Patents by Inventor Azusa Amino

Azusa Amino has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10625416
    Abstract: In order to make learning efficient for a robot, a robot operation device is provided with operation information input units for generating operation information specifying a state of a robot on the basis of an operation by an operator, a control unit for controlling the robot on the basis of the operation information, a non-operation information collecting unit for collecting non-operation information which is information that relates to the operator and does not affect the state of the robot, an action analysis unit for estimating the state of the operator on the basis of the non-operation information, and an action learning unit for learning the operation of the operator on the basis of the operation information and the estimation result of the action analysis unit.
    Type: Grant
    Filed: March 9, 2016
    Date of Patent: April 21, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Ryosuke Nakamura, Azusa Amino, Taishi Ueda, Akihiro Yamamoto
  • Patent number: 10365657
    Abstract: An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
    Type: Grant
    Filed: April 3, 2014
    Date of Patent: July 30, 2019
    Assignee: HITACHI, LTD.
    Inventors: Mikio Tokuyama, Kenjiro Yamamoto, Taiki Iimura, Azusa Amino
  • Publication number: 20190100263
    Abstract: A humanoid robot includes: a body portion; a head portion; a left arm and a right arm that have ends connected to the left and right at an upper portion of the body portion; a left foot and a right foot that have ends connected to the left and right at a lower portion of the body portion; and a left running unit and a right running unit provided to the other ends of the left foot and the right foot. The left running unit has a left drive wheel on a front side of an advancing direction and a left follower wheel on a rear side in the advancing direction, the right running unit has a right drive wheel on a front side of the advancing direction, and a right follower wheel on a rear side in the advancing direction.
    Type: Application
    Filed: March 8, 2017
    Publication date: April 4, 2019
    Inventors: Azusa AMINO, Ryoko ICHINOSE, Ryosuke NAKAMURA, Akihiro YAMAMOTO
  • Patent number: 10198008
    Abstract: A mobile robot system includes an outside world sensor, a traveling unit, and a control unit. The control unit is configured to provide a history map data. Based on environment information obtained from the outside world sensor, a mobile object appearance point at which no mobile body exists at present but there is the possibility that a mobile body may appear in the future is recognized. In recognizing a door as the mobile object appearance location, if part of an object being obtained from the outside world sensor and having a width equal to or greater than a predetermined width set in advance belongs to an object movement position recorded in the velocity history map, then the part is recognized as a door.
    Type: Grant
    Filed: November 15, 2013
    Date of Patent: February 5, 2019
    Assignee: Hitachi, Ltd.
    Inventors: Taishi Ueda, Ryosuke Nakamura, Azusa Amino
  • Patent number: 9977044
    Abstract: An optical velocity measuring apparatus which can restrict the effect of rotational motion of a moving object and estimate a velocity of its own with high accuracy, for a moving object with no wheels or a moving object of which the wheels slip includes an imager, provided in a moving object, for imaging a traveling surface such that a shift amount of each pixel at a time when an imaging target surface has shifted varies depending on a position of the pixel within an image, and the optical velocity measuring apparatus acquires a pixel shift amount gradient, which is a change in the shift amount of each pixel with respect to a predetermined axis, from a plurality of images captured by an image capturing device in a time series and a velocity of the moving object from the pixel shift amount gradient is acquired.
    Type: Grant
    Filed: July 30, 2014
    Date of Patent: May 22, 2018
    Assignee: HITACHI LTD.
    Inventors: Taishi Ueda, Ryosuke Nakamura, Azusa Amino
  • Patent number: 9952598
    Abstract: A mobile robot system capable of estimating the occurrence of various risks within its environment and executing appropriate processing to achieve an objective is provided. The mobile robot system includes an environment recognition unit for recognizing an external environment, a travelling unit, and a travelling control unit which controls the travelling unit on the basis of environment information from the environment recognition unit. The mobile robot system also includes a calculation unit which generates a travelling command to the travelling control unit, a potential risk area recognition unit, and a risk occurrence condition detection unit. When a risk occurrence condition is satisfied, the calculation unit calculates a degree of influence of the occurring risk on achievement of an objective quantitatively in each stage. When the possibility of achieving the object is low, a movement planning unit replans a moving route to raise the possibility of achieving the objective.
