JP2016115259A5 - - Google Patents
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- JP2016115259A5 JP2016115259A5 JP2014255194A JP2014255194A JP2016115259A5 JP 2016115259 A5 JP2016115259 A5 JP 2016115259A5 JP 2014255194 A JP2014255194 A JP 2014255194A JP 2014255194 A JP2014255194 A JP 2014255194A JP 2016115259 A5 JP2016115259 A5 JP 2016115259A5
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- work machine
- monitoring device
- luminance
- region
- image
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- 235000019557 luminance Nutrition 0.000 claims 12
- 238000001514 detection method Methods 0.000 claims 3
- 238000000605 extraction Methods 0.000 claims 2
- 239000000284 extract Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 230000002093 peripheral Effects 0.000 claims 1
Claims (6)
当該領域抽出部で抽出された第１領域のうち前記画像中に予め設定した第２領域に重なる第１領域の内部に含まれる一部または全部の画素の輝度を算出する輝度算出部と、
当該輝度算出部で輝度が算出された前記第１領域の輝度分布の傾向に基づいて当該第１領域内の障害物の有無を検知する障害物検知部と
を備えることを特徴とする作業機械の周囲監視装置。 An area extraction unit that extracts a first area that may contain an obstacle in the image, based on a feature amount of an image around the work machine photographed by the camera;
A luminance calculation unit that calculates the luminance of some or all of the pixels included in the first region that overlaps the second region set in advance in the image of the first region extracted by the region extraction unit;
An obstacle detection unit that detects the presence or absence of an obstacle in the first region based on a tendency of the luminance distribution of the first region, the luminance of which is calculated by the luminance calculation unit. Ambient monitoring device.
前記障害物検知部は、前記輝度算出部で輝度を算出された画素が或る値又は或る範囲の輝度に集中して現れるピークの数が所定の閾値を超える場合に前記第１領域内に障害物が存在すると検知することを特徴とする作業機械の周囲監視装置。 In the work machine surroundings monitoring device according to claim 1,
The obstacle detection unit is included in the first region when the number of pixels whose luminance has been calculated by the luminance calculation unit is concentrated on a certain value or a certain range of luminance exceeds a predetermined threshold. A work machine ambient monitoring device that detects the presence of an obstacle.
前記輝度算出部は、前記輝度算出部で輝度が算出された前記第１領域内に含まれる複数のコーナーのそれぞれを基準として設定した複数のコーナー周辺領域に含まれる画素の輝度を算出することを特徴とする作業機械の周囲監視装置。 In the work machine surroundings monitoring device according to claim 1,
The luminance calculation unit calculates luminances of pixels included in a plurality of corner peripheral regions set based on each of the plurality of corners included in the first region where the luminance is calculated by the luminance calculation unit. A work machine ambient monitoring device.
前記第２領域は、前記カメラの設置高さ、前記カメラのレンズ歪み、および前記画像内における前記カメラからの距離の少なくとも１つに基づいて設定されることを特徴とする作業機械の周囲監視装置。 In the work machine surroundings monitoring device according to claim 1,
The work area surroundings monitoring device characterized in that the second area is set based on at least one of an installation height of the camera, lens distortion of the camera, and a distance from the camera in the image. .
前記画像を利用して前記作業機械を含む俯瞰画像を作成する画像合成部と、
前記障害物検知部によって検知された前記障害物の位置を前記俯瞰画像上に表示する表示部とをさらに備えることを特徴とする作業機械の周囲監視装置。 In the work machine surroundings monitoring device according to claim 1 ,
An image combining unit that creates an overhead image including the work machine by using the image,
A work machine surroundings monitoring device further comprising: a display unit that displays the position of the obstacle detected by the obstacle detection unit on the overhead image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014255194A JP6420657B2 (en) | 2014-12-17 | 2014-12-17 | Work machine and surrounding monitoring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014255194A JP6420657B2 (en) | 2014-12-17 | 2014-12-17 | Work machine and surrounding monitoring device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2016115259A JP2016115259A (en) | 2016-06-23 |
| JP2016115259A5 true JP2016115259A5 (en) | 2017-11-02 |
| JP6420657B2 JP6420657B2 (en) | 2018-11-07 |
Family
ID=56142069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2014255194A Expired - Fee Related JP6420657B2 (en) | 2014-12-17 | 2014-12-17 | Work machine and surrounding monitoring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6420657B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6886929B2 (en) * | 2018-01-09 | 2021-06-16 | 日立建機株式会社 | Transport vehicle |
| JP6935350B2 (en) * | 2018-03-19 | 2021-09-15 | 日立建機株式会社 | Surveillance device and trolley type vehicle |
| CN111830988A (en) * | 2020-07-29 | 2020-10-27 | 苏州科瓴精密机械科技有限公司 | Automatic walking equipment, control method and system thereof and readable storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007156626A (en) * | 2005-12-01 | 2007-06-21 | Nissan Motor Co Ltd | Object type determination device and object type determination method |
| JP4864953B2 (en) * | 2008-10-08 | 2012-02-01 | 本田技研工業株式会社 | Vehicle periphery monitoring device |
| JP5198346B2 (en) * | 2009-04-23 | 2013-05-15 | 本田技研工業株式会社 | Vehicle periphery monitoring device |
| WO2014073571A1 (en) * | 2012-11-08 | 2014-05-15 | 日立建機株式会社 | Image processing device for self-propelled industrial machine and image processing method for self-propelled industrial machine |
-
2014
- 2014-12-17 JP JP2014255194A patent/JP6420657B2/en not_active Expired - Fee Related
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