JPWO2015162710A1 - 掘削装置 - Google Patents
掘削装置 Download PDFInfo
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- JPWO2015162710A1 JPWO2015162710A1 JP2016514600A JP2016514600A JPWO2015162710A1 JP WO2015162710 A1 JPWO2015162710 A1 JP WO2015162710A1 JP 2016514600 A JP2016514600 A JP 2016514600A JP 2016514600 A JP2016514600 A JP 2016514600A JP WO2015162710 A1 JPWO2015162710 A1 JP WO2015162710A1
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- bucket
- excavation
- excavated
- excavator
- stereo camera
- Prior art date
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- 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
-
- 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
-
- 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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of 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
- E02F9/26—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)
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- 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
-
- 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
-
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- 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)
- Multimedia (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Operation Control Of Excavators (AREA)
- Image Processing (AREA)
Abstract
Description
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。
Y=(Z × yr) / f…式(3)
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。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。
11 ブーム
12 アーム
13 バケット
14a アーム角度センサ
14b バケット角度センサ
14c ブーム角度センサ
14d 上部旋回体回転角度センサ
15 上部旋回体
20 外界認識装置
30 角度センサ計測部
40 計測手段切換え部
50 バケット移動制御部
60 表示ユニット
70 地面
80 掘削物
81 掘削地点
210 ステレオカメラ装置
215 3次元計測手段
216 バケット認識手段
217 地面認識手段
218 掘削物認識手段
219 距離計測手段
220 視差画像メモリ
Claims (7)
- ステレオカメラと、
前記カメラで撮影した画像からバケットを認識して前記バケットの位置を計測する手段と、
前記カメラで撮影した画像から掘削物を認識し、前記掘削物の位置を計測する手段と、
同一画面内で前記バケットと前記掘削物の位置関係を計測する手段とを備えた
ことを特徴とする掘削装置。 - 請求項1の掘削装置において、
前記掘削物の位置は、前記掘削装置の上部旋回体から所定の距離を超えた地点とすることを特徴とする掘削装置。 - 請求項1又は請求項2の掘削装置において、
前記掘削物の位置を計測する手段では、前記カメラで撮影した画像から掘削物を地面と分離して認識することを特徴とする掘削装置。 - 請求項1〜3のうちの1つのの掘削装置において、
前記掘削物のエッジ画像を生成し、前記エッジ画像から掘削物の岩石の境界を抽出し、前記境界の地点の中から前記掘削物の位置を選択することを特徴とする掘削装置。 - 請求項1〜4のうちの1つの掘削装置において、
前記バケットが前記ステレオカメラの撮影範囲外にある時は、前記バケットの位置は前記ステレオカメラ以外のセンサで計測した位置情報を使用し、
前記バケットが前記ステレオカメラの撮影範囲内にある時は、前記バケットの位置は前記ステレオカメラで計測した位置情報を使用することを特徴とする掘削装置。 - 請求項1〜5のうちの1つの掘削装置において、
前記ステレオカメラが計測した前記バケットと前記掘削物の位置関係を、前記ステレオカメラが撮影した画像に重畳して表示することを特徴とする掘削装置。 - 請求項1〜6のうちの1つの掘削装置において、
前記バケットと前記掘削物の位置関係は、前記掘削物の位置、前記バケットと前記掘削物間の距離のいずれか又は両方を含むことを特徴とする掘削装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/061353 WO2015162710A1 (ja) | 2014-04-23 | 2014-04-23 | 掘削装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2015162710A1 true JPWO2015162710A1 (ja) | 2017-04-13 |
JP6232494B2 JP6232494B2 (ja) | 2017-11-15 |
Family
ID=54331902
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016514600A Expired - Fee Related JP6232494B2 (ja) | 2014-04-23 | 2014-04-23 | 掘削装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10118553B2 (ja) |
JP (1) | JP6232494B2 (ja) |
WO (1) | WO2015162710A1 (ja) |
Families Citing this family (25)
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GB2504947B (en) | 2012-08-13 | 2015-01-14 | Kraft Foods R & D Inc | Beverage preparation machines |
WO2016159839A1 (en) * | 2015-03-30 | 2016-10-06 | Volvo Construction Equipment Ab | System and method for determining the material loading condition of a bucket of a material moving machine |
DE112015006347T5 (de) * | 2015-09-30 | 2017-12-07 | Komatsu Ltd. | Bildaufnahmevorrichtung |
KR102570491B1 (ko) * | 2015-12-28 | 2023-08-23 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
EP3680400B1 (en) * | 2015-12-28 | 2021-09-22 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
CN108699814B (zh) * | 2016-01-29 | 2022-04-12 | 住友建机株式会社 | 挖土机以及在挖土机的周围飞行的自主式飞行体 |
WO2016148309A1 (ja) * | 2016-03-29 | 2016-09-22 | 株式会社小松製作所 | 校正システム、作業機械及び校正方法 |
JP2017197942A (ja) * | 2016-04-26 | 2017-11-02 | ライト工業株式会社 | 法面吹付工法 |
JP6995767B2 (ja) | 2016-10-31 | 2022-01-17 | 株式会社小松製作所 | 計測システム、作業機械及び計測方法 |
US10011976B1 (en) | 2017-01-03 | 2018-07-03 | Caterpillar Inc. | System and method for work tool recognition |
EP3590094B1 (en) * | 2017-03-03 | 2022-05-04 | Caterpillar Trimble Control Technologies LLC | Augmented reality display for material moving machines |
DE102017203653A1 (de) * | 2017-03-07 | 2018-09-13 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Positionsbestimmung von Kinematiken insbesondere mobiler Arbeitsmaschinen |
US11549239B2 (en) * | 2017-05-05 | 2023-01-10 | J.C. Bamford Excavators Limited | Training machine |
JP7155516B2 (ja) * | 2017-12-20 | 2022-10-19 | コベルコ建機株式会社 | 建設機械 |
JP7103796B2 (ja) | 2018-01-31 | 2022-07-20 | 株式会社小松製作所 | 作業機械 |
JP7166088B2 (ja) * | 2018-06-28 | 2022-11-07 | 株式会社小松製作所 | 作業車両による作業を判定するためのシステム、方法、及び学習済みモデルの製造方法 |
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 |
JP7346061B2 (ja) * | 2019-03-29 | 2023-09-19 | 住友建機株式会社 | ショベル |
JP7300955B2 (ja) * | 2019-10-01 | 2023-06-30 | 株式会社トプコン | 土木工事データ処理装置、土木工事データ処理方法および土木工事データ処理用プログラム |
JP2021130973A (ja) * | 2020-02-20 | 2021-09-09 | 株式会社フジタ | 情報提示システム |
JP7349947B2 (ja) * | 2020-03-26 | 2023-09-25 | 住友重機械工業株式会社 | 情報処理装置、作業機械、情報処理方法、情報処理プログラム |
US11473270B2 (en) | 2020-08-07 | 2022-10-18 | Caterpillar Inc. | System and method for assisting remote operation of a work machine |
JP2022030484A (ja) | 2020-08-07 | 2022-02-18 | 株式会社小松製作所 | 掘削情報処理装置、作業機械、掘削支援装置および掘削情報処理方法 |
US11236492B1 (en) * | 2020-08-25 | 2022-02-01 | Built Robotics Inc. | Graphical user interface for real-time management of an earth shaping vehicle |
KR20240007160A (ko) * | 2021-04-12 | 2024-01-16 | 스트럭처럴 서비시스, 인크. | 크레인 오퍼레이터를 지원하기 위한 시스템 및 방법 |
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2014
- 2014-04-23 WO PCT/JP2014/061353 patent/WO2015162710A1/ja active Application Filing
- 2014-04-23 JP JP2016514600A patent/JP6232494B2/ja not_active Expired - Fee Related
- 2014-04-24 US US15/303,937 patent/US10118553B2/en active Active
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WO2005024144A1 (ja) * | 2003-09-02 | 2005-03-17 | Komatsu Ltd. | 施工目標指示装置 |
JP2009042175A (ja) * | 2007-08-10 | 2009-02-26 | Koishi:Kk | 施工位置測定システム及び丁張りレスシステム |
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Also Published As
Publication number | Publication date |
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JP6232494B2 (ja) | 2017-11-15 |
US10118553B2 (en) | 2018-11-06 |
US20170028922A1 (en) | 2017-02-02 |
WO2015162710A1 (ja) | 2015-10-29 |
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