    Type: Grant
    Filed: May 18, 2016
    Date of Patent: April 24, 2018
    Assignee: Hitachi, Ltd.
    Inventors: Taishi Ueda, Ryosuke Nakamura, Azusa Amino
  • Publication number: 20180099407
    Abstract: In order to make learning efficient for a robot, a robot operation device is provided with operation information input units for generating operation information specifying a state of a robot on the basis of an operation by an operator, a control unit for controlling the robot on the basis of the operation information, a non-operation information collecting unit for collecting non-operation information which is information that relates to the operator and does not affect the state of the robot, an action analysis unit for estimating the state of the operator on the basis of the non-operation information, and an action learning unit for learning the operation of the operator on the basis of the operation information and the estimation result of the action analysis unit.
    Type: Application
    Filed: March 9, 2016
    Publication date: April 12, 2018
    Inventors: Ryosuke NAKAMURA, Azusa AMINO, Taishi UEDA, Akihiro YAMAMOTO
  • Publication number: 20170322232
    Abstract: An optical velocity measuring apparatus which can restrict the effect of rotational motion of a moving object and estimate a velocity of its own with high accuracy, for a moving object with no wheels or a moving object of which the wheels slip includes an imager, provided in a moving object, for imaging a traveling surface such that a shift amount of each pixel at a time when an imaging target surface has shifted varies depending on a position of the pixel within an image, and the optical velocity measuring apparatus acquires a pixel shift amount gradient, which is a change in the shift amount of each pixel with respect to a predetermined axis, from a plurality of images captured by the imaging means in a time series and a velocity of the moving object from the pixel shift amount gradient is acquired.
    Type: Application
    Filed: July 30, 2014
    Publication date: November 9, 2017
    Applicant: HITACHI, LTD.
    Inventors: Taishi UEDA, Ryosuke NAKAMURA, Azusa AMINO
  • Patent number: 9644627
    Abstract: A gear pump includes a pair of gears that meshes with each other, two rotational shafts inserted into the respective gears that rotate together with gears, a pair of side plates arranged adjacent to both side surfaces of the gears, each having two through-holes forming bearings of the two shafts, a seal block that abuts against the pair of side plates and covers a part of the pair of gears, a pump assembly having the gears, the two shafts, the pair of side plates, and the seal block, and a case having a recess to accommodate the pump assembly. A line passing through an arc center of a cylindrical surface inscribed in the facing surface of the case, and parallel to the two shafts, forms a rotating axis. When the pump assembly rotates about the rotating axis, one of the of side plates contacts the inner wall of the case.
    Type: Grant
    Filed: June 28, 2012
    Date of Patent: May 9, 2017
    Assignee: Hitachi, Ltd.
    Inventors: Takahiro Ito, Isao Hayase, Tadashi Osaka, Azusa Amino
  • Patent number: 9588518
    Abstract: A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.
    Type: Grant
    Filed: May 18, 2012
    Date of Patent: March 7, 2017
    Assignee: Hitachi, Ltd.
    Inventors: Ryosuke Nakamura, Azusa Amino, Taishi Ueda
  • Publication number: 20170017237
    Abstract: An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
    Type: Application
    Filed: April 3, 2014
    Publication date: January 19, 2017
    Applicant: HITACHI, LTD.
    Inventors: Mikio TOKUYAMA, Kenjiro YAMAMOTO, Taiki IIMURA, Azusa AMINO
  • Publication number: 20160370802
    Abstract: According to the present device, a mobile robot system capable of estimating the occurrence of various risks within its environment and executing appropriate processing to achieve an objective is to be provided. A mobile robot system includes: an environment recognition unit for recognizing an external environment; a travelling unit; a travelling control unit which controls the travelling unit on the basis of environment information from the environment recognition unit; a calculation unit which generates a travelling command to the travelling control unit; a potential risk area recognition unit; and a risk occurrence condition detection unit. The calculation unit includes an objective setting unit, an occurring risk attribute recognition unit, and an own location recognition unit, and also includes a movement planning unit.
