Patents by Inventor Hajime Asama
Hajime Asama 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).
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Patent number: 11377824Abstract: The camera captures an image of a surrounding environment of a work vehicle and outputs image data indicative of the image. The shape sensor measures a three-dimensional shape of the surrounding environment and outputs 3D shape data indicative of the three-dimensional shape. A controller acquires the image data and the 3D shape data. The controller generates a three-dimensional projection model based on the 3D shape data. The three-dimensional projection model portrays the three-dimensional shape of the surrounding environment. The image is projected onto the three-dimensional projection model based on the image data, thereby generating display image data that represents a display image of the surrounding environment of the work vehicle.Type: GrantFiled: January 29, 2019Date of Patent: July 5, 2022Assignees: THE UNIVERSITY OF TOKYO, KOMATSU LTD.Inventors: Atsushi Yamashita, Soichiro Iwataki, Hiromitsu Fujii, Masataka Fuchida, Alessandro Moro, Hajime Asama, Kazuki Kure
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Publication number: 20210214922Abstract: The camera captures an image of a surrounding environment of a work vehicle and outputs image data indicative of the image. The shape sensor measures a three-dimensional shape of the surrounding environment and outputs 3D shape data indicative of the three-dimensional shape. A controller acquires the image data and the 3D shape data. The controller generates a three-dimensional projection model based on the 3D shape data. The three-dimensional projection model portrays the three-dimensional shape of the surrounding environment. The image is projected onto the three-dimensional projection model based on the image data, thereby generating display image data that represents a display image of the surrounding environment of the work vehicle.Type: ApplicationFiled: January 29, 2019Publication date: July 15, 2021Inventors: Atsushi YAMASHITA, Soichiro IWATAKI, Hiromitsu FUJII, Masataka FUCHIDA, Alessandro MORO, Hajime ASAMA, Kazuki KURE
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Patent number: 10787127Abstract: A display system includes a work vehicle, a first camera, a computation device, and a display device. The first camera is attached to one side portion of the work vehicle. The first camera has an optical axis inclined downward with respect to a horizontal direction. The first camera captures a first image including a surrounding environment of the work vehicle and a first vehicle body portion. The computation device generates a display image from the first image. The display image includes a surrounding image that depicts the surrounding environment of the work vehicle in a bird's-eye view, and a vehicle image. The vehicle image may combine a vehicle model depicted in the work vehicle and an image of the first vehicle body portion captured by the first camera, or may be an image of the first vehicle body portion. The display device displays the display image.Type: GrantFiled: September 8, 2017Date of Patent: September 29, 2020Assignees: THE UNIVERSITY OF TOKYO, KOMATSU LTD.Inventors: Atsushi Yamashita, Hajime Asama, Hiromitsu Fujii, Wei Sun, Takashi Tsukamoto, Kazuki Kure
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Patent number: 10293752Abstract: A first capturing image unit mounted on a vehicle body captures an image of surroundings of a work vehicle. A second capturing image unit is disposed above the work implement and captures an image of an area in front of the work implement. A first image generation unit generates, from the image captured by the first capturing image unit, a surroundings composite image, which depicts the surroundings of the work vehicle in a bird's-eye view and is synthesized with a vehicle model depicting the work vehicle. A second image generation unit generates, from the image captured by the second image capturing unit, a work implement composite image, which depicts the area in front of the work implement and is synthesized with the vehicle model and the surroundings composite image. A display unit displays a display image including the vehicle model, the surroundings composite image, and the work implement composite image.Type: GrantFiled: August 28, 2014Date of Patent: May 21, 2019Assignees: THE UNIVERSITY OF TOKYO, KOMATSU LTD.Inventors: Atsushi Yamashita, Soichiro Iwataki, Hajime Asama, Yuushi Oshikawa, Takashi Noda
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Publication number: 20180079361Abstract: A display system includes a work vehicle, a first camera, a computation device, and a display device. The first camera is attached to one side portion of the work vehicle. The first camera has an optical axis inclined downward with respect to a horizontal direction. The first camera captures a first image including a surrounding environment of the work vehicle and a first vehicle body portion. The computation device generates a display image from the first image. The display image includes a surrounding image that depicts the surrounding environment of the work vehicle in a bird's-eye view, and a vehicle image. The vehicle image may combine a vehicle model depicted in the work vehicle and an image of the first vehicle body portion captured by the first camera, or may be an image of the first vehicle body portion. The display device displays the display image.Type: ApplicationFiled: September 8, 2017Publication date: March 22, 2018Inventors: Atsushi YAMASHITA, Hajime ASAMA, Hiromitsu FUJII, Wei SUN, Takashi TSUKAMOTO, Kazuki KURE
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Publication number: 20170050566Abstract: A first capturing image unit mounted on a vehicle body captures an image of surroundings of a work vehicle. A second capturing image unit is disposed above the work implement and captures an image of an area in front of the work implement. A first image generation unit generates, from the image captured by the first capturing image unit, a surroundings composite image, which depicts the surroundings of the work vehicle in a bird's-eye view and is synthesized with a vehicle model depicting the work vehicle. A second image generation unit generates, from the image captured by the second image capturing unit, a work implement composite image, which depicts the area in front of the work implement and is synthesized with the vehicle model and the surroundings composite image. A display unit displays a display image including the vehicle model, the surroundings composite image, and the work implement composite image.Type: ApplicationFiled: August 28, 2014Publication date: February 23, 2017Applicant: The University of TokyoInventors: Atsushi YAMASHITA, Soichiro IWATAKI, Hajime ASAMA, Yuushi OSHIKAWA, Takashi NODA
