the subject walks; a basic trajectory acquisition means 612 that acquires as a specific basic trajectory 100 a basic trajectory that matches the observation trajectory 11; a subject predicted trajectory acquisition means 613 that acquires as a subject predicted trajectory 12 the trajectory in which the subject walks from the current time and thereafter based on the specific basic trajectory 100; a predicted reliability calculation means 614 that calculates a predicted reliability γ based on the uncertainty given along the subject predicted trajectory; a target trajectory acquisition means 615 that acquires as a target trajectory 13 the trajectory formed by a target position G of a mobile body 1 set in front of the subject in the traveling direction; and a control-command-sequence-generating means 616 that generates a control command sequence U using an evaluation function that uses as input the subject predicted trajectory 12, the predicted reliability γ, the target trajectory 13, and a control trajectory 14.
The purpose of the present invention is to robustly track a subject. This tracking device 1 is provided with full-spherical cameras 9a, 9b arranged on the left and right thereof. The tracking device 1 pastes a left full-spherical camera image captured with the full-spherical camera 9a on a spherical object 30a, and is installed with a virtual camera 31a inside the spherical object 30a. The virtual camera 31a may freely rotate in a virtual image-capturing space formed inside the spherical object 30a, and acquire an external left camera image. Similarly, the tracking device 1 is also installed with a virtual camera 31b that acquires a right camera image, and forms a convergence stereo camera by means of virtual cameras 31a, 31b. The tracking device 1 tracks the location of a subject 8 by means of a particle filter by using the convergence stereo camera formed in this way. In a second embodiment, the full-spherical cameras 9a, 9b are vertically arranged and the virtual cameras 31a, 31b are vertically installed.
The purpose of the present invention is to save information of a pulse included in a face captured in a video, while eliminating the features of the face. A pulse rate measurement device 1 captures a video of a face of a subject 11, and identifies a facial region 14 by detecting a skin region 13 in a frame image of the video. Next, the pulse rate measurement device 1 divides the frame image 12 into a plurality of blocks 15. For an image belonging to a block 15 that does not include the facial region 14, the pulse rate measurement device 1 maintains the image as is without subjecting same to image processing. Meanwhile, for a block 15 that includes the facial region 14, the pulse rate measurement device 1 further divides an image belonging to the block 15 into small regions, i.e. cells 1-4, and randomly rearranges the images belonging to the cells 1-4 within said block 15 to eliminate the features of the face in the image within the block 15.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
4.
BLOOD PRESSURE MEASUREMENT DEVICE, VEHICLE DEVICE, AND BLOOD PRESSURE MEASUREMENT PROGRAM
NATIONAL UNIVERSITY CORPORATION, IWATE UNIVERSITY (Japan)
Inventor
Sato, Atsushi
Honma, Naoki
Kobayashi, Koichiro
Iwai, Morio
Abstract
An invention to measure the blood pressure of a living body in a noncontact and non-invasive manner. An experimental device irradiates a subject with microwaves from a transmission antenna and a reception antenna. The phase of the reflected wave varies with micro-movements caused by the heartbeat, a pulse wave is detected from the difference between the emitted wave and the reflected wave. The experimental device detects the blood pressure from a blood pressure sensor mounted on the subject while detecting the pulse wave. A spectrum of the pulse wave of is generated by Fourier transformation. A comparison of the spectrum and the blood pressure of the subject detected by the blood pressure sensor reveals a positive correlation of the systolic blood pressure with an eighth harmonic wave from the pulse wave. A device can detect a pulse wave in a non-invasive manner using a microwave and measures systolic blood pressure.
The purpose of the present invention is to compress images captured of an object person while maintaining pulse wave information. A video transmission device 71 takes a picture of the face of an object person 70, and extracts a face region from the image data of said picture. Further, the video transmission device 71 reversibly compresses the image data of the face region while irreversibly compressing the image data of the regions other than the face, and then transmits the compressed image data to a detection device 81. Upon receipt of an image of the face region from the video transmission device 71, the detection device 81 decompresses said image, and restores the image of the face region without losing information. Then, the detection device 81 detects pulse waves from changes in the skin color of the object person 70 that is shown in the restored image of the face region. Furthermore, the image data of the regions other the face is also restored, and the images of the face region and the regions other the face are both displayed on a display device 86. Thus, the video transmission device 71 and the detection device 81 make it possible to cut back on the bandwidth required for video transmission while assuring the video image quality required for detection of pulse waves.
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
This vehicle is provided with: a vehicle body; N-number of wheels (N is an integer of two or more) including at least one front wheel and at least one rear wheel; a force generation device; and a force control device. The N-number of wheels include at least one turning wheel which is capable of turning in the width direction of the vehicle. The force generation device is configured to generate a force for changing yaw angular acceleration. The force control device is configured to control the force generation device. The center of gravity of the vehicle body is positioned at a place spaced away from the center of rotation of the vehicle toward the front side or the rear side in the case where the vehicle goes into a turning motion. The force control device controls a width-direction roll torque acting on the vehicle body by way of controlling the force generation device.
This vehicle inclines toward the inside of a turn when turning. The vehicle comprises: with a vehicle body; N (N being an integer 2 or greater) wheels including at least one front wheel and at least one rear wheel; a rotation drive device; and a rotation control device. The N wheels include at least one rotatable wheel that can rotate in the lateral direction of the vehicle. The rotation control device is configured so as to apply rotational torque, which is torque for controlling the lateral rotation of the at least one rotating wheel, to the at least one rotating wheel. The rotation control device is configured so as to control the rotation drive device. The center of gravity of the vehicle body is positioned so as to be offset to the front or to the rear from the center of rotation of the vehicle when the vehicle turns. The rotation control device controls the rotation drive device using one or more control parameters including one or more parameters from among the yaw angular velocity of the vehicle, the yaw angular acceleration of the vehicle, and the lateral roll angle of the vehicle body.
The purpose of the present invention is to correctly measure a pulse rate when a subject is moving. A pulse rate detection device 1 uses a camera 8 to image a face of a subject 11 that is performing aerobic exercise using an exercise device, detects the pulse rate of the subject 11 from a change in a color component of the skin, and displays the detected pulse rate on a display unit 5. The pulse rate of the subject 11 is detected according to a pulse rate peak in a frequency region of a pulse rate signal based on the change in the color component of the skin. If the pulse rate peak and a movement peak are separated from each other, the pulse rate detection device 1 analyzes these peaks to detect the pulse rate from the pulse rate peak. If the pulse rate peak and the movement peak overlap, the pulse rate detection device 1 detects the pulse rate using the fact that these peaks overlap. Thus, the pulse rate detection device 1 performs appropriate processing by monitoring the pulse rate signal and the movement disturbance signal during the period in which the subject 11 is exercising. As a result, the pulse rate detection device 1 can measure and submit in real time the pulse rate of the subject 11 while exercising.
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/0245 - Measuring pulse rate or heart rate using sensing means generating electric signals
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
9.
HEARTBEAT SIGNAL DETECTING DEVICE, AND HEARTBEAT SIGNAL DETECTING PROGRAM
NATIONAL UNIVERSITY CORPORATION, IWATE UNIVERSITY (Japan)
Inventor
Sato Atsushi
Kobayashi Koichiro
Iwai Morio
Honma Naoki
Abstract
The objective of the present invention is to detect a heartbeat signal more accurately. A heartbeat signal detecting device 11 is provided with a resonance circuit 1a for detecting a heartbeat and respiration signal due to a heartbeat and respiration, and a resonance circuit 1b for detecting a respiration signal due to respiration. The resonance circuit 1a is provided with a flat plate type capacitor 3a which is fitted in the position of the heart of a subject 10, and the resonance circuit 1b is provided with a flat plate type capacitor 3b which is fitted in the position of the lungs. A signal processing device 16 removes the respiration component contained in the heartbeat and respiration signal by subtracting the respiration signal from the heartbeat and respiration signal, and thereby outputs a heartbeat signal, which is the difference between the two signals. The heartbeat signal detecting device 11 can be installed in a vehicle to monitor the physical condition of a driver, and in this case, by incorporating the capacitors 3a and 3b into the driver's seat or the seat belt, the capacitors 3a and 3b can be fitted without burdening the driver.
G01R 27/26 - Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants
A61B 5/0245 - Measuring pulse rate or heart rate using sensing means generating electric signals
A61B 5/113 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb occurring during breathing
10.
BIOSIGNAL DETECTION DEVICE, HEART RATE SIGNAL DETECTION SERVER, VEHICLE, BIOSIGNAL DETECTION PROGRAM, AND HEART RATE SIGNAL DETECTION PROGRAM
NATIONAL UNIVERSITY CORPORATION, IWATE UNIVERSITY (Japan)
Inventor
Sato Atsushi
Kobayashi Koichiro
Iwai Morio
Honma Naoki
Abstract
The purpose is to acquire a biosignal for a subject seated in a vehicle or the like. A heart rate signal detection device 11 is provided with a resonance circuit 1a that detects a cardiorespiratory signal based on heart rate and respiration and a resonance circuit 1b that detects a respiratory signal based on respiration. The resonance circuit 1a is provided with a flat capacitor 3a that is mounted at the position of the heart of a subject 10, and the resonance circuit 1b is provided with a flat capacitor 3b that is mounted at the position of the lungs. A signal processing device 16, by subtracting the respiratory signal from the cardiorespiratory signal, removes the respiratory component included in the cardiorespiratory signal and outputs a heart rate signal that is the difference between the two signals. The heart rate signal detection device 11 can be installed in a vehicle to monitor the physical condition of a driver, and, in this case, if the capacitors 3a, 3b are built into a driver's seat or a seatbelt, the capacitors can be mounted without imposing a burden on the driver.
NATIONAL UNIVERSITY CORPORATION KOBE UNIVERSITY (Japan)
EQUOS RESEARCH CO., LTD. (Japan)
Inventor
Matsubara Takashi
Uehara Kuniaki
Nomoto Hirokazu
Abstract
RRRFRFRLRFF is calculated. A blending error is calculated on the basis of a weight ratio of the first and second loss errors, and the learning executor parameter of the blended model is updated on the basis of the blending error.
