Patents by Inventor Hiroaki Kagaya
Hiroaki Kagaya 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: 11027804Abstract: An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.Type: GrantFiled: September 8, 2017Date of Patent: June 8, 2021Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Noriyuki Okaya, Takashi Okada, Takafumi Okamoto, Hiroaki Kagaya
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Patent number: 10967943Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: GrantFiled: September 17, 2019Date of Patent: April 6, 2021Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira Kimura, Noriyuki Okaya, Kazuya Sumino, Minehiko Mukaida, Hiroaki Kagaya, Masanori Hamamatsu, Akiyoshi Saiki, Tetsuya Kubota, Masayuki Enomoto
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Publication number: 20200247514Abstract: An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.Type: ApplicationFiled: September 8, 2017Publication date: August 6, 2020Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Noriyuki OKAYA, Takashi OKADA, Takafumi OKAMOTO, Hiroaki KAGAYA
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Publication number: 20200010161Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: ApplicationFiled: September 17, 2019Publication date: January 9, 2020Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira KIMURA, Noriyuki OKAYA, Kazuya SUMINO, Minehiko MUKAIDA, Hiroaki KAGAYA, Masanori HAMAMATSU, Akiyoshi SAIKI, Tetsuya KUBOTA, Masayuki ENOMOTO
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Patent number: 10450041Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: GrantFiled: August 25, 2017Date of Patent: October 22, 2019Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira Kimura, Noriyuki Okaya, Kazuya Sumino, Minehiko Mukaida, Hiroaki Kagaya, Masanori Hamamatsu, Akiyoshi Saiki, Tetsuya Kubota, Masayuki Enomoto
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Patent number: 10227012Abstract: A brake control device of a railcar includes: a brake switching portion configured to perform switching from an operation of an electric brake device to an operation of a mechanical brake device when a switching monitoring speed obtained from a wheelset speed becomes less than a switching threshold; and an adhesion control portion configured to, when the brake switching portion performs the switching, control at least one of the electric brake device and the brake switching portion to cause a wheel to adhere to a rail.Type: GrantFiled: February 18, 2016Date of Patent: March 12, 2019Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Takafumi Okamoto, Yuta Yoshimatsu, Takeshi Morimoto, Katsuya Ihara, Hiroaki Kagaya
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Publication number: 20180037120Abstract: A brake control device of a railcar includes: a brake switching portion configured to perform switching from an operation of an electric brake device to an operation of a mechanical brake device when a switching monitoring speed obtained from a wheelset speed becomes less than a switching threshold; and an adhesion control portion configured to, when the brake switching portion performs the switching, control at least one of the electric brake device and the brake switching portion to cause a wheel to adhere to a rail.Type: ApplicationFiled: February 18, 2016Publication date: February 8, 2018Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Takafumi OKAMOTO, Yuta YOSHIMATSU, Takeshi MORIMOTO, Katsuya IHARA, Hiroaki KAGAYA
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Publication number: 20170349251Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: ApplicationFiled: August 25, 2017Publication date: December 7, 2017Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira KIMURA, Noriyuki OKAYA, Kazuya SUMINO, Minehiko MUKAIDA, Hiroaki KAGAYA, Masanori HAMAMATSU, Akiyoshi SAIKI, Tetsuya KUBOTA, Masayuki ENOMOTO
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Patent number: 9776695Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising; including a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: GrantFiled: November 1, 2016Date of Patent: October 3, 2017Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira Kimura, Noriyuki Okaya, Kazuya Sumino, Minehiko Mukaida, Hiroaki Kagaya, Masanori Hamamatsu, Akiyoshi Saiki, Tetsuya Kubota, Masayuki Enomoto
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Publication number: 20170043851Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising; including a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.Type: ApplicationFiled: November 1, 2016Publication date: February 16, 2017Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira KIMURA, Noriyuki OKAYA, Kazuya SUMINO, Minehiko MUKAIDA, Hiroaki KAGAYA, Masanori HAMAMATSU, Akiyoshi SAIKI, Tetsuya KUBOTA, Masayuki ENOMOTO
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Patent number: 9511831Abstract: An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.Type: GrantFiled: September 13, 2012Date of Patent: December 6, 2016Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira Kimura, Noriyuki Okaya, Kazuya Sumino, Minehiko Mukaida, Hiroaki Kagaya, Masanori Hamamatsu, Akiyoshi Saiki, Tetsuya Kubota, Masayuki Enomoto
