JP6178280B2 - 作業機械の周囲監視装置 - Google Patents

作業機械の周囲監視装置 Download PDF

Info

Publication number
JP6178280B2
JP6178280B2 JP2014090679A JP2014090679A JP6178280B2 JP 6178280 B2 JP6178280 B2 JP 6178280B2 JP 2014090679 A JP2014090679 A JP 2014090679A JP 2014090679 A JP2014090679 A JP 2014090679A JP 6178280 B2 JP6178280 B2 JP 6178280B2
Authority
JP
Japan
Prior art keywords
shadow
image
feature pattern
work machine
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
JP2014090679A
Other languages
English (en)
Japanese (ja)
Other versions
JP2015210602A (ja
JP2015210602A5 (OSRAM
Inventor
小沼　知恵子
小沼　　知恵子
竜 弓場
竜 弓場
善文 福田
善文 福田
川股　幸博
幸博 川股
古渡　陽一
陽一 古渡
守飛 太田
守飛 太田
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
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to JP2014090679A priority Critical patent/JP6178280B2/ja
Priority to CN201580011783.6A priority patent/CN106062823B/zh
Priority to US15/124,123 priority patent/US10160383B2/en
Priority to EP15782523.3A priority patent/EP3136341B1/en
Priority to PCT/JP2015/056432 priority patent/WO2015163015A1/ja
Publication of JP2015210602A publication Critical patent/JP2015210602A/ja
Publication of JP2015210602A5 publication Critical patent/JP2015210602A5/ja
Application granted granted Critical
Publication of JP6178280B2 publication Critical patent/JP6178280B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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)
JP2014090679A 2014-04-24 2014-04-24 作業機械の周囲監視装置 Expired - Fee Related JP6178280B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2014090679A JP6178280B2 (ja) 2014-04-24 2014-04-24 作業機械の周囲監視装置
CN201580011783.6A CN106062823B (zh) 2014-04-24 2015-03-04 作业机械的周围监视装置
US15/124,123 US10160383B2 (en) 2014-04-24 2015-03-04 Surroundings monitoring system for working machine
EP15782523.3A EP3136341B1 (en) 2014-04-24 2015-03-04 Surroundings monitoring system for working machine
PCT/JP2015/056432 WO2015163015A1 (ja) 2014-04-24 2015-03-04 作業機械の周囲監視装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014090679A JP6178280B2 (ja) 2014-04-24 2014-04-24 作業機械の周囲監視装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017139995A Division JP6405422B2 (ja) 2017-07-19 2017-07-19 作業機械の周囲監視装置

Publications (3)

Publication Number Publication Date
JP2015210602A JP2015210602A (ja) 2015-11-24
JP2015210602A5 JP2015210602A5 (OSRAM) 2017-02-23
JP6178280B2 true JP6178280B2 (ja) 2017-08-09

Family

ID=54332186

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014090679A Expired - Fee Related JP6178280B2 (ja) 2014-04-24 2014-04-24 作業機械の周囲監視装置

Country Status (5)

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

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6363805B2 (ja) * 2015-11-30 2018-07-25 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
JP7092688B2 (ja) * 2017-02-17 2022-06-28 住友重機械工業株式会社 作業機械用周辺監視システム
JP6589945B2 (ja) * 2017-07-14 2019-10-16 コベルコ建機株式会社 建設機械
JP7003994B2 (ja) * 2017-08-08 2022-01-21 ソニーグループ株式会社 画像処理装置および方法
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
JPWO2019189030A1 (ja) * 2018-03-26 2021-04-01 住友建機株式会社 ショベル
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
WO2021241033A1 (ja) * 2020-05-29 2021-12-02 日立建機株式会社 作業機械
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