The purpose of the present invention is to output a pulse rate that is highly reliable. A pulse rate detection device 1 evaluates the reliability of a detected pulse rate on the basis of the SN ratio of a pulse signal while taking into account disturbance factors. The pulse rate detection device 1 has a pulse rate display criteria 1 and a pulse rate display criteria 2 for displaying the pulse rate, wherein when the SN ratio is equal to or greater than the former, the pulse rate is displayed, and when the SN ratio is equal to or greater than the latter and less than the former, the pulse rate is displayed on the condition that the difference from the immediate past pulse rate is smaller than a predetermined reference. When the SN ratio is less than the pulse rate display criteria 2, the reliability is considered low and the pulse rate is not displayed. Additionally, the pulse rate detection device 1 takes into account a movement disturbance caused by movement of the face of a subject 11 and a light disturbance caused by changes in the light illuminating the face of the subject 11, and when the peak frequency in the frequency domain of the movement disturbance or light disturbance is close to the pulse rate at a value equal to or greater than the predetermined reference, the pulse rate detection device 1 determines that the reliability of the detected pulse rate is low due to these disturbances and does not display the pulse rate.
The purpose of the present invention is to suitably set a measurement area on the face of a subject and detect a pulse wave. When the face moves with respect to a camera 8, the brightness changes. However, the brightness of edges of the measurement area is corrected according to the movement of the face so that the same measurement area is always set, even when the face moves. A correction equation is expressed as Equation (1) on the basis of the principle of optics. y1, y1' are the highest reference brightness and the lowest reference brightness of the measurement area when the face is at a prescribed reference position, and y2, y2' are the highest reference brightness and the lowest reference brightness of the measurement area when the face is assumed to be at a movement position. The pulse wave detection device 1 measures and stores in advance y1, y1' from the face at the reference position, searches the face at the time of measurement, and acquire the highest brightness y2 by detecting the highest brightness. The pulse wave detection device 1 acquires the lowest brightness y2' according to Equation (1), specifies an area in which the brightness obtained from the searched face area is from the lowest brightness y2' to the highest brightness y2, and sets the area as the measurement area.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
14.
PULSE RATE DETECTION DEVICE AND PULSE RATE DETECTION PROGRAM
The purpose of the present invention is to output highly reliable pulse rates. A pulse rate detection device 1 that evaluates the reliability of a detected pulse rate on the basis of an SN ratio for a pulse signal while considering disturbance factors. The pulse rate detection device 1 has a first pulse rate display standard and a second pulse rate display standard for displaying the pulse rate. When the SN ratio is at or above the first pulse rate display standard, the pulse rate detection device 1 displays the pulse rate. When the SN ratio is at or above the second pulse rate display standard but below the first pulse rate display standard, the pulse rate detection device 1 displays the pulse rate on the condition that the difference between the pulse rate and the next most recent pulse rate is smaller than a prescribed standard. When the SN ratio is less than the second pulse rate display standard, the pulse rate is deemed to have low reliability and is not displayed. The pulse rate detection device 1 also considers movement disturbances caused by movement of the face of a subject 11 and light disturbances caused by changes in the light that is shining on the face of the subject 11 and, when the peak frequency in a frequency range for movement disturbances or light disturbances is within a prescribed standard from the pulse rate, deems the detected pulse rate to have low reliability due to disturbances and does not display the pulse rate.
The purpose of the present invention is to detect a pulse rate while sorting out the changes in brightness caused by changes in ambient light. A pulse rate detection device 1 captures a video of the face of a subject 11 under ambient light while illuminating the face with a flashing LED 9. The pulse rate detection device 1 causes the LED 9 to flash in sync with the frame rate of a camera 8 to thereby generate video in which an on-frame image of when the LED 9 is on and an off-frame image of when the LED 9 is off are alternately captured. The pulse rate detection device 1 generates an inferred interpolated frame image that is assumed to be captured if the LED 9 had been turned off during capturing of the on-frame image on the basis of the brightness of the off-frame image before and after the on-frame image and the time ratio of the imaging times at which each image was captured, and subtracts the brightness of the interpolated frame image from the brightness of the on-frame image to generate an interpolated frame image in which the brightness of the ambient light has been removed from the on-frame image.
The purpose of the present invention is to detect a pulse wave using infrared light in the presence of disturbances. The pulse wave detection device (1) illuminates a subject (11) with the infrared light of two types of wavelengths and generates a video for each infrared light wavelength by means of the reflected light thereof. The pulse wave detection device (1) creates infrared light chromaticity which corresponds to chromaticity from the brightness of the two types of infrared light. Since the infrared light chromaticity includes pulse wave signals similarly to the chromaticity of visible light, the pulse wave detection device (1) extracts the same to detect a signal of the pulse wave of the subject (11). Pulse wave detection by chromaticity is robust to disturbances and is capable of satisfactorily detecting pulse waves in an environment where ambient light changes or the subject (11) moves, such as inside a vehicle.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
17.
BIOLOGICAL SIGNAL PROCESSING DEVICE AND BIOLOGICAL SIGNAL PROCESSING PROGRAM
NATIONAL UNIVERSITY CORPORATION, IWATE UNIVERSITY (Japan)
Inventor
Sato Atsushi
Honma Naoki
Kobayashi Koichiro
Iwai Morio
Sato Jun
Abstract
The purpose of the present invention is to accurately detect biological signals. The reflected response of a microwave emitted to a living body includes an amplitude component and a phase component. Ideally, it is sufficient that the reflection component hv(t) from the living body is analyzed. However, the reflection response component h(t) includes not only the reflection component hv(t) from the living body but also the reflection components hf(t) from objects other than the living body such as walls and furniture. This causes displacement of the origin point for analysis from the origin point O, and the displacement as a signal error affects the detection accuracy. In view of this, in the present invention a signal processing device 4 determines a virtual origin point O' as a reference for analyzing hv(t) by analyzing an obtained signal, determines the phase component and the amplitude component from the virtual origin point O', and thereby can obtain a signal more suited for a phenomenon than those obtained by conventional methods using a filter. More specifically, in order to determine the phase and amplitude from the virtual origin point O', the signal processing device 4 uses the difference between the origin point O and the virtual origin point O' as an offset amount and offsets h(t) using the amount.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
18.
IMAGE RECOGNITION DEVICE AND IMAGE RECOGNITION PROGRAM
The purpose of this invention is to achieve an image recognition function with low-cost hardware. The image recognition device of this embodiment involves successively extracting co-occurrence pairs in synchronization with a clock, setting a weighting for the portion connecting the input layer and the intermediate layer corresponding to the extracted co-occurrence pairs, and successively inputting a first vote to the input layer. Meanwhile, the intermediate layer adds and stores the successively inputted the number of votes. By continuing this operation, a value the same as if a histogram were inputted to an input layer is achieved in the intermediate layer, without preparing a histogram. In this way, the image recognition device of this embodiment can perform image recognition while avoiding the preparation of a histogram, which consumes vast amounts of memory. As a result of this configuration, it is possible to save memory resources, simplify circuits, and improve calculation speed, and achieve an integrated circuit suitable to an image recognition device.
The objective of the present invention is to reduce the amount of usage of a memory. An image processing device 8 uses a calculation formula based on an ellipse 63 to approximate a base function of a reference GMM 55. The burden ratio according to a co-occurring corresponding point 51 can be approximately determined by a calculation in which the Manhattan distance to the ellipse 63 and the co-occurring corresponding point 51 and the width of the ellipse 63 are input to a calculation formula for the burden ratio based on the base function. In addition, the width of the ellipse 63 is quantized by the nth power of 2 (where n is an integer of 0 or greater), and the calculation can be carried out by means of a bit shift. Thus, if this image processing device 8 stores the parameters defining the ellipse 63, the burden ratio can be calculated from these parameters by means of a bit shift; therefore, there is no need to store a burden ratio table in memory, so the amount of memory usage can be greatly reduced and the burden ratio can be calculated quickly. Furthermore, the image processing device 8 further restricts the memory usage by quantizing the burden ratio by the nth power of 2.
Provided is an inclining vehicle equipped with a steerable front wheel which is capable of enhancing robustness with respect to turning and which is provided with a turning operation input device so that a turning operation by an occupant is mechanically transmitted and the front steering wheel does not rock. An inclined vehicle equipped with a steerable front wheel according to an embodiment of the present invention is provided with a centripetal force generating device. The centripetal force generating device controls the torque to be output and thereby generates an additional centripetal force with respect to the front steering wheel and the rear wheel that inclines during turning. A control device controls, when controlling an inclining actuator on the basis of the turning operation input to a turning operation input device, the torque of a centripetal force generating actuator to thereby control the inclining state of the vehicle during turning and the centripetal force generated on the front steering wheel and the rear wheel during turning.
This vehicle comprises a body, N (an integer of three or more) number of vehicle wheels including at least one turning wheel capable of turning in the width direction of the body and including left and right drive wheels, a drive system, a steering drive device, an inclination device, an inclination drive device, a vehicle speed sensor, a vehicle wheel angle sensor, an operation input unit, and a control device. When a condition is met which includes the vehicle speed being less than a first threshold and the state of the steering drive device being a problematic state, the control device controls the difference between a left torque, which is the torque of the left drive wheel applied by the drive system, and a right torque, which is the torque of the right drive wheel, so that the vehicle wheel angle approaches a target vehicle wheel angle.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 9/02 - Steering deflectable wheels not otherwise provided for combined with means for inwardly-inclining vehicle body on bends
B62D 11/04 - Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Provided is an inclining vehicle provided with a pair of left and right wheels in which a disturbance such as a temporary inclining of an inclining vehicle body in the left-right direction of an inclining vehicle, such as a disturbance arising from either of the pair of left and right wheels passing over protrusions and recesses on a road surface, can be easily detected. This inclining vehicle equipped with the pair of left and right wheels is provided with a vertical acceleration detecting device which is provided to the inclining vehicle body or a suspension device so as to detect acceleration in the vehicle vertical direction or the vehicle body vertical direction that occurs when one of the pair of left and right wheels passes over protrusions and recesses on a road surface, and which detects the acceleration in the vehicle vertical direction or the vehicle body vertical direction. A steering control device controls the front steering wheel to be freely rotatable around the steering axis on the basis of the acceleration in the vehicle vertical direction or the vehicle body vertical direction detected by the vertical acceleration detecting device, that is, the acceleration in the vehicle vertical direction or the vehicle body vertical direction that occurs when one of the pair of left and right wheels passes over protrusions and recesses on a road surface.
