CN106062823B - 作业机械的周围监视装置 - Google Patents

作业机械的周围监视装置 Download PDF

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Publication number
CN106062823B
CN106062823B CN201580011783.6A CN201580011783A CN106062823B CN 106062823 B CN106062823 B CN 106062823B CN 201580011783 A CN201580011783 A CN 201580011783A CN 106062823 B CN106062823 B CN 106062823B
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CN
China
Prior art keywords
image
shadow
work machine
profile
extraction unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201580011783.6A
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English (en)
Chinese (zh)
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CN106062823A (zh
Inventor
小沼知惠子
弓场龙
福田善文
川股幸博
古渡阳
古渡阳一
太田守飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of CN106062823A publication Critical patent/CN106062823A/zh
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Expired - Fee Related legal-status Critical Current
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
CN201580011783.6A 2014-04-24 2015-03-04 作业机械的周围监视装置 Expired - Fee Related CN106062823B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014-090679 2014-04-24
JP2014090679A JP6178280B2 (ja) 2014-04-24 2014-04-24 作業機械の周囲監視装置
PCT/JP2015/056432 WO2015163015A1 (ja) 2014-04-24 2015-03-04 作業機械の周囲監視装置

Publications (2)

Publication Number Publication Date
CN106062823A CN106062823A (zh) 2016-10-26
CN106062823B true CN106062823B (zh) 2019-04-02

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CN201580011783.6A Expired - Fee Related CN106062823B (zh) 2014-04-24 2015-03-04 作业机械的周围监视装置

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Country Link
US (1) US10160383B2 (enExample)
EP (1) EP3136341B1 (enExample)
JP (1) JP6178280B2 (enExample)
CN (1) CN106062823B (enExample)
WO (1) WO2015163015A1 (enExample)

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WO2017094627A1 (ja) * 2015-11-30 2017-06-08 住友重機械工業株式会社 作業機械用周辺監視システム
JP6572156B2 (ja) * 2016-03-02 2019-09-04 株式会社神戸製鋼所 建設機械の干渉防止装置
JP6729146B2 (ja) * 2016-08-03 2020-07-22 コベルコ建機株式会社 障害物検出装置
JP6599835B2 (ja) * 2016-09-23 2019-10-30 日立建機株式会社 鉱山用作業機械、障害物判別装置、及び障害物判別方法
JP6855254B2 (ja) * 2017-01-12 2021-04-07 株式会社デンソーテン 画像処理装置、画像処理システム、及び、画像処理方法
KR102449834B1 (ko) * 2017-02-17 2022-09-29 스미도모쥬기가이고교 가부시키가이샤 작업기계용 주변감시 시스템
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CN110998669B (zh) * 2017-08-08 2023-12-08 索尼公司 图像处理装置和方法
JP6969983B2 (ja) * 2017-11-10 2021-11-24 株式会社小松製作所 ダンプトラック
JP6900897B2 (ja) * 2017-12-25 2021-07-07 コベルコ建機株式会社 建設機械の障害物検出装置
KR102659075B1 (ko) * 2018-03-26 2024-04-18 스미토모 겐키 가부시키가이샤 쇼벨
JP7160606B2 (ja) * 2018-09-10 2022-10-25 株式会社小松製作所 作業機械の制御システム及び方法
US11620736B2 (en) * 2018-10-29 2023-04-04 Pfu Limited Image processing device, control method, and control program
GB2582323B (en) * 2019-03-19 2022-02-09 Jaguar Land Rover Ltd Image processing system and method
CN110099268B (zh) * 2019-05-28 2021-03-02 吉林大学 色彩自然匹配与显示区自然融合的盲区透视化显示方法
US10949685B2 (en) 2019-07-22 2021-03-16 Caterpillar Inc. Excluding a component of a work machine from a video frame based on motion information
JP7310526B2 (ja) * 2019-10-14 2023-07-19 株式会社デンソー 障害物識別装置および障害物識別プログラム
US11320830B2 (en) 2019-10-28 2022-05-03 Deere & Company Probabilistic decision support for obstacle detection and classification in a working area
JP7065068B2 (ja) * 2019-12-13 2022-05-11 本田技研工業株式会社 車両周囲監視装置、車両、車両周囲監視方法およびプログラム
CN111462220B (zh) * 2020-04-03 2025-01-24 深圳前海微众银行股份有限公司 待侦测物体阴影面积提取方法、装置、设备及介质
CN115298394B (zh) * 2020-05-29 2025-02-25 日立建机株式会社 作业机械
JP6991285B2 (ja) * 2020-07-28 2022-01-12 株式会社クボタ 作業車
JP7739042B2 (ja) 2021-05-14 2025-09-16 ヤンマーホールディングス株式会社 安全監視システムの制御方法及び安全監視システム
JP2023074040A (ja) * 2021-11-17 2023-05-29 コベルコ建機株式会社 監視エリア設定システム
US20230306707A1 (en) * 2022-03-28 2023-09-28 Hl Klemove Corp. Around view monitoring system and the method thereof
US20250044764A1 (en) * 2023-08-01 2025-02-06 Caterpillar Inc. Nuisance condition detection system

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Also Published As

Publication number Publication date
JP2015210602A (ja) 2015-11-24
JP6178280B2 (ja) 2017-08-09
EP3136341A4 (en) 2018-01-03
US10160383B2 (en) 2018-12-25
US20170018070A1 (en) 2017-01-19
CN106062823A (zh) 2016-10-26
EP3136341A1 (en) 2017-03-01
WO2015163015A1 (ja) 2015-10-29
EP3136341B1 (en) 2020-03-04

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