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Patent number: 8836845Abstract: An imaging device having an optical imaging system which has a parallel plate which is transparent at least in a visible light region, is joined by adhesives and is held on a holding member, wherein the holding member including: an opening section which is provided in order to pass light rays from the optical imaging system; a holding surface for holding a periphery of the parallel plate, formed around the opening section in a square shape, and intersecting perpendicularly to an optical axis of the optical imaging system; a side wall which is provided to stand parallel to the optical axis at an outside with respect to the opening section of the holding surface; and an adhesive collecting section which is arranged in each of four corners of the holding surface and is hollowed from the holding surface.Type: GrantFiled: February 23, 2011Date of Patent: September 16, 2014Assignee: Konica Minolta Advanced Layers, Inc.Inventors: Hiroaki Kagaya, Toshiki Ohinata
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Publication number: 20140230713Abstract: An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.Type: ApplicationFiled: September 13, 2012Publication date: August 21, 2014Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Akira Kimura, Noriyuki Okaya, Kazuya Sumino, Minehiko Mukaida, Hiroaki Kagaya, Masanori Hamamatsu, Akiyoshi Saiki, Tetsuya Kubota, Masayuki Enomoto
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Publication number: 20130010176Abstract: An imaging device having an optical imaging system which has a parallel plate which is transparent at least in a visible light region, is joined by adhesives and is held on a holding member, wherein the holding member including: an opening section which is provided in order to pass light rays from the optical imaging system; a holding surface for holding a periphery of the parallel plate, formed around the opening section in a square shape, and intersecting perpendicularly to an optical axis of the optical imaging system; a side wall which is provided to stand parallel to the optical axis at an outside with respect to the opening section of the holding surface; and an adhesive collecting section which is arranged in each of four corners of the holding surface and is hollowed from the holding surface.Type: ApplicationFiled: February 23, 2011Publication date: January 10, 2013Applicant: Konica Minolta Advanced Layers, Inc.Inventors: Hiroaki Kagaya, Toshiki Ohinata
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Patent number: 6701196Abstract: A control unit (14) makes an end effector (10) compliant with respect to an x-axis and a y-axis which are perpendicular to a z-axis parallel to a direction in which a shaft (20) is moved for insertion and makes the end effector (10) produce a pressing force acting in a direction parallel to the z-axis to press the shaft (20) against an internally toothed disk (22). The control unit (14) moves the compliance center of the shaft (20) along a predetermined groping route in a state where the pressing force acting in the direction parallel to the z-axis is produced by the end effector (10). The shaft (20) gripped by the end effector (10) repeats radially outward movement from a position near the center of the center opening (22b) of the internally toothed disk (22) in different phases in an xy plane defined by the x-axis and the y-axis to find a position where the splines (20a) of the shaft (20) are able to engage the internal teeth (22a) of the outermost internally toothed disk (22).Type: GrantFiled: December 20, 2000Date of Patent: March 2, 2004Assignee: Kawaskai Jukogyo Kabushiki KaishaInventors: Toshiyuki Itoko, Keizo Miyahara, Hiroaki Kagaya, Jun Fujimori
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Patent number: 6429617Abstract: Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.Type: GrantFiled: October 20, 2000Date of Patent: August 6, 2002Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Masatoshi Sano, Tsuyoshi Maehara, Tetsuhiko Nishimura, Hiroaki Kagaya, Naoyuki Matsumoto
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Publication number: 20010005818Abstract: A control unit (14) makes an end effector (10) compliant with respect to an x-axis and a y-axis which are perpendicular to a z-axis parallel to a direction in which a shaft (20) is moved for insertion and makes the end effector (10) produce a pressing force acting in a direction parallel to the z-axis to press the shaft (20) against an internally toothed disk (22) . The control unit (14) moves the compliance center of the shaft (20) along a predetermined groping route in a state where the pressing force lo acting in the direction parallel to the i-axis ifs produced by the end effector (10). The shaft (20) gripped by the end effector (10) repeats radially outward movement from a position near the center of the center opening (22b) of the internally toothed disk (22) in different phases in an xy plane defined by the x-axis and the y-axis to find a position where the splines (20a) of the shaft (20) are able to engage the internal teeth (22a) of the outermost internally toothed disk (22).Type: ApplicationFiled: December 20, 2000Publication date: June 28, 2001Inventors: Toshiyuki Itoko, Keizo Miyahara, Hiroaki Kagaya, Jun Fujimori