A vehicle is provided with: a vehicle body; N wheels (N is an integer of two or more) supported by the vehicle body and including one or more turning wheels, the N wheels including a front wheel and a rear wheel, a direction of the one or more turning wheels being turnable in the width direction of the vehicle body; a steering drive device configured to generate torque for turning the direction of the one or more turning wheels in the width direction; and a control unit configured to control the steering drive device using a yaw angular acceleration parameter indicating yaw angular acceleration of the vehicle.
An image recognition device executes a Hilbert scan of frame image data constituting moving-image data to generate one-dimensional spatial image data, and further arrays the one-dimensional spatial image data in a time direction to generate two-dimensional spatio-temporal image data that holds spatial information and temporal information. The image recognition device converts the moving-image data into the two-dimensional spatio-temporal image data while holding the spatial and temporal information. By means of a CNN unit, the image recognition device executes a convolution process wherein a two-dimensional filter is used on the spatio-temporal image data to image-recognize a behavior of a pedestrian who is a recognition object. The image recognition device executes behavioral recognition of the pedestrian that requires a three-dimensional analysis consisting of two dimensions for space and one dimension for time by the image recognition process of the two-dimensional image by the CNN, and estimates a state of the pedestrian.
The objective of the invention is to appropriately detect a pulse wave even when the luminance changes due to a subject moving relative to lighting. When a face moves closer to a camera or a lighting device, the luminance becomes higher while the surface area of the face becomes larger. Conversely, when the face moves away from the camera or lighting device, the luminance becomes lower while the surface area of the face also becomes smaller. Since the luminance and the size of the face have such a correlation, this pulse wave detection device (1) detects the face from a frame image and corrects the luminance of the face on the basis of the size of the face. As the luminance of the face depends on the distance between the lighting and the face, this results in the distance from the lighting to the face being measured indirectly by the size of the face. In this way, the pulse wave detection device (1) uses the correlation between the change in luminance and the size of the face of the subject in the frame image to correct the magnitude of the luminance of the face pictured in the frame image by the size of the face, and then, from the post-correction luminance signal, estimates/measures the pulse rate of the subject.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
26.
BLOOD PRESSURE MEASUREMENT DEVICE, VEHICLE DEVICE, AND BLOOD PRESSURE MEASUREMENT PROGRAM
NATIONAL UNIVERSITY CORPORATION, IWATE UNIVERSITY (Japan)
Inventor
Sato Atsushi
Honma Naoki
Kobayashi Koichiro
Iwai Morio
Abstract
The purpose of the present invention is to measure the blood pressure of a living body in a non-contact and non-invasive manner. An experimental device 1 irradiates a subject 7 with microwaves from a transmission antenna 23 and a reception antenna 25 receives the reflected waves. Since the phase of the reflected wave varies with micro-movements of the body surface caused by the heartbeat, a pulse wave can be detected from the difference in phase between the emitted wave and the reflected wave. Additionally, the experimental device 1 continuously detects the blood pressure of the subject 7 from a blood pressure sensor 5 mounted on the subject 7 while continuously detecting the pulse wave. A frequency spectrum of the pulse wave of the subject 7 is generated by Fourier transformation of the pulse wave. A comparison of the spectrum and the blood pressure of the subject 7 detected by the blood pressure sensor 5 reveals a statistically significant positive correlation of the systolic blood pressure with an eighth harmonic wave from among frequency components of the pulse wave. On the basis of the experimental result, a device can be achieved which detects a pulse wave of a subject in a non-contact and non-invasive manner using microwaves, and which measures the systolic blood pressure using the correlation.
This vehicle comprises a body, one or more turning wheels capable of turning left and right, a turning wheel support part, and a control device. The turning wheel support part is provided with a support member that rotatably supports the one or more turning wheels, and a turning drive device configured so as to apply turning torque to the support member. The control device is configured so as to determine a target inclination angle, determine a type 1 control value using the difference between the target inclination angle and an inclination angle, and determine a target turning torque using one or more control values including the type 1 control value. The type 1 control value indicates torque that causes the support member to turn in a direction opposite to a target direction, which is a turning direction when the body is turned in a width direction so that the inclination angle approaches the target inclination angle.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements
B60G 21/05 - Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
B62J 99/00 - Subject matter not provided for in other groups of this subclass
This vehicle is provided with a vehicle body, at least one pivoting wheel capable of pivoting to the left and right, an inclination drive device configured to cause an inclination torque to act on the vehicle body, a pivoting wheel support unit, and a control device. The pivoting wheel support unit is provided with a support member which rotatably supports the at least one pivoting wheel, and a pivot drive device configured to apply a pivoting torque to the support member. The control device is configured to determine a target inclination angle, and to use the target inclination angle to determine a target inclination torque and a target pivoting torque.
[Problem] Provided are a body orientation estimation device and body orientation estimation program that make it possible to detect the orientation of a given person even in an environment with various changes in the positional relationship between a sensor and the person. [Solution] From distance measurement data MP acquired by a distance measurement sensor 16 through distance measurement, a moving body 1 calculates approximation ellipses C and quadratic functions Qxy and Qyx along an xy-axis and yx-axis. An approximation ellipsis C close to the shoulder width W1 and thickness W2 of a user H is selected, and quadratic functions Qxy, Qyx having the smallest approximation error from the distance measurement data MP are selected. Additionally, the position and orientation of the user H are estimated from the selected approximation curves. That is, if an approximation curve based on one shape or coordinate system does not match the user H, the position and orientation of the user H are estimated from an approximation curve based on another shape or coordinate system. Therefore, even if there are various changes in the positional relationship between the distance measurement sensor 16 and user H, the position and orientation of the user H can be detected.
[Problem] To provide a moving body that can prevent an indirect following action in a case where a subject turns. [Solution] According to a moving body 1, the position Pu and the direction Du of a user H are calculated on the basis of distance measurement data MP which is the measured distance to the user H, and on the basis thereof, a movement target T1 and a control target T2 of the moving body 1 with respect to the user H are calculated. In addition, the position Pr and the direction Dr of the moving body 1 in a user coordinate system are calculated on the basis of the position Pu and the direction Du of the user H, and a shift control target T2' in which the control target T2 has been shifted toward the user H side is calculated on the basis of an angular deviation Δθ, which is the angle formed by the direction Dr of the moving body 1. A drive unit 18 is operated such that the moving body 1 moves toward the shift control target T2', so it is possible to suppress a large turn accompanying action when the user H performs a turning action or a rotation action.
1R11L1111 is set on the basis of the position of the moving body 1 with respect to the user H, so travelling by the moving body 1 such as cutting across in front of the user H can be suppressed.
The purpose of the present invention is to enable image recognition on a dynamic object. A time-space image recognition device 1 comprises time-space image data generation units 2a, 2b, 2c for converting video data 4 into time-space image data while holding spatial information and temporal information. The time-space image data generation units 2a, 2b, 2c scan the video data 4 through different scanning routes. Accordingly, the time-space image data generation units 2a, 2b, 2c generate time-space image data 8a, 8b, 8c (not shown) having been scanned through different scanning routes, and output the time-space image data 8a, 8b, 8c to an image recognition unit 3. The image recognition unit 3 performs convolution processing on the time-space image data 8a, 8b, 8c separately so as to generate two-dimensional feature maps 60a, 60b, 60c, and thereafter, integrates these maps, performs analysis through a neural network, and outputs an image recognition result.
The stereoscopic image projection device according to one aspect of the present invention comprises: a stereoscopic image information holding part that includes information about a stereoscopic image; a reproduction light source that radiates reproduction illumination light at the stereoscopic image information holding part so as to reproduce the stereoscopic image as a pseudoscopic image at a first location; and an image projection part that has a plurality of light projection elements that are arranged in an array. Each of the plurality of light projection elements projects the stereoscopic image that has been reproduced at the first location at a second location that is on the opposite side from the first location with the plurality of light projection elements therebetween.
The image reproduction device according to one aspect of the present invention comprises: a reflection hologram that reflects reproduction illumination light that is radiated from a first side so as to reproduce a reproduced image on the first side; and a beam splitting element that is arranged on the first side of the reflection hologram, reflects reproduction illumination light that has been radiated from a reproduction light source and has passed through the reflection hologram, and radiates the reflected reproduction illumination light at the reflection hologram from the first side. The beam-splitting element also transmits the light of the reproduced image that has been reproduced by the reflection hologram.
This vehicle is provided with: a vehicle body; a tilting mechanism that includes a drive device and tilts the vehicle body using the drive device; an operation input unit; a tilting control unit; a turning wheel support part that supports at least one turning wheel that can turn left and right; and a sensor that measures a parameter independent from the tilt angle of the vehicle body. The turning wheel support part is configured so as to allow the at least one turning wheel to turn to the left and right with respect to the vehicle body so as to track changes in the tilt of the vehicle body, regardless of an operation quantity. The tilting control unit, using a parameter in addition to the operation quantity, controls the drive device so that the parameter approaches a target value.
The vehicle according to the present invention comprises a vehicle body, a tilt mechanism that tilts the vehicle body, an operation input unit, a tilt control unit, and a pivot wheel support unit that supports one or more pivot wheels which can pivot left and right. The pivot wheel support unit includes: a support member that supports one or more pivot wheels; a pivot drive device that applies, to the support member, a torque for causing the support member to pivot left and right; and a pivot control unit that uses a control parameter to control the torque of the pivot drive device. The pivot control unit includes: a specification unit that uses the control parameter to specify the target direction of one or more pivot wheels; a first determination unit that determines a first control value for bringing the direction of one or more pivot wheels closer to the target direction; a drive control value determination unit that uses the first control value to determine a drive control value; and a torque control unit that controls the torque of the pivot drive device in accordance with the drive control value. The first determination unit uses the speed of the vehicle to adjust the first control value.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60G 21/05 - Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 9/02 - Steering deflectable wheels not otherwise provided for combined with means for inwardly-inclining vehicle body on bends
B62D 61/08 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels with single front wheel
An image recognition device adds a margin region filled with predetermined image data to a periphery of a captured image captured by a camera to create an expanded image larger than the captured image. When a person is too close to the camera, a part of a person image protrudes from the captured image, but a large detection window which also includes the margin region is set, whereby a window image including a protruding region is taken out of the expanded image. The window image lacks a protruding part of the person image, but it is an image showing an entire body of the person image. The image recognition device stores many reference images assuming various states of a person. The image recognition device extracts features from the window image, and compares them with a feature of the reference image, thereby recognizing the person image.
G06K 9/46 - Extraction of features or characteristics of the image
G06K 9/32 - Aligning or centering of the image pick-up or image-field
G06K 9/62 - Methods or arrangements for recognition using electronic means
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
The purpose of the present invention is to reduce processing cost. In the present invention, an image recognition device 200 comprises: an image processing device 21 that acquires a feature amount from an image; and an identification device 201 that determines whether a prescribed identification subject is present in the image, and identifies the identification subject. The identification device 201 comprises a BNN that has learned the identification subject in advance, and performs identification processing by performing a binary calculation with the BNN on the feature amount acquired by the image processing device 21. At that time, the identification device 201 selects a portion effective for identification from among high-dimensional feature amounts output by the image processing device 21 to reduce the dimensions used in identification processing, and copies low-dimensional feature amounts output by the image processing device 21 to increase dimensions. By selecting and copying feature amount dimensions, the feature amount dimensions used in identification can be appropriately adjusted while ensuring a demanded identification accuracy, so that the identification device 201 can be mounted on a small, low power consumption hardware circuit.
The purpose of the present invention is to improve identification accuracy. In the present invention, an image recognition device 200 comprises: an image processing device 21 that acquires a feature amount from an image; and an identification device 201 that determines, using the acquired feature amount, whether a prescribed identification subject is present in the image, and identifies the identification subject. The identification device 201 comprises a BNN that has learned the identification subject in advance, and performs identification processing by performing a binary calculation with the BNN on the feature amount acquired by the image processing device 21. At that time, the identification device 201 selects a portion effective for identification from among high-dimensional feature amounts output by the image processing device 21 to reduce the dimensions used in identification processing, and copies low-dimensional feature amounts output by the image processing device 21 to increase the dimensions. By selecting and copying feature amount dimensions, the feature amount dimensions used in identification can be appropriately adjusted while a demanded identification accuracy is ensured, so that the identification device 201 can be mounted on a small, low power-consumption hardware circuit.
During movement control wherein a moving body tracks a user while in front of the user, a coordinate obtained from the torso of the user is used as the X coordinate of the position of the user, and among the position of the body of the user and the position of the feet of the user, the position which is closer to the moving body is used as the Y coordinate. Thus, the moving body is able to move to a target position in the left/right direction (the X coordinate) and the front/back direction (the Y coordinate) that is appropriate with respect to the user. Accordingly, the distance between the moving body and the user can be maintained appropriately, and movement control in front of the user and that is not an impediment to the user can be accomplished.
The purpose of the present invention is to recognize from images a dynamic object to be recognized. Through use of a spatio-temporal image data generation unit 2, an image recognition device 1 performs a Hilbert scan of frame image data 6 constituting moving-image data 4 and generates unidimensional spatial image data 7, and furthermore arrays the unidimensional spatial image data 7 in a time direction and generates two-dimensional spatio-temporal image data 8 that holds spatial information and temporal information. In this manner, the image recognition device 1 converts the moving-image data 4 into the two-dimensional spatio-temporal image data 8 while holding the spatial information and temporal information. Next, through use of a CNN unit, the image recognition device 1 performs a convolution process in which a two-dimensional filter is used on the spatio-temporal image data 8 and recognizes from the image the behavior of a pedestrian who is the object to be recognized. In this manner, the image recognition device 1 can perform behavioral recognition of a pedestrian that requires a three-dimensional analysis consisting of two dimensions for space and one dimension for time, and estimate the state of the pedestrian by means of the image recognition process of a two-dimensional image by CNN.
This vehicle is provided with: N number (N is an integer of 3 or more) of wheels which include a pair of wheels that are disposed in the width direction of the vehicle so as to be spaced away from each other and which comprise one or more front wheels and one or more rear wheels; a vehicle body that is coupled to the N number of wheels and capable of rolling in the width direction; a operation input part in which operation quantities indicative of a turning direction and a turning magnitude are inputted as said operation input part is operated; a tilting part that tilts the vehicle body in the width direction of the vehicle in accordance with the operation quantities inputted into the operation input part; and a front wheel support part which supports the one or more front wheels in such a manner as to be rotatable in the right-left direction with respect to the vehicle body in association with the change in tilt of the vehicle body, irrespective of the operation quantities being inputted to the operation input part. The tilting part includes a roll suppression part which suppresses roll vibration in the width direction of the vehicle body such that the one or more front wheels have a delay in steering-angle vibration phase of less than 90 degrees with respect to the roll vibration.
B62K 25/08 - Axle suspensions for mounting axles resiliently on cycle frame or fork with telescopic fork, e.g. including auxiliary rocking arms for front wheel
[Problem] To provide a vehicle which is small in width and yet capable of ensuring both running stability and drivability. [Solution] This vehicle (10) is characterized by having: a vehicle body (3) provided with two or more wheels that include steered wheels for steering (right front wheel 11, left front wheel 12); a tilt angle detection part which detects a tilt angle about a roll axis of the vehicle body (3); and a torque imparting part (turning mechanism 10) which imparts a steering torque to the steered wheels in accordance with a vehicle body tilt angular velocity or tilt angular acceleration that is determined from the tilt angle.
B62K 5/08 - Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
B60G 21/05 - Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
44.
Method and device to determine image features using multi-resolution gradient analysis
A hardware configuration is constructed for calculating at high speed the co-occurrence of luminance gradient directions between differing resolutions for a subject image. In an image processing device, a processing line for high-resolution images, a processing line for medium-resolution images, and a processing line for low-resolution images are arranged in parallel, and the luminance gradient directions are extracted for each pixel simultaneously in parallel from images having the three resolutions. Co-occurrence matrix preparation units prepare co-occurrence matrices by using the luminance gradient directions extracted from these images having the three resolutions, and a histogram preparation unit outputs a histogram as an MRCoHOG feature amount by using these matrices. To concurrently processing the images having the three resolutions, high-speed processing can be performed, and moving pictures output from a camera can be processed in real time.
A vehicle is configured to travel, when a vehicle velocity is within a velocity range from not less than a first velocity of at least zero to not more than a second velocity larger than the first velocity, in a mode in which a vehicle body is leaned by a lean mechanism according to an input into an operation input unit, and a wheel angle of a turn wheel changes following a lean of the vehicle body. A natural frequency of roll oscillation of the vehicle body is either within a range of smaller than a reference frequency or within a range of larger than the reference frequency, the reference frequency being a frequency at which oscillation of the wheel angle of the turn wheel has phase delay of 90 degrees relative to the roll oscillation of the vehicle body in its width direction.
B60G 17/0195 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
B60G 17/016 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B62K 5/00 - Cycles with handlebars, equipped with three or more main road wheels
46.
BODY DIRECTION ESTIMATION DEVICE AND BODY DIRECTION ESTIMATION PROGRAM
A body direction estimation device and body direction estimation program are provided which suppress the effects of arm swing when a target is walking, enabling estimating the direction a target is facing. [Solution] In this body direction estimation device 1, measured distance values MP of the upper body of the target H, acquired from a ranging sensor 3, are grouped into one or multiple groups. If the relative angle between the approximate ellipse of the group of the right arm or left arm and the approximate ellipse of the group of the torso is 60-120°, then these are grouped as the same group. Further, the ellipse type that corresponds to the group that includes the torso is acquired, the approximate ellipse of the upper body is calculated from the measured distance values MP corresponding to that ellipse type, and the minor axis Sa direction of the approximate ellipse of the upper body is set as the direction that the target H is facing. Therefore, because arms moving too far away from the torso are differentiated from the group that includes the torso, influence of the arm position of the target H is suppressed, enabling estimating the direction that the target H is facing.
A vehicle includes: a vehicle body; three or more wheels; an operation input unit to be operated to input a turning direction; and a lean mechanism for leaning the vehicle body in its width direction. Within at least partial range of vehicle velocity, the vehicle is configured to travel in a mode in which the vehicle body is leaned by the lean mechanism according to an input into the operation input unit, and a steering angle of a steered wheel changes following a lean of the vehicle body. And, the vehicle includes a changing device for changing a turn resistance force acting between the vehicle body and the steered wheel.
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B60G 17/016 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
B62D 9/02 - Steering deflectable wheels not otherwise provided for combined with means for inwardly-inclining vehicle body on bends
B62K 5/00 - Cycles with handlebars, equipped with three or more main road wheels
A vehicle in which traveling can be stabilized and the risk of overturning can be reduced, a vehicle with a pair of first suspension arms, a pair of second suspension arms connected to the pair of first suspension arms via a pair of joints, a pair of shock absorbers for connecting the pair of first suspension arms and pair of second suspension arms, a pair of forks as to allow turning about a steering axis with respect to the pair of second suspension arms, a pair of front wheels arranged on the pair of forks, a vehicle body to which the pair of front wheels are included, and a leaning part for leaning the vehicle body. The tread width increases as the vehicle body is leaned by the leaning part.
B62K 5/08 - Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B62K 5/05 - Tricycles characterised by a single rear wheel
B62K 21/02 - Front wheel forks or equivalent, e.g. single tine
B62K 25/24 - Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg with more than one arm on each fork leg for front wheel
B62K 5/00 - Cycles with handlebars, equipped with three or more main road wheels
49.
OBJECT DETERMINATION DEVICE AND OBJECT DETERMINATION PROGRAM
An object determination device and object determination program are provided which, by combining image recognition results and distance measurement data to determine an object, make it possible to perform said determination with high speed and high accuracy. [Solution] In this object determination device 1, an image recognition score calculated from an image acquired by a camera 3 is associated with measured distance values acquired by a ranging sensor 4. The measured distance values are grouped and an object is generated, and the measured distance values and image recognition score of said object are stored in an object table 8c. Then, the object is recognized as a person or as a thing on the basis of a measured distance likelihood β, an image recognition likelihood α and a match ratio γ calculated from the values of the object table 8c. Therefore, the image recognition score of the image acquired from the camera 3 and the measured distance values acquired from the ranging sensor 4 are combined and the object is recognized as a person or as a thing, thus making it possible to perform said recognition processing with high speed and high precision.