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Patent number: 7486800Abstract: An action analysis method comprising: an image recording step for continuously photographing a target; a movement locus measuring step for obtaining a movement locus of the target; an action analysis step for analyzing an action of the target from the movement locus; and an output step. In the action analysis step, a speed v and a movement direction displacement angle ? for each unit time is obtained from the movement locus; an average value X of v·cos ? for each unit time within a predetermined time is obtained; and a predetermined extraction target is distinguished by a statistic measure using the average value as an operation element index.Type: GrantFiled: March 25, 2005Date of Patent: February 3, 2009Assignee: RikenInventors: Hajime Asama, Atsushi Morimoto, Masaomi Nishimura
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Publication number: 20080267469Abstract: The present invention provides assistance for visual observation based counting of particles or crystals. In an image of a specimen of an unidentified sample, particles are counted from an image obtained as a result of binarization using a method such as the discriminant analysis method, for example, and crystals are counted from two images using the difference between the images according with different imaging conditions. As an example, in the particle counting, such as a two-step noise removal is performed, and also, for the crystals, alignment and aspect ratio calculation are performed. In particular, the present invention can provide assistance for the dispersion staining method in which asbestos crystals are visually searched for using a phase-contrast microscope.Type: ApplicationFiled: March 12, 2008Publication date: October 30, 2008Applicants: RIKEN, TAKEDA RIKA KOGYO CO., LTD.Inventors: Kuniaki Kawabata, Yuta Komori, Taketoshi Mishima, Hajime Asama, Kei Takeda
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Patent number: 7081731Abstract: A translatory actuator unit including a translatory actuator module that moves an object straightly, a force sensor that detects a load applied to the translatory actuator module, and a servo control module that controls a speed, a position and/or output power of the translatory actuator module. The translatory actuator module, the force sensor and the servo control module are integrally configured. The servo control module has a two-way network means of receiving a control command concerning the speed, the position and/or the output power from a network, and transmitting information of the speed, the position and/or the output power to the network, a control means of controlling the speed, the position and/or the output power, and a self-diagnosis means of confirming safety and detecting an abnormal state based on detected information of the speed, the position, the load, and/or an electric current of the translatory actuator module.Type: GrantFiled: April 23, 2004Date of Patent: July 25, 2006Assignee: RIKENInventors: Hajime Asama, Kuniaki Kawabata, Hayato Kaetsu, Kazuhiro Kosuge, Yasuhiro Hirata
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Publication number: 20050254687Abstract: An action analysis method comprising: an image recording step for continuously photographing a target; a movement locus measuring step for obtaining a movement locus of the target; an action analysis step for analyzing an action of the target from the movement locus; and an output step. In the action analysis step, a speed v and a movement direction displacement angle ? for each unit time is obtained from the movement locus; an average value X of v·cos ? for each unit time within a predetermined time is obtained; and a predetermined extraction target is distinguished by a statistic measure using the average value as an operation element index.Type: ApplicationFiled: March 25, 2005Publication date: November 17, 2005Applicant: RikenInventors: Hajime Asama, Atsushi Morimoto, Masaomi Nishimura
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Patent number: 6960986Abstract: To provide a support system using a data carrier system by which an activity or a work operation by means of human beings and robots may be supported in a variety of environments. The support system comprises at least one tag being a data carrier that is disposed at a predetermined position; and at least one reader/writer that communicates with the tag; the tag being provided with an input/output means, a predetermined device being connected to the input/output means, and the predetermined device being operated by information output from the reader/writer.Type: GrantFiled: May 10, 2001Date of Patent: November 1, 2005Assignee: RikenInventors: Hajime Asama, Daisuke Kurabayashi
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Publication number: 20040215370Abstract: A translatory actuator unit including a translatory actuator module that moves an object straightly, a force sensor that detects a load applied to the translatory actuator module, and a servo control module that controls a speed, a position and/or output power of the translatory actuator module. The translatory actuator module, the force sensor and the servo control module are integrally configured. The servo control module has a two-way network means of receiving a control command concerning the speed, the position and/or the output power from a network, and transmitting information of the speed, the position and/or the output power to the network, a control means of controlling the speed, the position and/or the output power, and a self-diagnosis means of confirming safety and detecting an abnormal state based on detected information of the speed, the position, the load, and/or an electric current of the translatory actuator module.Type: ApplicationFiled: April 23, 2004Publication date: October 28, 2004Applicant: RIKENInventors: Hajime Asama, Kuniaki Kawabata, Hayato Kaetsu, Kazuhiro Kosuge, Yasuhiro Hirata
