JP2019167821A - ショベル、及び、作業現場の画像処理システム - Google Patents
ショベル、及び、作業現場の画像処理システム Download PDFInfo
- Publication number
- JP2019167821A JP2019167821A JP2019123229A JP2019123229A JP2019167821A JP 2019167821 A JP2019167821 A JP 2019167821A JP 2019123229 A JP2019123229 A JP 2019123229A JP 2019123229 A JP2019123229 A JP 2019123229A JP 2019167821 A JP2019167821 A JP 2019167821A
- Authority
- JP
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- Prior art keywords
- excavator
- work
- image
- hydraulic
- camera
- 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.)
- Granted
Links
- 238000009412 basement excavation Methods 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 description 49
- 230000007423 decrease Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 11
- 239000004575 stone Substances 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 239000003921 oil Substances 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
-
- 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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
11 エンジン
12L,12R メインポンプ
13L,13R レギュレータ
30 コントローラ
31 制御部
32 判定部
33 記憶部
S4 左側方カメラ
S5 右側方カメラ
S6 後方カメラ
S8 測位装置
Claims (8)
- 下部走行体と、
前記下部走行体に旋回可能に搭載される上部旋回体と、
前記上部旋回体に取り付けられるアタッチメントと、
画像を取得する装置と、
画像を取得する装置により取得された画像内における特徴量を求め、前記求められた特徴量に基づいて画像内の作業現場を判定するコントローラと、を備える、
ショベル。 - 前記判定は、前記求められた特徴量と記憶部に記憶されているデータとを照合して行われる、
請求項1に記載のショベル。 - 前記コントローラは、前記判定に基づいて油圧アクチュエータを制御する、
請求項1に記載のショベル。 - 前記コントローラが前記判定に用いる前記特徴量は、物体の形状である、
請求項1乃至3の何れかに記載のショベル。 - 下部走行体と、前記下部走行体に旋回可能に搭載される上部旋回体と、前記上部旋回体に取り付けられるアタッチメントとを有するショベルによる作業の内容を判定する、作業現場の画像処理システムであって、
ショベルの周囲の画像を取得するカメラと、
ショベルの周囲の画像と、記憶部に記憶されているデータとに基づいてショベルによる作業の内容を判定するコントローラと、を備える、
作業現場の画像処理システム。 - ショベルの周囲の画像は、前記カメラが撮像した複数の画像に基づいて生成される1つの画像である、
請求項5に記載の作業現場の画像処理システム。 - ショベルの周囲の画像は、ショベルの画像を含む、
請求項5又は6に記載の作業現場の画像処理システム。 - ショベルによる作業の内容は、掘削を含む、
請求項5乃至7の何れかに記載の作業現場の画像処理システム。
Priority Applications (1)
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---|---|---|---|
JP2021172042A JP2022009325A (ja) | 2015-12-28 | 2021-10-20 | 作業現場の判別システム、及び、作業現場の画像処理システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015256682 | 2015-12-28 | ||
JP2015256682 | 2015-12-28 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017559233A Division JP6932648B2 (ja) | 2015-12-28 | 2016-12-28 | ショベル |
Related Child Applications (1)
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JP2021172042A Division JP2022009325A (ja) | 2015-12-28 | 2021-10-20 | 作業現場の判別システム、及び、作業現場の画像処理システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019167821A true JP2019167821A (ja) | 2019-10-03 |
JP6999604B2 JP6999604B2 (ja) | 2022-01-18 |
Family
ID=59225264
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017559233A Active JP6932648B2 (ja) | 2015-12-28 | 2016-12-28 | ショベル |
JP2019123229A Active JP6999604B2 (ja) | 2015-12-28 | 2019-07-01 | ショベル、及び、作業現場の画像処理システム |
JP2021172042A Pending JP2022009325A (ja) | 2015-12-28 | 2021-10-20 | 作業現場の判別システム、及び、作業現場の画像処理システム |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017559233A Active JP6932648B2 (ja) | 2015-12-28 | 2016-12-28 | ショベル |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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JP2021172042A Pending JP2022009325A (ja) | 2015-12-28 | 2021-10-20 | 作業現場の判別システム、及び、作業現場の画像処理システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US10907322B2 (ja) |
EP (1) | EP3399110B1 (ja) |
JP (3) | JP6932648B2 (ja) |
KR (1) | KR102570491B1 (ja) |
CN (1) | CN108431337A (ja) |
WO (1) | WO2017115837A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023190031A1 (ja) * | 2022-03-31 | 2023-10-05 | 住友建機株式会社 | ショベル、ショベルの制御システム、及び、ショベルの遠隔操作システム |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6903564B2 (ja) * | 2017-12-22 | 2021-07-14 | ヤンマーパワーテクノロジー株式会社 | 作業車両 |
JPWO2019139102A1 (ja) * | 2018-01-10 | 2021-01-14 | 住友建機株式会社 | ショベル及びショベルの管理システム |
CN109469149A (zh) * | 2018-11-07 | 2019-03-15 | 马鞍山沐及信息科技有限公司 | 一种挖掘机的控制方法 |
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2016
- 2016-12-28 CN CN201680076768.4A patent/CN108431337A/zh active Pending
- 2016-12-28 WO PCT/JP2016/089045 patent/WO2017115837A1/ja active Application Filing
- 2016-12-28 EP EP16881811.0A patent/EP3399110B1/en active Active
- 2016-12-28 JP JP2017559233A patent/JP6932648B2/ja active Active
- 2016-12-28 KR KR1020187019313A patent/KR102570491B1/ko active IP Right Grant
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2018
- 2018-06-26 US US16/018,366 patent/US10907322B2/en active Active
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2019
- 2019-07-01 JP JP2019123229A patent/JP6999604B2/ja active Active
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2021
- 2021-10-20 JP JP2021172042A patent/JP2022009325A/ja active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH1072851A (ja) * | 1996-08-30 | 1998-03-17 | Shin Caterpillar Mitsubishi Ltd | 侵入移動体検出装置 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2023190031A1 (ja) * | 2022-03-31 | 2023-10-05 | 住友建機株式会社 | ショベル、ショベルの制御システム、及び、ショベルの遠隔操作システム |
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EP3399110A4 (en) | 2019-01-02 |
JPWO2017115837A1 (ja) | 2018-10-25 |
JP6932648B2 (ja) | 2021-09-08 |
KR102570491B1 (ko) | 2023-08-23 |
US10907322B2 (en) | 2021-02-02 |
EP3399110A1 (en) | 2018-11-07 |
WO2017115837A1 (ja) | 2017-07-06 |
KR20180097612A (ko) | 2018-08-31 |
US20180298586A1 (en) | 2018-10-18 |
EP3399110B1 (en) | 2021-02-17 |
JP2022009325A (ja) | 2022-01-14 |
CN108431337A (zh) | 2018-08-21 |
JP6999604B2 (ja) | 2022-01-18 |
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