Provided is a pulse wave detection device and a pulse wave detection program that are capable of detecting a pulse wave by removing the influence of a color change of ambient light. A pulse wave detection device 1 is configured such that a correction parameter value for correcting a value of a strong area value memory 7e for detecting a pulse wave signal is calculated through multiplication of the ratio of the value of the strong area value memory 7e and a value of a weak area value memory 7f by a value based on the weak area value memory 7f, and the value of the strong area value memory 7e is corrected on the basis of the correction parameter value. Thus, a pulse wave can be detected by removing, from the value of the strong area value memory 7e, an external disturbance caused by a color change of ambient light without needing a background for correcting the color change of the ambient light. In addition, since the correction parameter value with respect to the value of the strong area value memory 7e is calculated by a simple calculation method, the value of the strong area value memory 7e can be corrected within a short period of time, and the response of the pulse wave detection device 1 can be improved.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A vehicle comprising: a vehicle body; at least three wheels including a pair of front wheels arranged mutually separated in the width direction of the vehicle and a rear wheel being a steering wheel rotatable left and right relative to the vehicle body; an operation input unit having a turning direction input thereto, by being operated; a tilting mechanism that tilts the vehicle body in the width direction; and a front wheel support unit that supports each wheel in the pair of front wheels. The vehicle is configured such: that the rear wheel is steered towards the opposite side to the turning direction, in accordance with an input to the operation input unit; and the vehicle body is tilted towards the turning direction side by the tilting mechanism, in accordance with the input to the operation input unit. The front wheel support unit is configured such that: each wheel in the pair of front wheels is supported so as to be rotatable to the left and right relative to the vehicle body, regardless of the turning direction input to the operation input unit; and each wheel in the pair of front wheels has an intersecting point between the rotation shaft of the front wheel and the road surface that is positioned further forward than the center position of the contact area between the front wheel and the road surface.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60G 21/05 - Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
A vehicle comprising: a vehicle body; an N number (N being an integer of at least 3) of wheels including a pair of wheels arranged mutually separated in the width direction of the vehicle and a steering wheel rotatable left and right relative to the vehicle body; an operation input unit having a steering wheel steering direction input thereto by being operated; a tilting mechanism that tilts the vehicle body in the width direction; and tilt control unit that controls the tilting mechanism. The tilt control unit controls the tilting mechanism such that the vehicle body tilts to the steering direction side in accordance with an input to the operation input unit. The vehicle comprises a detection unit that detects a force that changes the tilting angle of the vehicle body. The tilt control unit causes the tilting mechanism to generate a torque that generates force in the opposite direction to the force detected by the detection unit.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60G 21/05 - Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
[Problem] To provide a vehicle in which unstable travel and the like can be mitigated and travel stability can be achieved. [Solution] This vehicle (10) is characterized by having: a vehicle body provided with: three or more vehicle wheels including at least: a steered wheel (12F) and a pair of vehicle wheels (12L, 12R) arranged in the vehicle width direction; an inclining part that inclines the vehicle body; an input member (41a) that is rotationally operated to input a turning direction; an input shaft (43) for transmitting the rotation of the input member (41a); a steering shaft (13) which steers the steered wheel (12F) by rotation and can be rotated regardless of the rotational operation of the input member; and a connection mechanism (a spring (80), etc.) which connects the input shaft (43) and the steering shaft (13) with a fastening force which allows the steering angle of the steered wheel (12F) to follow the turning direction determined by the inclination of the vehicle body, and which enables torque to be transmitted from the steering shaft (13) to the input shaft (43).
The present invention provides a more robust image recognition scheme. An image processing device 8 converts an image that is to undergo image recognition to a high-resolution image 11, a medium-resolution image 12, and a low-resolution image 13. The image processing device 8 sets a pixel 5 of interest of the high-resolution image 11, and counts the co-occurrence in a gradient direction with offset pixels 1a-1d, the co-occurrence in the gradient direction with pixels 2a-2d in the medium-resolution image 12, and the co-occurrence in the gradient direction with pixels 3a-3d in the low-resolution image 13 to a co-occurrence matrix 15. The image processing device 8 creates such a co-occurrence matrix 15 for each pixel combination and for each resolution level. The image processing device 8 performs the above-described process on each of the pixels of the high-resolution image 11, and creates a co-occurrence histogram in which the elements of a plurality of co-occurrence matrices 15 completed as a result of the process are arranged in a row. The image processing device 8 furthermore normalizes the co-occurrence histogram and extracts, as a feature quantity of the image, a vector quantity having as a component a frequency resulting from the normalization.
The present invention reduces calculation costs while raising detection accuracy. An image processing device 8 has a function for plotting a luminance gradient co-occurrence pair of an image on a feature plane 15 and applying an EM algorithm thereto to form a GMM. The image processing device 8 learns a pedestrian image and creates a GMM of the pedestrian image, subsequently learns a background image and creates a GMM of the background image, and furthermore calculates a difference between the two and generates a GMM for relearning based on the calculation. The image processing device 8 plots a sample that conforms to the GMM for relearning on the feature plane 15 by applying an inverse function theorem. The image processing device 8 finally forms a GMM that represents the distribution of samples at a designated mixed number and thereby forms a standard GMM that serves as a standard for image recognition. When this mixed number is set to less than a mixed number designated earlier, the dimensions with which an image is analyzed are reduced, making it possible to reduce calculation costs.
[Problem] To provide a moving body for which it is possible to change the movement direction without changing the orientation during travel. [Solution] With a moving body 1, an exterior case 2 and a drive unit 3 are supported by a rotating shaft 4 so as to be able to rotate relative to each other. An upper support shaft 8 of the rotating shaft 4 and the exterior case 2 are connected at a position for which the center of gravity of the exterior case 2 is on the axis of a lower support shaft 10 of the rotating shaft 4. The weight of the exterior case 2 is such that a sufficiently high moment of inertia is provided so that no rotation occurs even when the drive unit 3 rotates against the rotation resistance of a bearing 9. When the movement direction is changed during travel of the moving body 1, the drive wheel motor 7 is caused to operate as a differential so that the intended relative angle of the exterior case 2 and the drive unit 3, as calculated from the movement direction and the speed of travel, matches the relative angle detected from the relative angle sensor 27. The center of gravity of the exterior case 2 is on the axis of the lower support shaft 10, and therefore the generation of moment to the exterior case 2 is suppressed, the drive unit 3 rotates about the bearing 9 of the rotating shaft, and the movement direction of the drive unit 3 can be changed without changing the orientation of the exterior case 2.
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
B62D 11/04 - Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
The vehicle includes: a vehicle body rotatable about a roll axis; one or more front wheels; a front wheel support supporting the one or more front wheels turnably to a turning direction about a turning axis; one or more rear wheels; an operation input unit to be operated to input a turning direction; a lean angle changing unit for changing a lean angle of the vehicle body in a vehicle width direction about a lean axis different from the roll axis; and a lean control unit for controlling the lean angle changing unit.
B62D 61/08 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels with single front wheel
A pulse wave detection device color converts a frame image of a moving image from RBG components to YIQ components, and identifies an eye section using the eye color of a user prepared in advance with a Q component. Next, the pulse wave detection device uses the Y values of the eye section to detect the brightness of the imaging environment. Then, the pulse wave detection device detects a pulse wave signal Qm on the basis of the average of the Q-values of a skin section in the frame image, corrects a change in the brightness by subtracting from Qm the average value Ye of the Y values of the eye section, and thereby outputs a post-brightness-correction Qm. As a result, a pulse wave can be successfully detected even if the brightness is changing because the user is moving in a vehicle or the like.
This vehicle is configured so as to travel in a state in which the vehicle body is inclined by an inclination mechanism in response to an input into an operation input unit and the wheel angles of the turning wheels change following the inclination of the vehicle body if the vehicle speed is within a range greater than a first speed up to a second speed, where the first speed is equal to or greater than zero, and the second speed is greater than the first speed. The natural frequency of roll oscillation of the vehicle body falls within a range smaller or greater than a reference oscillation frequency, which is an oscillation frequency such that the phase lag in oscillation of the wheel angle of the turning wheels with respect to the roll oscillation in the width direction of the vehicle body becomes 90 degrees.
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B60W 30/04 - Control of vehicle driving stability related to roll-over prevention
A pulse wave detection device color converts a frame image of a moving image from RBG to HSV components, and identifies a skin section using the skin color of a user prepared in advance with an H component. The device converts the skin section of the image to YIQ components, and takes Qm as a pulse wave signal, Qm being obtained by averaging the Q values of the pixels. The device then obtains a chronological change in the pulse wave signal Qm and outputs the change as a pulse wave. Accordingly, it is possible to exclude disturbance factors from the pulse wave detection target, and successfully detect a pulse wave. The identification of the skin section is performed using the H component to identify candidate pixels, and using the S component to narrow down the candidate pixels to the target, so high-precision identification of the skin section is possible.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/0245 - Measuring pulse rate or heart rate using sensing means generating electric signals
This vehicle is provided with: a vehicle body; three or more wheels; an operation input unit to which a turning direction is inputted through an operation; and a tilting mechanism for tilting the vehicle body in the width direction. The vehicle is configured so as to travel within at least a part of the range of the vehicle speed in a state where the vehicle body is tilted by the tilting mechanism in response to an input to the operation input unit, and the steering angle of the steering wheel changes to accompany the tilting of the vehicle body. The vehicle is provided with a changing device that changes rotation resistance applied between the vehicle body and the steering wheel.
According to the present invention, on the basis of the detected surrounding situation the movement of object bodies in the surrounding area is predicted as a future situation in the surrounding area. Candidates of direction from which a moving direction to be shown to the user is determined are extracted on the basis of the predicted future situation in the surrounding area. The extracted candidates are evaluated for movement easiness of the user in the surrounding area on the basis of the predicted future situation in the surrounding area and the detected situation of the user. Then, the moving direction to be shown to the user is determined on the basis of the evaluation and the extracted candidates. A direction corresponding to the determined moving direction is shown to the user in front of the user.
A vehicle body having three or more wheels including at least a steered wheel with a trail and a pair of wheels provided in the vehicle width direction; an operation input part inputting a turning direction; an inclining part inclining the body; and a steered wheel controller controlling the steered wheel steering angle. When the vehicle speed is lower than a predetermined speed, it travels in a first mode in which the steered wheel controller controls the steered wheel steering angle according to an operation input part input, and the inclining part inclines the body according to an operation input part input. When the vehicle speed is equal to or higher than the predetermined speed, it travels in a second mode in which the steered wheel controller makes the steered wheel freely turnable, and the inclining part inclines the body according to an input from the operation input part.
