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    • 3. 发明授权
    • Wheel diameter variation-detecting device
    • 车轮直径变化检测装置
    • US09008903B2
    • 2015-04-14
    • US12595195
    • 2008-05-12
    • Takeshi KurataTakahiro EguchiShuichi FujimotoHirohiko Totsuka
    • Takeshi KurataTakahiro EguchiShuichi FujimotoHirohiko Totsuka
    • G01M17/02B60C23/00G01M17/013B60W40/10B60W40/105
    • G01M17/013B60T2240/08B60W40/1005B60W40/105G01M17/02
    • The present disclosure presents a wheel diameter variation-detecting device capable of properly detecting relative variation in diameter between a plurality of wheels of a vehicle. The wheel diameter variation-detecting device can detect variation in diameter between a plurality of wheels of a vehicle, can detect rotational speeds of the respective wheels, and can calculate a variation parameter indicative of variation in diameter between the wheels using one of the wheels as a reference wheel, based on a result of comparison between the rotational speed of the reference wheel and that of one of the wheels other than the reference wheel. Further, the wheel diameter variation-detecting device can learn the variation parameter based on a value obtained by averaging a plurality of values of the variation parameter obtained before the detected travelled distance reaches a predetermined distance.
    • 本发明公开了一种车轮直径变化检测装置,其能够适当地检测车辆的多个车轮之间的直径的相对变化。 车轮直径变化检测装置可以检测车辆的多个车轮之间的直径变化,可以检测各车轮的转速,并且可以使用车轮之一来计算指示车轮之间的直径变化的变化参数, 基于参考轮的转速与参考轮之外的其中一个轮之间的比较结果的参考轮。 此外,车轮直径变化检测装置可以基于通过对在检测到的行驶距离达到预定距离之前获得的变化参数的多个值进行平均而获得的值来学习变化参数。
    • 4. 发明授权
    • Moving body positioning device
    • 移动体定位装置
    • US08983124B2
    • 2015-03-17
    • US13512696
    • 2010-12-03
    • Masakatsu KourogiTomoya IshikawaTakeshi Kurata
    • Masakatsu KourogiTomoya IshikawaTakeshi Kurata
    • G06K9/00G08B1/08G01C21/20G01S11/12G08G1/005
    • G01C21/20G01S11/12G06K9/00348G08G1/005
    • A moving body positioning device includes a sensor group that outputs a motion velocity vector of a moving body, a motion velocity vector estimation processing device that measures a motion velocity vector and outputs an output sequence of the motion velocity vector together with a measured time, a monitoring camera, an image analysis processing device that analyzes the image of the monitoring camera to measure a position of feet of the moving body measures a motion velocity vector at the position of the feet, and outputs an output sequence of the motion velocity vector with a measured time, and a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device and outputs its collation result as a TRUE or a FALSE signal.
    • 移动体定位装置包括输出移动体的运动速度矢量的传感器组,运动速度矢量估计处理装置,其测量运动速度矢量,并输出运动速度矢量的输出序列以及测量时间, 监视摄像机,分析监视摄像机的图像以测量移动体的脚的位置的图像分析处理设备测量脚的位置处的运动速度矢量,并且将运动速度矢量的输出序列输出到 以及运动速度矢量对照处理装置,其将运动速度矢量估计处理装置的输出顺序与图像分析处理装置的输出顺序进行比较,并将其对照结果输出为TRUE或FALSE信号。
    • 5. 发明授权
    • Moving body posture angle processing device
    • 移动体姿角处理装置
    • US08758275B2
    • 2014-06-24
    • US13001483
    • 2009-07-02
    • Masakatsu KourogiTakeshi Kurata
    • Masakatsu KourogiTakeshi Kurata
    • A61B5/103A61B5/117G01C9/00G01C17/00G01C19/00
    • G01C21/26G01C19/00G01C21/00G01C21/16G01C21/28G01C22/00G08G1/005
    • A moving body attitude angle processing apparatus capable of reducing cumulative errors in continuously measuring the attitude angle of a moving body is provided. The moving body attitude angle processing apparatus estimates the attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and outputs the attitude angle thus estimated. The moving body attitude angle processing apparatus includes: a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; and a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor.
    • 提供了能够减少连续地测量移动体姿态角的累积误差的移动体姿态角处理装置。 移动体姿态角处理装置根据来自安装在移动体上的加速度传感器,磁传感器和陀螺仪传感器的输出来估计移动体的姿态角,并输出如此估计的姿势角。 移动体姿态角处理装置包括:输出角速度矢量的陀螺仪传感器; 输出加速度矢量的加速度传感器; 输出磁场矢量的磁传感器; 运动状态确定装置,其根据来自加速度传感器的输出确定移动体的运动状态; 以及陀螺仪传感器零点输出估计装置,其中,当所述移动状态判定装置判定为已被检测为所述移动体的静止状态的移动状态时,执行估计所述陀螺仪的零点输出的处理 根据来自加速度传感器的输出,来自磁传感器的输出和来自陀螺传感器的输出的传感器。
    • 6. 发明授权
    • Moving body posture angle processing device
    • US08728014B2
    • 2014-05-20
    • US13001483
    • 2009-07-02
    • Masakatsu KourogiTakeshi Kurata
    • Masakatsu KourogiTakeshi Kurata
    • A61B5/103A61B5/117G01C9/00G01C17/00G01C19/00
    • A moving body attitude angle processing apparatus capable of reducing cumulative errors in continuously measuring the attitude angle of a moving body is provided. The moving body attitude angle processing apparatus estimates the attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and outputs the attitude angle thus estimated. The moving body attitude angle processing apparatus includes: a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; and a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor.