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Patent number: 6629028Abstract: In order to set target positions in the case where mobile bodies such as mobile robots transfer in accordance with a manner different from that of the prior art, a method for instructing such target positions of at least one or more of the mobile bodies contained movably in a predetermined environment comprises light beacons being produced by a light beam projecting device in a surface on which the mobile bodies are to be transferred, whereby the target positions towards which the mobile bodies are to be transferred being instructed.Type: GrantFiled: June 29, 2001Date of Patent: September 30, 2003Assignee: RikenInventors: Igor E. Paromtchik, Hajime Asama
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Patent number: 6453212Abstract: In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.Type: GrantFiled: September 7, 2000Date of Patent: September 17, 2002Assignee: RikenInventors: Hajime Asama, Hayoto Kaetsu, Kuniaki Kawabata, Kazuhiro Kosuge, Yasuhisa Hirata
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Publication number: 20020038298Abstract: An individual information management system to manage individual data comprises a data carrier which is attached to said individual, and which stores data relating to said individual, andType: ApplicationFiled: September 25, 2001Publication date: March 28, 2002Inventors: Moriaki Kusakabe, Hajime Asama, Daisuke Kurabayashi, Isao Endo, Toshikazu Ebisuzaki
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Publication number: 20020027652Abstract: In order to set target positions in the case where mobile bodies such as mobile robots transfer in accordance with a manner different from that of the prior art, a method for instructing such target positions of at least one or more of the mobile bodies contained movably in a predetermined environment comprises light beacons being produced by a light beam projecting device in a surface on which the mobile bodies are to be transferred, whereby the target positions towards which the mobile bodies are to be transferred being instructed.Type: ApplicationFiled: June 29, 2001Publication date: March 7, 2002Inventors: Igor E. Paromtchik, Hajime Asama
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Publication number: 20020024598Abstract: In order to be able to detect a three-dimensional relative position on a container load cargo with respect to a hoisting accessory, a detecting system for a container's location is provided with a plurality of CCD cameras disposed vertically downward on the hoisting accessory, which is mounted on a crane for conveying containers, and photographing a plurality of corner fittings mounted on the upper surface of the container load cargo, respectively; a distance finder for determining a distance between the hoisting accessory and the container load cargo; an image processor for image-processing video signals from the CCD cameras to detect two-dimensional coordinates of the corner fittings on the upper surface of the container load cargo; and an arithmetic and control unit for performing an arithmetical operation of the three-dimensional relative position on the surface of the container load cargo with respect to the hoisting accessory on the basis of the two-dimensional coordinates of the plurality of corner fitType: ApplicationFiled: July 25, 2001Publication date: February 28, 2002Inventors: Satoshi Kunimitsu, Hajime Asama
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Publication number: 20010052842Abstract: To provide a support system using a data carrier system by which an activity or a work operation by means of human beings and robots may be supported in a variety of environments. The support system comprises at least one tag being a data carrier that is disposed at a predetermined position; and at least one reader/writer that communicates with the tag; the tag being provided with an input/output means, a predetermined device being connected to the input/output means, and the predetermined device being operated by information output from the reader/writer.Type: ApplicationFiled: May 10, 2001Publication date: December 20, 2001Inventors: Hajime Asama, Daisuke Kurabayashi
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Patent number: 5929778Abstract: A data carrier system allows data to be transmitted and received. The data is transmitted using weak radio waves of suitable frequencies, such as frequencies in a high frequency band (HF) or a very high frequency band (VHF). The transmitters and receivers need not physically contact each other, be located in any particular position, or be oriented in any particular direction. The data carrier system does not suffer deficiencies in electric power supply, and therefore there exists no need to exchange batteries. Individual transmitters and receivers are positively discriminated one from another. The receivers are in the form of a plurality of tags. The transmitters are in the form of a plurality of reader-writers. Both are controlled by microcomputers, and each tag is equipped with a secondary battery as the power source.Type: GrantFiled: November 9, 1995Date of Patent: July 27, 1999Assignees: Rikagaku Kenkyusho, Sigma Systems Co., Ltd.Inventors: Hajime Asama, Hayato Kaetsu, Shin-ya Kotosaka, Isao Endo, Sakae Miyao, Atsusi Nakamura
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Patent number: 5819008Abstract: An object of the present invention is to provide a sensor system which can effect local communications suitable for exchanging information to avoid collisions between mobile robots. The sensor system also prevents collisions between the mobile robots and obstacles. The system is well-suited for a multi-robot environment where multiple mobile robots operate. The system includes infrared signal transmitters installed in each of the multiple mobile robots for sending transmission data via infrared signals. The system further includes infrared signal receivers installed in each of the multiple mobile robots for receiving the transmission data sent by the infrared signal transmitters. Each mobile robot includes a control unit. The control unit prepares transmission information which includes mobile robot identification information unique to the mobile robot. The transmission information is included in the transmission data sent from the infrared signal transmitter.Type: GrantFiled: June 14, 1996Date of Patent: October 6, 1998Assignee: Rikagaku KenkyushoInventors: Hajime Asama, Hayato Kaetsu, Shoji Suzuki, Yoshikazu Arai, Shin-ya Kotosaka, Isao Endo