In order to provide a vehicle in which travel is stable and the risk of overturning can be reduced, this vehicle 10 is provided with a pair of first suspension arms 51, a pair of second suspension arms 52 connected to the pair of first suspension arms 51 via a pair of joints, a pair of shock absorbers 55 for coupling the pair of first suspension arms 51 and the pair of second suspension arms 52, a pair of forks 67 provided so as to allow turning about a steering shaft in relation to the pair of second suspension arms 52, a pair of front wheels 12L, 12R arranged on the pair of forks 67, a vehicle body 15 to which the pair of front wheels 12L, 12R are provided, and an inclined part for causing the vehicle body 15 to incline, the tread width increasing as the vehicle body 15 inclines due to the inclining part.
A recognition object is detected even when a part of the recognition object extends outside an image. An image recognition device adds a margin region 10 filled in with prescribed image data around a captured image 1, and creates an expanded image 11 that is larger than the captured image 1. When a person comes too close to the camera, a part of the image 5 of the person protrudes beyond the captured image 1, but the image recognition device sets a large detection window 3e that also includes the margin region 10, whereby a window image 4e that also includes the protruding region is taken out of the expansion image 11. The window image 4e lacks the protruding portion of the image 5 of the person, but reproduces the image 5 of the whole body of the person. The image recognition device stores a plurality of reference images 7 assuming various states (states in which the position, orientation, etc. of the feet and hands differ in postures such as walking, running, jumping, sitting, etc.) of a person 8. The image recognition device extracts characteristics from the window image 4e and compares the characteristics with characteristics of the reference images 7, whereby the image 5 of the person is recognized.
A hardware configuration is constructed for calculating at high speed the coincidence of luminance gradient directions between differing resolutions for a subject image. In an image processing device 21, a processing line for high-resolution images, a processing line for medium-resolution images, and a processing line for low-resolution images are arranged in parallel, and the luminance gradient directions are extracted for each pixel simultaneously in parallel from images having the three resolutions. Coincidence matrix preparation units 30a, 30b, 30c prepare coincidence matrices using the luminance gradient directions extracted from the images having the three resolutions, and a histogram preparation unit 31 uses the matrices to output a histogram as a MRCoHOG characteristic amount. The images having the three resolutions are processed simultaneously, and therefore it is possible to process at a high speed and to process moving images output from a camera in real time.
Image recognition with high robustness is carried out. An image recognition device 2 sets an overall observation region 5, which surrounds the whole body of an object 3 and partial observation regions 6a to 6g, which surround characteristic parts of the object 3, respectively in locations in an image 4, which are estimated to include captured images of the object 3. The image recognition device 2 segments the images in the overall observation region 5 and the partial observation regions 6a to 6g, and calculates similarity degrees between these images and previously learned images on the basis of a combination of two image feature amounts, i.e., an HOG feature amount and a color distribution feature amount. The image recognition device 2 calculates an optimum ratio (percentage) in combining the HOG feature amount and the color distribution feature amount individually for the overall observation region 5 and the partial observation regions 6a to 6g. The ratio is determined by assigning a weight parameter αi for setting a weight in combining the HOG feature amount and the color distribution feature amount to a state vector and subjecting the result to complete search by a particle filter.
[Problem] To provide a moving body capable of moving to an appropriate position with respect to a user, and tracking the user while in front of the user. [Solution] During movement control wherein a moving body 10 tracks a user 20 while in front of the user 20, a coordinate obtained from the torso of the user 20 is used as the X coordinate of the position of the user 20, and among the position of the body of the user 20 and the position of the feet of the user 20, the position which is closer to the moving body 10 is used as the Y coordinate. Thus, the moving body 10 is able to move to a target position in the left/right direction (the X coordinate) and the front/back direction (the Y coordinate) that is appropriate with respect to the user 20. Accordingly, the distance between the moving body 10 and the user 20 can be maintained appropriately, and movement control in front of the user 20 and that is not an impediment to the user 20 can be accomplished.
A power transmission system transmits electric energy to a secondary resonator having a secondary resonator coil through an electromagnetic field of a predetermined frequency from a resonator having a resonator coil and reduces noise using two noise cancellation resonators with one predetermined frequency and its higher harmonic component set as noise reduction target frequency. The system includes, as two noise cancellation resonators, a first noise cancellation resonator including a first noise cancellation resonator coil and has a resonance frequency higher than the noise reduction target frequency by a first shift frequency determined according to a coupling degree between the resonator coil and first noise cancellation resonator coil and second noise cancellation resonator including a second noise cancellation resonator coil and has a resonance frequency lower than the noise reduction target frequency by a second shift frequency according to coupling degree between the resonator coil and second noise cancellation resonator coil.
H02J 50/70 - Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
H02J 50/80 - Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
H02J 50/12 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
H02J 50/90 - Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
This vehicle is provided with: a vehicle body that is rotatable about a roll axis; one or more front wheels; a front wheel support section for supporting the one or more front wheels in a manner rotatable about a rotary axis in a turning direction; one or more rear wheels; an operation input unit for inputting a turning direction by being operated; a tilt angle change unit for changing the tilt angle of the vehicle body about a tilt axis in the vehicle width direction, said tilt axis being different from the roll axis; and a tilt control unit for controlling the tilt angle change unit. The one or more front wheels and/or the one or more rear wheels include one pair of wheels disposed in the vehicle width direction. The vehicle body is constructed such that the center of gravity of the vehicle body is lower than the roll axis. When a turning direction is input to the operation input unit, the tilt control unit causes the tilt angle change unit to change the tilt angle to such a tilt angle that the vehicle body tilts in the turning direction. After the change of the tilt angle is started, the one or more front wheels rotate in such a direction that the vehicle turns in the turning direction.
The purpose of the present invention is to perform pulse wave detection that is robust against disturbance factors. A pulse wave detection device 1 color-converts a frame image of a video from RBG components to HSV components, and identifies a skin section using the skin color of a user prepared in advance with an H component. Next, the pulse wave detection device 1 converts the skin section of the frame image to YIQ components, and takes Qm as a pulse wave signal, Qm being obtained by averaging the Q value of each pixel. After carrying out the abovementioned processing on each frame image, the pulse wave detection device 1 obtains a chronological change in the pulse wave signal Qm and outputs said change as a pulse wave. As a result, it is possible to exclude disturbance factors such as the background from the pulse wave detection target, and successfully detect a pulse wave. Furthermore, the identification of the skin section is performed by using the H component to identify candidate pixels, and using the S component to narrow down the candidate pixels to the target, such that high-precision identification of the skin section is made possible.
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A61B 5/0245 - Measuring pulse rate or heart rate using sensing means generating electric signals
The purpose of the present invention is to perform pulse wave detection that is robust against changes in brightness. A pulse wave detection device 1 color-converts a frame image of a video from RBG components to YIQ components, and identifies an eye section using the eye color of a user prepared in advance with a Q component. Next, the pulse wave detection device 1 uses the Y values of the eye section to detect the brightness of the imaging environment. Then, the pulse wave detection device 1 detects a pulse wave signal Qm on the basis of the average of the Q values of a skin section in the frame image, corrects a change in the brightness by subtracting from Qm the average value Ye of the Y values of the eye section, and thereby outputs a post-brightness-correction Qm. As a result, a pulse wave can be successfully detected even if the brightness is changing because the user is moving in a vehicle or the like.
[Problem] To provide a vehicle for which stable travel over the entire speed range thereof can be guaranteed. [Solution] This vehicle comprises: a vehicle body provided with three or more wheels including at least a steered wheel having a trail and a pair of wheels disposed in the width direction of the vehicle; an operation input unit into which a turning direction is input when operated; a tilting unit for causing the vehicle body to tilt; and a steered wheel control unit for controlling the steering angle of the steered wheel. When the speed of the vehicle is lower than a predetermined vehicle speed, the vehicle travels in a first mode in which the steered wheel control unit controls the steering angle of the steered wheel in accordance with an input from the operation input unit, and the tilting unit causes the vehicle body to tilt in accordance with the input from the operation input unit. When the speed of the vehicle is equal to or higher than the predetermined vehicle speed, the vehicle travels in a second mode in which the steered wheel control unit performs control to bring the steered wheel into a freely turnable state irrespective of the operation input unit and the tilting unit causes the vehicle body to tilt in accordance with the input from the operation input unit.
[Problem] To provide a moving body capable of presenting an appropriate moving direction to a user in accordance with the surrounding situation such that movement of the user is facilitated. [Solution] According to the present invention, on the basis of the surrounding situation detected by a surrounding situation detection means, the movement of an object in the surrounding area is predicted as a future situation in the surrounding area. Direction candidates from which a moving direction to be presented to the user is determined are extracted by a candidate extraction means on the basis of the predicted future situation in the surrounding area. The extracted candidates are evaluated by a first evaluation means for ease of movement by the user in the surrounding area on the basis of the predicted future situation in the surrounding area and the situation of the user detected by a user detection means. Then, the moving direction to be presented to the user is determined by a determination means on the basis of the evaluation and the extracted candidates. A direction corresponding to the determined moving direction is presented to the user in front of the user.
n, wherein the noise cancellation resonator has a resonance frequency that is calculated by adding a shift frequency that is determined based on a degree of coupling between a main resonator coil and the noise cancellation resonator coil, to a predetermined frequency of an electromagnetic field generated by a main resonator that is a source of noise and includes the main resonator coil.
[Problem] To provide a power transmission system for which the generation of noise is suppressed and the leakage of noise is reduced. [Solution] This power transmission system transmits electrical energy to a secondary resonator having a secondary resonator coil (260) via electromagnetic waves of a prescribed frequency generated by a primary resonator of a primary resonator coil (160), and the power transmission system reduces noise by being provided with two noise cancelling resonators in which the prescribed frequency and at least one of the harmonic components of the prescribed frequency serve as a noise reduction target frequency. The power transmission system is characterized by comprising: a first noise cancelling resonator (300) that has a first noise cancelling resonator coil (310) and that has a resonance frequency higher than the noise reduction target frequency by a first shift frequency which is determined in accordance with the degree of coupling of the primary resonator coil (160) and the first noise cancelling resonator coil (310); and a second noise cancelling resonator (340) that has a second noise cancelling resonator coil (350) and that has a resonance frequency lower than the noise reduction target frequency by a second shift frequency which is determined in accordance with the degree of coupling of the primary resonator coil (160) and the second noise cancelling resonator coil (350).