    • 7. 发明授权
    • Moving body positioning device
    • 移动体定位装置
    • US09008996B2
    • 2015-04-14
    • US13001275
    • 2009-07-02
    • Masakatsu KourogiTakeshi Kurata
    • Masakatsu KourogiTakeshi Kurata
    • G01C21/28G01C21/26G01C19/00G01C21/00G01C22/00G01C21/16G08G1/005
    • G01C21/26G01C19/00G01C21/00G01C21/16G01C21/28G01C22/00G08G1/005
    • In order to acquire positioning results (position and azimuth) of a moving body and reducing cumulative errors in integration processing of the positioning results, a moving body positioning apparatus includes: movement detecting means for detecting whether or not a moving body is moving; position acquiring means for acquiring a position of the moving body; integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and preprocessing means for preprocessing the positioning results to be inputted into the integrating means. In accordance with output from the movement detecting means, the preprocessing means inputs the positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.
    • 为了获取移动体的定位结果(位置和方位角)并减少定位结果的积分处理中的累积误差,移动体定位装置包括:移动检测装置,用于检测移动体是否正在移动; 位置获取装置,用于获取移动体的位置; 积分装置,用于将由位置获取装置获取的多个位置整体处理作为定位结果; 以及预处理装置,用于预处理要输入到积分装置的定位结果。 根据来自移动检测装置的输出,预处理装置将从位置获取装置获得的定位结果输入到整合装置中,从而整体地处理定位结果。
    • 8. 发明申请
    • MOVING BODY POSITIONING DEVICE
    • 移动身体定位装置
    • US20120237086A1
    • 2012-09-20
    • US13512696
    • 2010-12-03
    • Masakatsu KourogiTomoya IshikawaTakeshi Kurata
    • Masakatsu KourogiTomoya IshikawaTakeshi Kurata
    • G06K9/62
    • G01C21/20G01S11/12G06K9/00348G08G1/005
    • Provided is a moving body positioning device serving as an essential element for monitoring and tracing a moving body, which moving body positioning device uses an external monitoring camera.The moving body positioning device includes a self-contained sensor group that outputs a motion velocity vector of a moving body with use of an acceleration sensor provided in the moving body, a motion velocity vector estimation processing device that measures a motion velocity vector in accordance with the output of the self-contained sensor group and outputs an output sequence of the motion velocity vector together with a measured time, a monitoring camera for externally image capturing the moving body, an image analysis processing device that analyzes the image of the monitoring camera to measure a position of feet of the moving body in the image, measures a motion velocity vector at the position of the feet, and outputs an output sequence of the motion velocity vector together with a measured time, and a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device and outputs its collation result as a TRUE or a FALSE signal.
    • 提供一种移动体定位装置,其用作用于监测和跟踪移动体的基本元件,移动体定位装置使用外部监视摄像机。 移动体定位装置包括使用设置在移动体中的加速度传感器输出移动体的运动速度矢量的独立传感器组,运动速度矢量估计处理装置,其根据 独立传感器组的输出,输出运动速度矢量的输出序列以及测量时间,用于外部图像捕获移动体的监视摄像机,将监视摄像机的图像分析成图像分析处理装置 测量图像中的移动体的脚的位置,测量脚的位置处的运动速度矢量,并输出运动速度矢量与测量时间的输出序列,以及运动速度矢量对比处理装置, 将运动速度矢量估计处理装置的输出序列与imag的输出序列进行比较 e分析处理装置,并将其核对结果输出为TRUE或FALSE信号。
    • 10. 发明申请
    • MOVING BODY POSTURE ANGLE PROCESSING DEVICE
    • 移动身体角度角加工装置
    • US20110105957A1
    • 2011-05-05
    • US13001483
    • 2009-07-02
    • Masakatsu KourogiTakeshi Kurata
    • Masakatsu KourogiTakeshi Kurata
    • A61B5/11
    • G01C21/26G01C19/00G01C21/00G01C21/16G01C21/28G01C22/00G08G1/005
    • A moving body attitude angle processing apparatus capable of reducing cumulative errors in continuously measuring the attitude angle of a moving body is provided. The moving body attitude angle processing apparatus estimates the attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and outputs the attitude angle thus estimated. The moving body attitude angle processing apparatus includes: a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; and a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor.
    • 提供了能够减少连续地测量移动体姿态角的累积误差的移动体姿态角处理装置。 移动体姿态角处理装置根据来自安装在移动体上的加速度传感器,磁传感器和陀螺仪传感器的输出来估计移动体的姿态角,并输出如此估计的姿势角。 移动体姿态角处理装置包括:输出角速度矢量的陀螺仪传感器; 输出加速度矢量的加速度传感器; 输出磁场矢量的磁传感器; 运动状态确定装置,其根据来自加速度传感器的输出确定移动体的运动状态; 以及陀螺仪传感器零点输出估计装置,其中,当所述移动状态判定装置判定为已被检测为所述移动体的静止状态的移动状态时,执行估计所述陀螺仪的零点输出的处理 根据来自加速度传感器的输出,来自磁传感器的输出和来自陀螺传感器的输出的传感器。