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1. 发明申请

WO2023089372A2 VITAL INFORMATION ACQUISITION APPARATUS AND METHOD 审中-公开
公开(公告)号：WO2023089372A2
公开(公告)日：2023-05-25
申请号：PCT/IB2022/000663
申请日：2022-11-07
申请人： SAKAMOTO, Takuya , SATO, Toru , OKUMURA, Shigeaki , TAKI, Hirofumi , IWATA, Itsuki , KODA, Takato
发明人： SAKAMOTO, Takuya , SATO, Toru , OKUMURA, Shigeaki , TAKI, Hirofumi , IWATA, Itsuki , KODA, Takato
摘要： The present invention aims at a vital information acquisition apparatus, comprising: a microwave radar system which includes at least one transmitting antenna and at least one receiving antenna and is configured to transmit a plurality of microwaves to a subject and receive a plurality of microwaves reflected by the subject; and a controller comprising circuitry configured to convert a plurality of received microwaves to a plurality of radar signals, store the radar signals, calculate the phase signals of the radar signals, and calculate the first- or higher-order derivatives of each phase signal, and estimate heartbeat intervals and/or respiratory intervals from the phase signals and/or their derivatives using one of periodicity detection techniques; the periodicity finding techniques include autocorrelation, frequency analysis using Fourier transform, and zero-crossing detection algorithm. Another aspect of the present invention is a vital information acquisition method that stores the radar signals, calculates the phase signals of the radar signals, and calculates the first- or higher-order derivatives of each phase signal, and estimates heartbeat intervals and/or respiratory intervals from the phase signals and/or their derivatives using one of periodicity detection techniques; the periodicity finding techniques include autocorrelation, frequency analysis using Fourier transform, and zero-crossing detection algorithm.

2. 发明申请

WO1992002398A1 DISASTER RELIEF ROBOT AND ITS OPERATION CONTROLLER 审中-公开
标题翻译：灾难救援机器人及其操作控制器
公开(公告)号：WO1992002398A1
公开(公告)日：1992-02-20
申请号：PCT/JP1991001061
申请日：1991-08-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , OGAKI, Koji , MATSUDA, Tomowo , TAKAGI, Kimihiko , SAKAMOTO, Takuya
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B62D55/065
CPC分类号： B62D55/065
摘要： A disaster relief robot and its operation controller. When relief goods, medicines, foods, etc., are transported outdoors to the site of disasters such as earthquakes, heavy rainfalls, landslides, etc., at the time of a wide area disaster, the present invention can prevent accidents such as the drop from cliffs, etc., and can secure also safety of an operator. To this end, track frames (16) of a crawler are fitted pivotally to the right and left sides at both of the front and rear portions of a robot body (10). The distance (L) between the pivots of front and rear crawlers (12F, 12R) is such that the maximum loci (CF, CR) of the front and rear crawlers may not meet, and the centroid (G) of the robot body exists at the intermediate position of the distance (L). The present invention proposes also various kinds of operation controllers.

3. 发明申请

WO2013032021A1 SUBJECT INFORMATION OBTAINING APPARATUS, METHOD FOR OBTAINING SUBJECT INFORMATION, AND PROGRAM 审中-公开
标题翻译：主题信息获取设备，获取主题信息的方法和程序
公开(公告)号：WO2013032021A1
公开(公告)日：2013-03-07
申请号：PCT/JP2012/072525
申请日：2012-08-29
申请人： CANON KABUSHIKI KAISHA , NAGAE, Kenichi , TAKI, hirofumi , SAKAMOTO, takuya , SATO, toru
发明人： NAGAE, Kenichi , TAKI, hirofumi , SAKAMOTO, takuya , SATO, toru
IPC分类号： G01S7/52 , G01S15/89 , A61B8/08
CPC分类号： A61B8/485 , A61B8/5223 , G01S7/52028 , G01S7/52047 , G01S15/8977
摘要： If there is a difference between the waveform of a received reflected elastic wave and the waveform of a reference signal when processing is performed using a Frequency-Domain Interferometry (FDI) method and adaptive signal processing, a resultant image can deteriorate. A subject information obtaining apparatus in the present invention includes a plurality of conversion elements configured to receive an elastic wave and convert the elastic wave into a plurality of received signals, a storage unit configured to store a plurality of reference signals corresponding to shapes of the object inside a subject, and an FDI adaptive processing unit configured to execute the FDI method and the adaptive signal processing using the plurality of received signals and two or more reference signals among the plurality of reference signals, in order to obtain two or more power intensity distributions for the two or more reference signals.
摘要翻译：如果当使用频域干涉测量（FDI）方法和自适应信号处理进行处理时，接收到的反射弹性波的波形与参考信号的波形之间存在差异，则所得图像可能劣化。本发明的被摄体信息获取装置包括：多个转换元件，被配置为接收弹性波并将弹性波转换成多个接收信号;存储单元，被配置为存储对应于该物体的形状的多个参考信号以及FDI自适应处理单元，被配置为使用所述多个接收信号和所述多个参考信号中的两个或更多个参考信号执行所述FDI方法和自适应信号处理，以获得两个或更多个功率强度分布用于两个或更多个参考信号。