A power transmission system that can prevent a plunge in power transmission efficiency even when there is a positional shift of a power reception antenna with respect to a power transmission antenna. A power transmission system includes: a power transmission antenna that includes a wound power transmission coil that is placed on the ground; a power reception antenna that is disposed in such a way as to face the power transmission antenna, includes a wound power reception coil, and receives electric energy from the power transmission antenna via an electromagnetic field, wherein an area of a first projection plane that is formed by the power transmission coil in a vertical direction with respect to a horizontal plane is larger than an area of a second projection plane that is formed by the power reception coil in the vertical direction with respect to the horizontal plane.
H01F 37/00 - Fixed inductances not covered by group
H02J 50/12 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
The present invention suppresses deterioration of power transmission efficiency, and suppresses electromagnetic waves that leak to a vehicle main body. This power reception system receives power that is to be supplied, in a wireless manner via a magnetic field, to a power reception circuit in a bottom section of a vehicle (9). The power reception system is provided with: a power reception-side antenna coil unit (30), which is provided with a power reception-side antenna coil (34), and a first shield plate (81), which is disposed on the non-transmission direction (D2) side, and which is formed of a magnetic material; and a second shield plate (82), which has a shape conforming to a recessed and projected shape of a target region of a vehicle body bottom surface (9b) of the vehicle (9), said target region including a recessed section (9c), and which is disposed in the target region, and is formed of a conductive material. The power reception-side antenna coil unit (30) is disposed at a position overlapping the recessed section (9c) when viewed in the direction of a reference axis (X3).
The antenna coil unit includes a main coil and an auxiliary coil electrically insulated from the main coil, the auxiliary coil being arranged at a position in which an induction current is produced by a magnetic field produced by an electric current flowing through the main coil. The auxiliary coil is configured in a state in which a frequency deviating by a predefined amount in a predefined direction from a target frequency predefined within a harmonic component of the fundamental component of an electromagnetic wave produced by the electric current flowing through the main coil is taken as a resonance frequency. The direction and amount are such that the phase of an alternating-current current flowing through the auxiliary coil is in an opposite-phase state, which is opposite the phase of the harmonic component of an AC current flowing through the main coil.
An electric power transmission system can include: a power transmission antenna that constitutes a series resonator with an inductance component of L1 and a capacitance component of C1, and to which AC power is input; a power receiving antenna that constitutes a series resonator with an inductance component of L2 and a capacitance component of C2, and which receives electromagnetic energy from the power transmission antenna via electromagnetic fields; a rectifying unit that rectifies an output of the power receiving antenna to output DC power; and a load to which an output of the rectifying unit is input, wherein, at times including when a coupling coefficient between the power transmission antenna and the power receiving antenna is k, if a load resistance value is R, the following relationships are established:
.
H02J 5/00 - Circuit arrangements for transfer of electric power between ac networks and dc networks
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
81.
Electric power transmission system with power transmission and receiving antennas
An electric power transmission system may include: a power transmission antenna that constitutes a series resonator with an inductance component of L1 and a capacitance component of C1, and to which AC power is input; a power receiving antenna that constitutes a series resonator with an inductance component of L2 and a capacitance component of C2, and which receives electromagnetic energy from the power transmission antenna via electromagnetic fields; a rectifying unit that rectifies an output of the power receiving antenna to output DC power; and a load to which an output of the rectifying unit is input, wherein, when a coupling coefficient between the power transmission antenna and the power receiving antenna is k, if load resistance value R is used in a range that satisfies Rmin≦R≦Rmax, the following relationships are established:
)
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
H02J 5/00 - Circuit arrangements for transfer of electric power between ac networks and dc networks
The purpose of the invention is to, while preventing the attenuation of a fundamental component of electromagnetic waves produced by the current flowing through a main coil that functions as an antenna, suppress noise components such as harmonic components of the fundamental component. An antenna coil unit comprises a main coil (41) and an auxiliary coil (42) electrically isolated from the main coil (41) and disposed at a position where current is induced by a magnetic field generated by the current flowing through the main coil (41). The auxiliary coil (42) is constructed such that the frequencies from a target frequency to a frequency deviated by a previously specified deviation amount in a previously specified deviation direction become resonance frequencies, said target frequency being previously specified within the harmonic components of a fundamental component of electromagnetic waves produced by the current flowing through the main coil (41). The deviation direction and the deviation amount are set in such a direction and an amount that the phase of the AC current flowing through the auxiliary coil (42) becomes reverse with respect to the phases of harmonic components of the AC current flowing through the main coil (41).
[Problem] To provide an electric-powered vehicle that enables a pedaling feeling similar to that in a vehicle in which a pedal rotation mechanism and a driving wheel are mechanically connected to be obtained. [Solution] A vehicle in which rotation torque is inputted to a crankshaft (250) by a pedal (251L, 251R) and a crank (25L, 25R), and the crankshaft (250) and a driving wheel (23f) are not connected by a mechanical transmission mechanism, said vehicle comprising: a resistance application means (GU) for applying resistance to the crankshaft (250) when the pedal is depressed; and a resistance adjustment means (CU) for adjusting the amount of the resistance from the resistance application means (G) according to the torque inputted by the depression of the pedal.
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B62M 6/60 - Rider propelled cycles with auxiliary electric motor power-driven at axle parts
H02P 9/00 - Arrangements for controlling electric generators for the purpose of obtaining a desired output
H02P 29/00 - Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
In order to provide a noise-cancelling resonator having a high noise-reduction effect, this noise-cancelling resonator (300) is characterized by: comprising a noise-cancelling resonator coil (310) which has an inductance component (Ln) and a noise-cancelling resonator capacitor (320) which has a capacitance component (Cn); and having a resonance frequency that is higher than a predetermined frequency of an electromagnetic field generated by a main resonator (100), which has a main resonator coil (110) and acts as a noise source, by a shift frequency that is determined in accordance with a degree of coupling between the main resonator coil (110) and the noise-cancelling resonator coil (310).
H02J 17/00 - Systems for supplying or distributing electric power by electromagnetic waves
H01F 27/00 - MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES - Details of transformers or inductances, in general
A vehicle includes a vehicle body having a steering section and a main body section connected together; a steerable wheel which is rotatably mounted to the steering section and which steers the vehicle body; a non-steerable wheel which is rotatably mounted to the main body section; a steering apparatus for inputting a steering instruction information; an inclination actuator apparatus for inclining the steering section or the main body section in a turning direction; a steering actuator apparatus for varying a steering angle of the steerable wheel based on the steering instruction information inputted from the steering apparatus; and a control apparatus which controls the inclination actuator apparatus and the steering actuator apparatus. The control apparatus controls a center of gravity to move in a steering direction included in the steering instruction information at an initial steering stage so that an acceleration toward turning-locus inner side is generated.
B62D 61/06 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
B62D 9/02 - Steering deflectable wheels not otherwise provided for combined with means for inwardly-inclining vehicle body on bends
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements
B60G 9/02 - Resilient suspensions for a rigid axle or axle housing for two or more wheels the axle or housing being pivotally mounted on the vehicle
B62K 5/025 - Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B62D 9/04 - Steering deflectable wheels not otherwise provided for combined with means for inclining vehicle wheels on bends
[Problem] To provide a power transmission system by which large declines in power transmission efficiency may be avoided, even in instances of deviation between the transmitting antenna and the receiving antenna. [Solution] This power transmission system (100) has a transmitting antenna (105) situated on the ground and including a wound transmitting coil, and a receiving antenna (201) for receiving electrical energy from the transmitting antenna (105) through the agency of an electromagnetic field, arranged facing the transmitting antenna (105) and including a wound receiving coil, and is characterized in that the surface area (S1) of a first projection plane formed in the vertical direction with respect to a horizontal plane by the transmitting coil is greater than the surface area (S2) of a second projection plane formed in the vertical direction with respect to a horizontal plane by the receiving coil.
[Problem] To provide a power transmission system capable of efficiently transmitting power in the cases of charging a battery (204) using a power receiving-side system. [Solution] A power transmission system (100) of the present invention is configured at least from: a power transmitting antenna (105), which constitutes a series resonator having an inductance component (L1) and a capacitance component (C1), and which has alternating current power inputted thereto; a power receiving antenna (201), which constitutes a series resonator having an inductance component (L2) and a capacitance component (C2), and which receives electromagnetic energy from the power transmitting antenna (105) via an electromagnetic field; a rectifying section, which rectifies output from the power receiving antenna (201) to direct current power, and which outputs the direct current power; and a load for inputting the output from the rectifying section. The power transmission system is characterized in that, when the power transmission system is used within a range wherein a load resistance value (R) satisfies formula Rmin≤R≤max in the cases including a case where a coupling coefficient between the power transmitting antenna (105) and the power receiving antenna (201) is k, there are predetermined relationships among respective components and the coefficient.
[Problem] To provide a power transmission system capable of efficiently transmitting power when a cell (204) is charged by a system on the power-receiving side. [Solution] This power transmission system (100) comprises at least: a power transmission antenna (102) that receives AC power input and constitutes a series resonator having an inductance component (L1) and a capacitance component (C1); a power reception antenna (201) that receives electromagnetic energy from the power transmission antenna (102) via an electromagnetic field and that constitutes a series resonator having an inductance component (L2) and a capacitance component (C2); a rectification unit for rectifying the output from the power reception antenna (201) into DC power and outputting the DC power; and a load for inputting the output from the rectification unit; wherein the power transmission system (100) is characterized in that each component and coefficient have a predetermined relationship, where R is the load resistance and where instances are included in which k is the coupling coefficient between the power transmission antenna (102) and the power reception antenna (201).