    Type: Application
    Filed: May 18, 2016
    Publication date: December 22, 2016
    Inventors: Taishi UEDA, Ryosuke NAKAMURA, Azusa AMINO
  • Patent number: 9475194
    Abstract: An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.
    Type: Grant
    Filed: April 26, 2012
    Date of Patent: October 25, 2016
    Assignee: HITACHI, LTD.
    Inventors: Taishi Ueda, Ryosuke Nakamura, Azusa Amino
  • Publication number: 20160299509
    Abstract: The present invention provides a mobile robot system which predicts, in an environment in which mobile objects such as people come and go, a place at which the possibility that a mobile object may appear is high and a potential mobile object and can efficiently avoid collision with a mobile object. The mobile robot system includes an outside world sensor that measures a position of an object in a surrounding environment, a traveling unit that displaces an own position, and a control unit that controls the traveling unit.
    Type: Application
    Filed: November 15, 2013
    Publication date: October 13, 2016
    Inventors: Taishi UEDA, Ryosuke NAKAMURA, Azusa AMINO
  • Publication number: 20160251077
    Abstract: To provide a small flying object that is inexpensive and capable of stable flying. In order to solve the above problem, a representative example of the small flying object of the present invention includes an upper rotor that generates thrust by rotating, a lower rotor that is disposed below the upper rotor and rotates coaxially with the upper motor and in the opposite direction to the upper motor, and an inertia balancer that is connected to one of the rotors having a lower rotation speed during hovering among the upper rotor and the lower rotor, and rotates integrally with the one rotor. The inertia balancer compensates a difference between an angular momentum of the one rotor and an angular moment of the other rotor during hovering.
    Type: Application
    Filed: February 24, 2016
    Publication date: September 1, 2016
    Inventors: Azusa AMINO, Yukio YAMAMOTO
  • Patent number: 9317035
    Abstract: When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 19, 2016
    Assignee: HITACHI, LTD.
    Inventors: Ryosuke Nakamura, Azusa Amino, Taishi Ueda
  • Patent number: 9290109
    Abstract: The invention is directed to an inverted pendulum moving apparatus that may address various kinds of disturbance forces and a control method therefor. The apparatus has one or more wheels coaxially arranged and a center of gravity of parts other than the wheel located above an axle, includes an inversion control part that discriminates a cause of a disturbance force based on a wheel rotation speed of the wheel and the disturbance force and determines output torque to the wheel based on the determination result.
    Type: Grant
    Filed: December 9, 2011
    Date of Patent: March 22, 2016
    Assignee: Hitachi, Ltd.
    Inventors: Ryosuke Nakamura, Azusa Amino, Taishi Ueda
  • Patent number: 9235895
    Abstract: The invention is directed to detecting a boundary position between a foot and a lower leg of a person in an image acquired by an imaging unit, the boundary position being a substantial boundary part, in a lower limb, between the foot, which is a part from a malleolus to a tip part, and the lower leg; detecting a feature quantity that makes it possible to classify a ground and a part other than the ground in the image; setting, in a peripheral region around the boundary position, a plurality of local regions having positional information and/or direction information relative to the boundary position, and determining whether each of the local regions is the ground or the part other than the ground by using the feature quantity unique to the ground; determining a foot region from the local region determined as the part other than the ground; and estimating a direction of the foot of the person from the local region classified as the foot region and from the information.
    Type: Grant
    Filed: December 13, 2011
    Date of Patent: January 12, 2016
    Assignee: Hitachi, Ltd.
    Inventors: Taishi Ueda, Ryosuke Nakamura, Azusa Amino
  • Patent number: D824978
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: August 7, 2018
    Assignee: Hitachi, Ltd.
    Inventors: Azusa Amino, Manabu Yanagimoto, Ryosuke Nakamura, Hisahiro Koshizuka, Akihiro Yamamoto
  • Patent number: D879853
    Type: Grant
    Filed: December 3, 2018
    Date of Patent: March 31, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Ryusuke Baba, Azusa Amino