4. 发明申请

WO2021171091A2 VITAL INFORMATION ACQUISITION APPARATUS AND METHOD 审中-公开
公开(公告)号：WO2021171091A2
公开(公告)日：2021-09-02
申请号：PCT/IB2021/000113
申请日：2021-03-01
申请人： SAKAMOTO, Takuya , TAKI, Kirofumi , OKUMURA, Shigeaki , IWATA, Shunsuke , KODA, Takato
发明人： SAKAMOTO, Takuya , TAKI, Kirofumi , OKUMURA, Shigeaki , IWATA, Shunsuke , KODA, Takato
IPC分类号： A61B5/0507 , A61B5/024 , A61B5/08 , G01S7/02 , G01S13/06 , A61B5/11 , A61B5/02444 , A61B5/0816 , A61B5/1113 , G01S13/0209 , G01S13/50 , G01S7/415
摘要： A vital information acquisition apparatus includes an ultra-wideband millimeter-wave radar system which includes at least one transmitting antenna and at least one receiving antenna and is configured to transmit ultra-wideband millimeter-waves to a subject and receive ultra- wideband millimeter-waves reflected by the subject, and a controller includes circuitry that converts a plurality of received ultra- wideband millimeter-waves to radar signals reflected by the subject, stores the radar signals, calculates the differential signals among the radar signals at each position, calculates the intensity of the differential signals at each position, and estimates respiratory intervals, heartbeat intervals and position of the subject.

5. 发明申请

WO2013032018A1 SUBJECT INFORMATION OBTAINING APPARATUS, SUBJECT INFORMATION OBTAINING METHOD, AND PROGRAM 审中-公开
标题翻译：主题信息获取装置，主题信息获取方法和程序
公开(公告)号：WO2013032018A1
公开(公告)日：2013-03-07
申请号：PCT/JP2012/072519
申请日：2012-08-29
申请人： CANON KABUSHIKI KAISHA , NAGAE, Kenichi , TAKI, hirofumi , SAKAMOTO, takuya , SATO, toru
发明人： NAGAE, Kenichi , TAKI, hirofumi , SAKAMOTO, takuya , SATO, toru
IPC分类号： G01S7/52 , G01S15/89 , A61B8/08
CPC分类号： G01S7/52 , A61B8/0891 , A61B8/5207 , G01S7/52028 , G01S7/52047 , G01S7/52077 , G01S15/02 , G01S15/8977
摘要： When a processing is carried out by using a Frequency-Domain Interferometry (FDI) method and an adaptive signal processing, a part where a continuity between adjacent scanning lines is scarce may occur. A subject information obtaining apparatus according to an aspect of the present invention includes a plurality of conversion elements configured to convert an elastic wave from a subject into a plurality of reception signals, a delay and sum unit configured to perform a delay and sum process by using the plurality of reception signals and output a plurality of scanning line signals, a scanning line synthesis unit configured to add the plurality of scanning line signals between adjacent scanning lines and output a plurality of synthesis scanning line signals, and an FDI adaptive processing unit configured to perform a frequency domain interferometry and an adaptive signal processing by using the plurality of synthesis scanning line signals and obtain a power intensity distribution.
摘要翻译：当通过使用频域干涉测量（FDI）方法和自适应信号处理进行处理时，可能发生相邻扫描线之间的连续性很少的部分。根据本发明的一个目的的信息获取装置包括多个转换元件，被配置为将来自被摄体的弹性波转换为多个接收信号，延迟和和单元被配置为通过使用所述多个接收信号并输出多个扫描线信号;扫描线合成部，被配置为将相邻扫描线之间的多条扫描线信号相加，并输出多条合成扫描线信号; FDI自适应处理部，通过使用多个合成扫描线信号进行频域干涉测量和自适应信号处理，并获得功率强度分布。

6. 发明申请

WO1993021053A1 TRACTION CONTROLLER FOR CRAWLER VEHICLES 审中-公开
标题翻译：牵引车辆牵引控制器
公开(公告)号：WO1993021053A1
公开(公告)日：1993-10-28
申请号：PCT/JP1993000507
申请日：1993-04-20
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TORII, Tetsuo , TAKAGI, Kimihiko , MATSUDA, Tomoo , HONDA, Shigeru , SAKAMOTO, Takuya , NAKAMURA, Soichi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B62D55/065
CPC分类号： B62D55/065
摘要： This invention relates to the controlling of the travel of a crawler vehicle and aims at resolving the issue of making a crawler vehicle travel on an ungraded land with the crawlers effectively gripping the road surface. According to the present invention, the loads imparted to crawlers (12FL, 12FR, 12RL, 12RR) are detected, and, on the basis of the results of this detection, the sum of the loads on a pair of crawlers (12FL, 12RR) at the front left and rear right sides of a vehicle and the sum of the loads on a pair of crawlers (12FR, 12RL) at the front right and rear left sides thereof are computed. When a difference between the sums thus computed has become not lower than a predetermined level, it means that diagonal stack occurs. In such a case, the pivots (14) of a pair of crawlers having smaller loads are driven in a direction in which the loads imparted to the same crawlers increase, so that the floated pair of crawlers contact the road surface, these crawlers thus capable of providing an effective driving force. This invention is used mainly when a natural disaster rescue crawler vehicle travels on an outdoor ungraded land.
摘要翻译：本发明涉及履带式车辆行驶的控制，其目的在于解决在爬行器有效地抓地面的情况下使履带车行驶在未分级地面上的问题。根据本发明，检测到履带（12FL，12FR，12RL，12RR）施加的载荷，并且根据该检测结果，一对履带（12FL，12RR）上的载荷总和在车辆的前左后侧和后右侧，计算前右后侧的一对履带（12FR，12RL）上的载荷的总和。当这样计算的和之间的差异已经变得不低于预定水平时，意味着发生对角线堆叠。在这种情况下，具有较小载荷的一对履带的枢轴（14）沿着施加给同一履带的载荷增加的方向被驱动，使得浮动的一对履带与路面接触，因此这些爬行能力提供有效的驱动力。本发明主要用于自然灾害救援爬行车在户外未分级土地上行驶。

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