Provided is an antenna coil in which it is possible to form a magnetic field in a desired direction in a highly efficient manner while suppressing leakage of magnetic flux into a space other than the space in which the magnetic field is formed. The present invention is provided with a main coil part (41) configured by providing a conductor wire (40) so as to surround a first reference axis (X1), and an auxiliary coil part (42) configured by providing a conductor wire (40) so as to surround a second reference axis (X2). The second reference axis (X2) is set so as to intersect the magnetic flux of the main coil part (41) at the end part (P), in the axial direction, of the auxiliary coil part (42). The main coil part (41) and the auxiliary coil part (42) are connected so as to form a closed circuit.
H01Q 19/00 - Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
H02J 17/00 - Systems for supplying or distributing electric power by electromagnetic waves
Described herein are devices and methods for controlling inclination in a vehicle. In certain aspects, inclination of the vehicle can be controlled with an inclination control processing section that includes a first control value limiting processing section which calculates a moving amount of the centroid, calculates a maximum angular acceleration, and limits a variation of the control value for inclination control on the basis of the maximum angular acceleration.
B62D 9/02 - Steering deflectable wheels not otherwise provided for combined with means for inwardly-inclining vehicle body on bends
B62D 9/04 - Steering deflectable wheels not otherwise provided for combined with means for inclining vehicle wheels on bends
B60T 8/60 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions using electrical circuitry for controlling the braking action, the circuitry deriving a control function relating to the dynamic of the braked vehicle or wheel
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements
B60G 17/0195 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
B62K 5/025 - Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
The vehicle includes a vehicle body having a steering section and a drive section connected together; a steerable wheel which steers the vehicle body; a drive wheel which drives the vehicle body; an inclination actuator apparatus for inclining the steering section or the drive section in a turning direction; a plurality of sensors which detect lateral accelerations; yaw angular velocity detection means; vehicle speed detection means; and a control apparatus which controls the inclination of the vehicle body by controlling the inclination actuator apparatus. The control apparatus performs feedback control on the basis of the lateral accelerations, calculates a link angular velocity predicted value from the derivative value of the yaw angular velocity and the vehicle speed, and controls the inclination of the vehicle body by performing feedforward control while using the calculated link angular velocity predicted value.
B62D 9/04 - Steering deflectable wheels not otherwise provided for combined with means for inclining vehicle wheels on bends
B62K 5/10 - Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements
B62K 5/025 - Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
B60G 17/0195 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
[Problem] To provide a power transmission system, which is capable of suitably ascertaining a positional shift between a power transmitting antenna and a power receiving antenna on the basis of a coupling coefficient, and which is capable of efficiently transmitting power. [Solution] This power transmission system has: an inverter unit (130), which converts a direct current voltage into an alternating current voltage at a predetermined frequency, and outputs the alternating current voltage; a power transmitting antenna (140), which has the alternating current voltage inputted thereto, said alternating current voltage having been outputted from the inverter unit (130); a power transmission control unit (150), which controls the voltage value of the direct current voltage to be inputted to the inverter unit (130), and the frequency of the alternating current voltage to be outputted from the inverter unit (130); a power receiving antenna (210), which faces the power transmitting antenna (140), and transmits electric energy from the power transmitting antenna (140) via an electromagnetic field; and a current flowing into the inverter unit (130). The power transmission system is characterized in that a coupling coefficient between the power transmitting antenna (140) and the power receiving antenna (210) is derived on the basis of the current flowing in the inverter unit (130).
A power transmission system for transmitting electrical energy from a transmission antenna (140) to a reception antenna (210) via an electromagnetic field, the power transmission system comprising: an inverter (130) for converting DC voltage into AC voltage having a prescribed frequency and outputting the AC voltage; a transmission-side control unit (150) for controlling the drive frequency of the inverter (130) and the voltage of the inputted DC voltage, and controlling so as to keep the power value outputted from the inverter (130) constant; a transmission antenna (140) into which the inverter (130) inputs the AC voltage; a rectifier (220) for rectifying the output from a reception antenna (210) into DC voltage; a step-up/step-down unit (230) for stepping up or stepping down and then outputting the DC voltage outputted by the rectifier (220); a battery charged by the output from the step-up/step-down unit (230); and a reception-side control unit (250) for controlling the step-up/step-down unit (230) and controlling so as to charge the battery using a maximum power value.
A power transmission system for transmitting electrical energy from a transmission antenna (140) to a reception antenna (210) via an electromagnetic field, the power transmission system comprising: an inverter (130) for converting DC voltage into AC voltage having a prescribed frequency and outputting the AC voltage; a transmission-side control unit (150) for performing a control for keeping the drive frequency of the inverter (130) at a prescribed frequency, controlling the voltage of the DC voltage inputted into the inverter (130), and controlling so as to keep the power value outputted from the inverter (130) constant; a transmission antenna (140) into which the inverter (130) inputs the AC voltage; a rectifier (220) for rectifying the output from the reception antenna (210) into DC voltage; a step-up/step-down unit (230) for stepping up or stepping down and then outputting the DC voltage outputted by the rectifier (220); a battery (240) charged by the output from the step-up/step-down unit (230); and a reception-side control unit (250) for controlling the step-up/step-down unit (230) and charging the battery (240) using maximum efficiency.
H01M 10/46 - Accumulators structurally combined with charging apparatus
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
B60L 5/00 - Current-collectors for power supply lines of electrically-propelled vehicles
B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
B60M 7/00 - Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway
The disclosed vehicle maintains vehicle body stability, improves turning performance, does not make an occupant feel discomfort, provides good riding quality and achieves a stable traveling state. This vehicle comprises: a vehicle body provided with a steering unit and main body unit mutually connected; a steerable wheel for steering the vehicle body; a non-steerable wheel; a steering device for inputting steering command information; a tilting actuator device for tilting the steering unit or the main body unit in the turning direction; a steering actuator device for changing the steering angle of the steering wheel on the basis of the steering command information input by the steering device; and a control device for controlling the tilting actuator device and the steering actuator device. This control device, when steering is initiated, controls so as to shift the center of gravity of the vehicle body in the steering direction contained in the steering command information and generates acceleration directed towards the inner side of the turn curve.
B62K 5/00 - Cycles with handlebars, equipped with three or more main road wheels
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements
In order to provide an electrical power transmission system whereby the optimum frequency for electrical power transmission can be rapidly selected and the time needed for electrical power transmission can be reduced, the present invention provides an electrical power transmission system for transmitting electrical energy from a power transmission antenna (140) to a facing power reception antenna (210) through an electromagnetic field, the electrical power transmission system comprising an inverter unit (130) for outputting alternating-current electrical power having a predetermined frequency, a power transmission antenna (140) to which the alternating-current electrical power from the inverter unit (130) is inputted, and a power transmission control unit (150) for controlling the frequency of the alternating-current electrical power outputted by the inverter unit (130) and calculating the inverter efficiency of the inverter unit (130), wherein the power transmission control unit (150) calculates the inverter efficiency while reducing the frequency a predetermined amount from the maximum frequency, and performs control so that electrical power is transmitted at a frequency selected so as to give the highest inverter efficiency.
[Problem] To provide a power transmission system capable of determining a suitable frequency during power transmission and performing an efficient power transmission. [Solution] A power transmission system according to the present invention includes an inverter unit (130) which converts a DC voltage to an AC voltage having a given frequency and outputs the converted AC voltage, a transmission antenna (140) into which the AC voltage from said inverter unit (130) is input, and a transmission control unit (150) which controls the frequency of the AC voltage output from said inverter unit (130), and said transmission antenna (140) transmits electric energy to an opposing receiving antenna via an electromagnetic field, wherein said transmission control unit (150) controls the power transmission such that the power transmission is performed with a frequency selected so that the antenna unit is seen as a constant-voltage source when viewed from a load side.
[Problem] To provide a power transmitting system, whereby frequency can be easily and accurately determined at the time of transmitting power, and energy transmission efficiency is improved. [Solution] This power transmitting system is characterized in having: a power transmitting antenna unit (108) having an alternating current voltage inputted thereto; a current detecting unit (107), which detects a current flowing in the power transmitting antenna unit; a peak hold unit (120), which acquires a peak value of a current detected by means of the current detecting unit; a timer unit (110), which measures a timer value, i.e., a difference between a time when the switching element is turned on, and a time when zero current is detected by means of the current detecting unit; a frequency determining unit (110), which determines the frequency on the basis of the peak value obtained by means of the peak hold unit, and the timer value measured by means of the timer unit; and a control unit (110) which transmits power on the basis of the frequency determined by means of the frequency determining unit.
In order that a vehicle can travel stably and a driver does not feel uncomfortable, a vehicle is provided with: a body part; a boarding part (11); a steering part; a vehicle tilt device (43); a lateral acceleration detection unit; a tilt control processing means for generating a control value for tilt control according to lateral acceleration; a tilt drive control processing means for driving an actuator on the basis of the control value for tilt control; a travel control processing means for generating a control value for travel control for driving a drive unit for traveling; a travel drive control processing means for driving the drive unit for traveling on the basis of the control value for travel control. The tilt control processing means is provided with a first control value limitation processing means for calculating the amount of movement of the center of gravity, calculating the maximum angular acceleration, and limiting fluctuations in the control value for tilt control on the basis of the maximum angular acceleration. Since the amount of movement of the center of gravity of the vehicle is calculated, and fluctuations in the control value for tilt control are limited on the basis of the maximum angular acceleration, the vehicle is prevented from being tilted when a predetermined wheel comes off a road surface.
B60G 1/02 - Suspensions with rigid connection between axle and frame with continuous axle
B60G 17/016 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
B60G 17/0195 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
B62J 99/00 - Subject matter not provided for in other groups of this subclass
In order to realize a stable travel state that makes the passenger feel comfortable without any sense of discomfort, with improved turning performance while maintaining vehicle body stability, a vehicle is provided with: a vehicle body including a steering unit and a drive unit linked with each other; a steered wheel for steering the vehicle body; a drive wheel for driving the vehicle body; an inclination actuator apparatus for inclining the steering unit or the drive unit in a turning direction; a plurality of sensors for detecting lateral acceleration; a yaw angular velocity detection means; a vehicle speed detection means; and a control apparatus for controlling the inclination of the vehicle body by controlling the inclination actuator apparatus. The control apparatus controls the inclination of the vehicle body by performing a feedback control on the basis of the lateral acceleration and a feedforward control using a link angular velocity prediction value calculated from a derivative of a yaw angular velocity and a vehicle speed.
B60G 1/02 - Suspensions with rigid connection between axle and frame with continuous axle
B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or s the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
patents
