JP6232497B2 - 外界認識装置 - Google Patents
外界認識装置 Download PDFInfo
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- JP6232497B2 JP6232497B2 JP2016528799A JP2016528799A JP6232497B2 JP 6232497 B2 JP6232497 B2 JP 6232497B2 JP 2016528799 A JP2016528799 A JP 2016528799A JP 2016528799 A JP2016528799 A JP 2016528799A JP 6232497 B2 JP6232497 B2 JP 6232497B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
-
- 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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- 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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/128—Adjusting depth or disparity
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- 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
-
- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/25—Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Measurement Of Optical Distance (AREA)
- Component Parts Of Construction Machinery (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
前記距離計測手段で前記周囲監視カメラの撮影範囲を計測して3次元情報を生成する3次元計測部と、前記3次元情報の中から周囲監視カメラの撮影方向と一致した距離補正情報を生成する距離補正情報生成部と、前記距離補正情報を用いて前記周囲監視カメラが検知した障害物の位置を計測する距離測定部を備えたことを特徴とするものである。
但し、fは右及び左撮影部の焦点距離、Bは右撮影部212と左撮影部211の距離である。また、上記びZを求めた地点の3次元上のX,Yの位置は次の式で求められる(S340)。
但し、xrは、右画像340上でのx座標、yrは、右画像340上でのy座標である。このような処理を、油圧ショベル10の全周囲を計測するまで処理を行う(S350)。以上のように、ステレオカメラ装置210で撮影した画像によって、被写体の3次元空間上の位置(X,Y,Z)を求めることができる。
Claims (6)
- 車両の前方の距離を計測する距離計測手段と、
前記車両の周囲を撮影するための周囲監視カメラと、
前記距離計測手段で前記周囲監視カメラの撮影範囲を計測して3次元情報を生成する3次元計測部と、
前記3次元情報の中から前記周囲監視カメラの撮影角度に対応する距離補正情報を生成する距離補正情報生成部と、
前記距離補正情報を用いて前記周囲監視カメラが検知した障害物の位置を計測する距離測定部と、を備え、
前記距離計測手段は、前記距離計測手段の旋回により、最初に前記車両の周囲の距離を計測することを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記距離計測手段はステレオカメラであることを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記3次元計測部は、前記周囲監視カメラの撮影範囲を前記距離計測手段で計測する時に前記車両の上部回転体で前記距離計測手段を旋回させることを特徴とする外界認識装置。 - 請求項2の外界認識装置において、
前記ステレオカメラに回転機構を設け、
前記3次元計測部は、前記周囲監視カメラの撮影範囲を前記ステレオカメラで撮影する時に、前記回転機構で前記ステレオカメラを旋回させることを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記距離計測手段はレーザスキャナ装置であることを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記距離計測手段は、前記距離計測手段の旋回により、最初に前記車両の全周囲の距離を計測することを特徴とする外界認識装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/066766 WO2015198410A1 (ja) | 2014-06-25 | 2014-06-25 | 外界認識装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2015198410A1 JPWO2015198410A1 (ja) | 2017-04-20 |
JP6232497B2 true JP6232497B2 (ja) | 2017-11-15 |
Family
ID=54937545
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016528799A Expired - Fee Related JP6232497B2 (ja) | 2014-06-25 | 2014-06-25 | 外界認識装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10527413B2 (ja) |
JP (1) | JP6232497B2 (ja) |
WO (1) | WO2015198410A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021200458A1 (ja) | 2020-03-31 | 2021-10-07 | コベルコ建機株式会社 | 作業機械の周囲検知装置 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3154025B1 (en) * | 2014-06-03 | 2021-10-13 | Sumitomo Heavy Industries, Ltd. | Human detection system for construction machine |
JP6468444B2 (ja) * | 2016-04-28 | 2019-02-13 | コベルコ建機株式会社 | 建設機械 |
WO2017188230A1 (ja) * | 2016-04-28 | 2017-11-02 | コベルコ建機株式会社 | 建設機械 |
US11441294B2 (en) | 2016-10-31 | 2022-09-13 | Komatsu Ltd. | Measurement system, work machine, and measurement method |
JP6760030B2 (ja) * | 2016-12-09 | 2020-09-23 | 株式会社タダノ | クレーン |
CN109457745B (zh) * | 2018-12-07 | 2021-10-29 | 上海华兴数字科技有限公司 | 一种施工场地安全控制方法 |
US11693423B2 (en) * | 2018-12-19 | 2023-07-04 | Waymo Llc | Model for excluding vehicle from sensor field of view |
CN109816778B (zh) * | 2019-01-25 | 2023-04-07 | 北京百度网讯科技有限公司 | 物料堆三维重建方法、装置、电子设备和计算机可读介质 |
CN110644565A (zh) * | 2019-09-27 | 2020-01-03 | 上海三一重机股份有限公司 | 挖掘机监控装置及方法 |
JP7255454B2 (ja) * | 2019-11-07 | 2023-04-11 | コベルコ建機株式会社 | 作業機械の周囲監視装置 |
US11793111B2 (en) | 2019-11-27 | 2023-10-24 | Cnh Industrial America Llc | Harvesting head reel-mounted laser measurement |
CN113655793A (zh) * | 2021-08-12 | 2021-11-16 | 上海三一重机股份有限公司 | 一种基于融合策略的避障控制方法、装置及工程机械 |
US11326878B1 (en) * | 2021-12-20 | 2022-05-10 | Altec Industries, Inc. | Distance measuring method and system for aerial device |
Family Cites Families (9)
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JP4498150B2 (ja) * | 2005-01-20 | 2010-07-07 | 中国電力株式会社 | レーザー光利用接近検知システム |
JP2008144378A (ja) * | 2006-12-06 | 2008-06-26 | Shin Caterpillar Mitsubishi Ltd | 遠隔操縦作業機の制御装置 |
WO2009101798A1 (ja) * | 2008-02-12 | 2009-08-20 | Panasonic Corporation | 複眼撮像装置、測距装置、視差算出方法及び測距方法 |
US8564657B2 (en) * | 2009-05-29 | 2013-10-22 | Honda Research Institute Europe Gmbh | Object motion detection system based on combining 3D warping techniques and a proper object motion detection |
JP2012225111A (ja) * | 2011-04-22 | 2012-11-15 | Kajima Corp | 建設車両周辺の作業者検出装置 |
EP2808455B1 (en) * | 2012-01-27 | 2018-05-30 | Doosan Infracore Co., Ltd. | Operational stability enhancing device for construction machinery |
JP5805574B2 (ja) * | 2012-03-29 | 2015-11-04 | 住友建機株式会社 | 作業機械用周辺監視装置 |
JP6032730B2 (ja) * | 2012-06-21 | 2016-11-30 | 日立建機株式会社 | 運搬機械の停止位置判定装置およびこの装置を備えた積込機械 |
US9393695B2 (en) * | 2013-02-27 | 2016-07-19 | Rockwell Automation Technologies, Inc. | Recognition-based industrial automation control with person and object discrimination |
-
2014
- 2014-06-25 US US15/315,415 patent/US10527413B2/en not_active Expired - Fee Related
- 2014-06-25 JP JP2016528799A patent/JP6232497B2/ja not_active Expired - Fee Related
- 2014-06-25 WO PCT/JP2014/066766 patent/WO2015198410A1/ja active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021200458A1 (ja) | 2020-03-31 | 2021-10-07 | コベルコ建機株式会社 | 作業機械の周囲検知装置 |
Also Published As
Publication number | Publication date |
---|---|
US20170146343A1 (en) | 2017-05-25 |
WO2015198410A1 (ja) | 2015-12-30 |
US10527413B2 (en) | 2020-01-07 |
JPWO2015198410A1 (ja) | 2017-04-20 |
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