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2391556T3 (es) * 2002-05-03 2012-11-27 Donnelly Corporation Sistema de detección de objetos para vehículo
US7084386B2 (en) * 2003-05-02 2006-08-01 International Business Machines Corporation System and method for light source calibration
JP2005043324A (ja) * 2003-07-25 2005-02-17 Matsushita Electric Ind Co Ltd 路面損傷状態点検方法及び路面損傷位置の特定方法
US7720580B2 (en) * 2004-12-23 2010-05-18 Donnelly Corporation Object detection system for vehicle
EP1876829A4 (en) * 2005-04-28 2010-06-09 Aisin Seiki SYSTEM FOR MONITORING THE PERIPHERY OF A VEHICLE
JP4956915B2 (ja) * 2005-05-20 2012-06-20 日産自動車株式会社 映像表示装置及び映像表示方法
JP4809019B2 (ja) * 2005-08-31 2011-11-02 クラリオン株式会社 車両用障害物検出装置
JP4674179B2 (ja) * 2006-03-30 2011-04-20 株式会社デンソーアイティーラボラトリ 影認識方法及び影境界抽出方法
CN101211408B (zh) * 2006-12-29 2011-05-25 东软集团股份有限公司 车辆侧面图像识别方法及装置、车灯误识别检测和行驶安全预测方法
JP4853444B2 (ja) * 2007-09-28 2012-01-11 株式会社デンソー 移動物体検出装置
JP4876118B2 (ja) * 2008-12-08 2012-02-15 日立オートモティブシステムズ株式会社 立体物出現検知装置
CN102158684A (zh) * 2010-02-12 2011-08-17 王炳立 具有图像增强功能的自适应场景图像辅助系统
JP2011205513A (ja) * 2010-03-26 2011-10-13 Aisin Seiki Co Ltd 車両周辺監視装置
JP2011209896A (ja) * 2010-03-29 2011-10-20 Nec Corp 障害物検知装置、障害物検知方法及び障害物検知プログラム
JP5722127B2 (ja) 2011-06-07 2015-05-20 株式会社小松製作所 作業車両の周辺監視装置
WO2012169352A1 (ja) * 2011-06-07 2012-12-13 株式会社小松製作所 作業車両の周辺監視装置
JP5781978B2 (ja) * 2012-05-22 2015-09-24 株式会社小松製作所 ダンプトラック
KR101439052B1 (ko) * 2013-09-05 2014-09-05 현대자동차주식회사 장애물 검출 장치 및 방법
CN103544487B (zh) * 2013-11-01 2019-11-22 扬州瑞控汽车电子有限公司 基于单目视觉的前车识别方法

Also Published As

Publication number Publication date
JP2015210602A (ja) 2015-11-24
WO2015163015A1 (ja) 2015-10-29
CN106062823A (zh) 2016-10-26
US20170018070A1 (en) 2017-01-19
US10160383B2 (en) 2018-12-25
CN106062823B (zh) 2019-04-02
EP3136341A4 (en) 2018-01-03
EP3136341B1 (en) 2020-03-04
EP3136341A1 (en) 2017-03-01

Similar Documents

Publication Publication Date Title
JP6178280B2 (ja) 作業機械の周囲監視装置
CN105339061B (zh) 周边监视系统、作业车辆以及周边监视方法
JP5902990B2 (ja) 自走式産業機械の画像処理装置
EP2937811B1 (en) Vehicle peripheral obstacle notification system
JP5995899B2 (ja) 自走式産業機械の画像処理装置
AU2014213529B2 (en) Image display system
CN106436545B (zh) 机动建筑机械和用于显示机动建筑机械周围环境的方法
US20150085123A1 (en) Method and apparatus for monitoring a condition of an operating implement in heavy loading equipment
CN105474635A (zh) 作业机械的周围监视装置
JP6542539B2 (ja) 車両用進入可否判定装置
CN110619674B (zh) 用于事故和警情场景还原的三维增强现实设备及方法
WO2014073571A1 (ja) 自走式産業機械の画像処理装置および自走式産業機械の画像処理方法
JPWO2016140016A1 (ja) 車両の周囲監視装置
JP6420657B2 (ja) 作業機械およびその周囲監視装置
KR20220014118A (ko) 적재 불량 트럭 단속 시스템
JP6405422B2 (ja) 作業機械の周囲監視装置
JP4674179B2 (ja) 影認識方法及び影境界抽出方法
CN112801056A (zh) 一种基于局部图像分类的渣土车顶盖状态确定方法及系统
JP6796518B2 (ja) 移動物体検知システム
CN118405134A (zh) 一种积水道路驾驶辅助方法、装置、车辆、存储介质及程序产品
US20190168609A1 (en) Operator assistance vision system
US20170307362A1 (en) System and method for environment recognition
CA2828145A1 (en) Method and apparatus for monitoring a condition of an operating implement in heavy equipment
EA045770B1 (ru) Устройство для анализа полезного груза, транспортируемого в грузовом контейнере транспортного средства

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170119

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170119

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20170627

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170713

R150 Certificate of patent or registration of utility model

Ref document number: 6178280

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees