WO2015162710A1 - 掘削装置 - Google Patents
掘削装置 Download PDFInfo
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- WO2015162710A1 WO2015162710A1 PCT/JP2014/061353 JP2014061353W WO2015162710A1 WO 2015162710 A1 WO2015162710 A1 WO 2015162710A1 JP 2014061353 W JP2014061353 W JP 2014061353W WO 2015162710 A1 WO2015162710 A1 WO 2015162710A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- excavated object
- excavated
- stereo camera
- image
- 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
Definitions
- the present invention relates to a digging apparatus in which a digging operation of a hydraulic shovel or the like is automated by external recognition.
- the work amount measuring device disclosed in [Patent Document 1] is a device that shoots a bucket after excavating and releasing earth with a stereo camera, calculates the capacity, and measures the excavating amount from the difference between the respective capacities. .
- the working tool which moved to the reference point is photographed with a stereo camera, the position is measured, and the angle sensor of the boom or arm is calibrated.
- the excavated object in the bucket is recognized by the stereo camera, and the excavated object before excavated is not recognized. That is, in the above-mentioned [patent document 1], the excavated object is recognized in the state of being limited in the bucket, and it can not cope with the recognition of the excavated object before excavation whose shape and position are unknown.
- the bucket is recognized in order to calibrate the angle sensor that detects the position of the work such as the bucket, and the excavated object can not be recognized.
- the position of the bucket is measured by an angle sensor.
- a stereo camera a means for recognizing a bucket from an image taken by the camera to measure the position of the bucket, and an excavated object from the image taken by the camera And means for measuring the position of the excavated object, and means for measuring the positional relationship between the bucket and the excavated object in the same screen.
- the present invention is characterized in that, in the drilling apparatus, the position of the excavated object is a point beyond a predetermined distance from the upper swing body of the drilling apparatus.
- the present invention is characterized in that in the drilling apparatus, the means for measuring the position of the excavated object recognizes the excavated object separately from the ground from the image captured by the camera.
- the present invention is an excavating apparatus for generating an edge image of the excavated object, extracting a rock boundary of the excavated object from the edge image, and selecting the position of the excavated object from among the points of the boundary. It is a feature.
- the position of the bucket uses position information measured by a sensor other than the stereo camera, and the bucket is the stereo camera
- the position of the bucket uses the position information measured by the stereo camera.
- the present invention is characterized in that, in the digging apparatus, the positional relationship between the bucket measured by the stereo camera and the excavated object is superimposed on an image captured by the stereo camera and displayed.
- the positional relationship between the bucket and the excavated object includes the position of the excavated object and / or the distance between the bucket and the excavated object.
- the positional relationship between the both can be measured with high accuracy, and the calibration of the angle sensor for bucket position measurement when bringing the bucket close to the excavated object is unnecessary. It can be done.
- the excavated object when extracting the excavation point from the excavated object, the excavated object can be recognized separately from the ground, and the excavation range can be designated, so that the excavating point is extracted with good working efficiency and safety. can do.
- FIG. 1 shows a hydraulic shovel 10 as an automatic drilling device for carrying out the present invention.
- the hydraulic shovel 10 recognizes the excavated object, excavates the excavated object, and releases the excavated object to a predetermined place. For this reason, the hydraulic shovel 10 is equipped with the external world recognition device 20 for recognizing its own periphery, and excavates the excavated object recognized by the external world recognition device 20.
- the vehicle 10 has a bucket 13 for digging, an arm 12 for moving the bucket 13 up and down, and a boom 11 .
- the upper swing body 15 can be rotated to move the bucket left and right.
- the hydraulic shovel 10 can know the position of the bucket 13 by these sensors.
- the external world recognition device 20 provided on the boom 11 measures the determination of the excavated object and its position. Moreover, when the position of the bucket 13 and the position of the excavated object are measured by different sensors, it is necessary to calibrate the sensors in order to improve the measurement accuracy. Therefore, when the bucket 13 approaches the excavated object, the external world recognition device 20 simultaneously measures the position of the bucket 13 in addition to the excavated object. By doing this, it becomes possible to measure the bucket 13 and the excavated object by one sensor, and the calibration becomes unnecessary.
- the hydraulic shovel 10 has an angle sensor measurement unit 30, a measurement means switching unit 40, and a bucket movement control unit 50.
- the angle sensor measurement unit 30 measures the position of the bucket 13 by the arm angle sensor 14a, the bucket angle sensor 14b, the boom angle sensor 14c, and the upper swing body rotation angle sensor 14d.
- the measurement means switching unit 40 puts the position data of the bucket 13 output by the angle sensor measurement unit 30 into a range where the bucket 13 can measure the external world recognition device 20.
- position data of the bucket 13 output from the external world recognition device 20 is output to the bucket movement control unit 50.
- the bucket movement control unit 50 moves the bucket 13 to the digging point based on the position of the bucket 13 and the position of the digging point, and the distance between the two, and performs the digging operation. Further, after excavation, the excavated material in the bucket 13 is released to a predetermined position.
- the unloading position is assumed to be, for example, a loading platform of a dump truck, but the present embodiment relates to the recognition function of the excavated object and the bucket 13, so the illustration is omitted.
- the display unit 60 displays the position of the bucket 13, the excavation point, the excavated object, the moving destination and the movement trajectory of the bucket 13, and the like.
- the external world recognition device 20 measures the external world with the stereo camera device 210.
- the stereo camera device 210 can measure the distance of the subject by using the parallax of the images captured by the two cameras of the left image capturing unit 211 and the right image capturing unit 212.
- An image captured by the stereo camera device 210 is temporarily stored in the left image memory 213 and the right image memory 214, and is sent to the three-dimensional measurement unit 215.
- the three-dimensional measurement unit 215 creates parallax images from the left and right images and stores them in the parallax image memory 220 and obtains three-dimensional coordinates of the subject.
- the bucket recognition unit 216 recognizes the bucket 13 using the right image and the parallax image.
- the ground recognition unit 217 specifies the area of the ground on the screen using the right image and the parallax image.
- the excavation object recognition means 218 recognizes the excavation object using the right image and the parallax image, and further determines the position to be excavated.
- the distance measuring means 219 measures the distance between the bucket 13 and the three-dimensional coordinates of the position of the excavated object to be excavated, and outputs the position and the distance between the two to the measuring means switching unit 40.
- FIG. 2 shows the positional relationship between the hydraulic shovel 10 and the excavated object 80.
- a digging 80 is on the ground, and the excavator 10 is mounted on the digging 80. Therefore, in order for the external world recognition device 20 to measure the excavation object 10, it is necessary to measure the downward direction of the hydraulic shovel 10 itself. Therefore, in the present embodiment, the external world recognition device 20 is installed on the boom 11, and the direction of the ground 70 is photographed. Further, since the hydraulic shovel 10 is mounted on the excavated object 80, the excavated object 80 may fall down and the hydraulic shovel 10 may be dropped from the excavated object 80 depending on the excavating place. Therefore, when determining the digging point, it is necessary to extract a point where the digging amount is maximum and the ground 70 is not shaved and the digging object 80 does not fall down.
- FIG. 3 shows an example of an image captured by the external world recognition device 20 in the situation of FIG.
- the excavation object 80 is taken in the lower direction of the image, the ground 70 in the upper part, and the bucket 13 is taken in the upper direction.
- FIG. 4 shows an operation flow of the bucket movement control unit 50. It is determined whether the bucket 13 is captured by the stereo camera device 210 (step 110, hereinafter referred to as S100), and if not captured, the bucket 13 is captured by the angle sensor (14a, 14b, 14c, 14d) It moves to the position where it is located (S120). When moving the bucket 13 to a position to be photographed from a position not photographed by the stereo camera device 210, the position accuracy may not be high because the bucket 13 may be inserted somewhere in the photographing range. Therefore, calibration may not be performed. On the other hand, when the bucket 13 is photographed by the stereo camera device 210, the bucket 13 is moved using position measurement data of the bucket 13 and the excavated object 80 by the external world recognition device 20 (S130).
- FIG. 5 shows an operation flow of the external world recognition device 20.
- an image is taken by the stereo camera device 210, and three-dimensional modeling of the subject is performed using the image (S210). This three-dimensional modeling process is shown in detail in FIG. 6 to be described later.
- bucket recognition processing is performed using the result of the three-dimensional modeling and the photographed image (S220). This process will be described in detail in FIG. 9 described later.
- the ground 70 is recognized (S230), and further, the excavation object 80 is recognized, and an excavation point is determined (S240). These processes will be described in detail later with reference to FIG.
- the distance between the shovel 13 and the digging point and the coordinates of both are measured and output to the bucket movement control unit 50. The above processing is repeated in a period in which the image input signal is present (S260).
- FIG. 6 shows a process flow of three-dimensional modeling.
- Three-dimensional measurement means 215 first generates parallax data of these image data.
- FIG. 7 shows the principle of parallax data generation.
- a certain point 320 in the actual scene 300 corresponds to the point 342 in the right image 340. It is photographed at a position, and in the left image 341, it is photographed at a position 343.
- parallax d occurs at 342 and 343.
- the parallax is a large value in the vicinity of the stereo camera device 210, and a small value in the distance.
- the parallax thus determined is determined for the entire image, and the result is stored in the parallax image memory 220.
- FIG. 1 An example of data of the parallax image memory 220 is shown in FIG. If the parallax data is arranged in two dimensions on the right image in accordance with the right image, the X and Y positions indicated by the parallax data can be easily associated with X and Y on the right image. Moreover, distance can be measured on the principle of triangulation using this parallax. From the parallax d, the distance Z can be obtained by the following equation.
- X (Z ⁇ xr) / f ... equation (2)
- Y (Z x yr) / f equation (3)
- xr is the x-coordinate on the right image 340
- yr is the y-coordinate on the right image 340.
- the parallax image memory 260 stores parallax data so that the right image 340 corresponds to the X and Y coordinates. According to the positional relationship between the bucket 13 and the ground 70 in FIG. 2, since the bucket 13 is closer to the stereo camera device 210 than the ground 70, in the parallax image memory 260, the parallax data of the position of the bucket 13 is the parallax of the ground 70 It will be a larger number than the data. Therefore, a portion having a large y coordinate in the parallax image memory 260 (for example, the position of the data 350) whose parallax data is larger than the surroundings is a candidate for the bucket 13.
- the same x, y image 360 of the right image 340 is extracted. If the image 360 is compared with the image of the bucket 13 and the features match, the three-dimensional coordinates of the bucket 13 can be calculated using the position of the data 350 of the parallax data. As described above, by first finding a candidate for the position of the bucket 13 using disparity data, and comparing the feature of the image at that position with the bucket 13, rather than searching the bucket 13 from the entire right image 340, Recognition of the bucket 13 can be speeded up.
- FIG. 10 illustrates the recognition of the ground 70 and the process of extracting the digging point from the digging object 80.
- the horizontal axis of the graph of FIG. 10 represents the y-axis direction of the parallax image memory 260
- the vertical axis represents the parallax d value. That is, the x-axis direction of the parallax image memory 260 is finely divided into strips, and one of the divided sections is represented by the yd plane.
- the ground 70 and the bucket 13 are photographed in the upper direction of the screen (the y direction is larger), and the excavated object 80 is photographed in the lower direction of the screen (the y is smaller).
- the d value of the ground 70 is the smallest d (ie, far)
- the bucket 13 and the digging 80 are larger (ie, closer) to the ground 70.
- the d value of the ground is the smallest and constant as in the yd plane graph.
- the excavation object 80 can be defined as a portion where the d value is larger than the ground 70 in the downward direction of the screen (where y is smaller).
- a digging point is determined from among the diggings 80.
- the digging point is a position at which the bucket 13 is first brought into contact with the digging 80 during the digging operation, and the digging is performed by scooping the bucket 13 from this position. It is necessary to extract a point where the amount of excavation is large, the excavation point does not cut the ground 70, and the excavation object 80 does not fall down. In order to satisfy this condition, the excavation point is extracted from the excavated object which exceeds the predetermined distance range Lp from the upper rotary body 15.
- the predetermined range is preset as a range in which the excavated object does not fall.
- the position is set higher than the ground, and in order to increase the amount of excavation, it is set within a predetermined height Hp from the ground.
- the farthest part of the boundary between the ground 70 and the digging object 80 is extracted as the digging point 81.
- This point 81 determines y1 for each strip obtained by dividing the x axis of the parallax image memory 260, and is the point where y1 is the largest in the entire image. In this process, the three-dimensional coordinates of the digging point 81 are determined, and the distance to the three-dimensional coordinates of the bucket 13 can also be calculated.
- FIG. 10 a display example of the display unit 60 is shown in FIG.
- the display unit 60 can present the digging situation to the operator.
- the display unit 60 superimposes a symbol 61 indicating the digging point 81, a distance 62 from the bucket 13 to the digging point 81, a trajectory 63 of the movement schedule of the bucket 13, and the like on the image of the right image 340.
- the display content of the display unit 60 is transmitted to the display unit 60 for investigating the hydraulic shovel 10 provided outside the hydraulic shovel 10 remotely by wire or wireless. It is also possible.
- FIG. 12 shows a method of extracting a digging point according to the second embodiment of the present invention.
- the excavating point 81 is selected to be a rock-to-rock gap in order to prevent breakage of the cutting edge of the bucket 13.
- the excavation point 81 assumes that the ground 70 is flat, and selects the boundary point with the ground 70. Therefore, if the ground 70 is uneven, an error occurs in the excavation point 81. In that case, the blade edge of the bucket 13 may hit the central part of the rock.
- the countermeasure method is as follows. First, the peripheral image 350 of the excavation point 81 extracted in FIG. 10 is extracted. Next, an edge image 351 of the extracted image 350 is created.
- the rock 84 at a position farther from the ground 70 than the excavation point 81 extracted by the method shown in FIG. 10 is selected.
- the d value of the rock 84 is read out from the parallax image memory 260.
- the rock 83 one lower than the rock 84 is extracted, and the x coordinate of the point where the y coordinate of the rock 83 is the largest is determined.
- the value of (x, y, d) is substituted into each of the above-described formulas, and the point designated by the coordinates (X, Y, Z) becomes the excavation point 82. Thereby, breakage of the blade edge of the bucket 13 can be prevented.
- the stereo camera device 210 for the external world recognition device 20 of the hydraulic shovel 10 performing automatic excavation it is possible to specify the excavation point 81 which is safe and has a large amount of excavation, and It becomes possible to measure the three-dimensional coordinates and the distance of the drilling point 81 with high accuracy.
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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。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2014/061353 WO2015162710A1 (ja) | 2014-04-23 | 2014-04-23 | 掘削装置 |
JP2016514600A JP6232494B2 (ja) | 2014-04-23 | 2014-04-23 | 掘削装置 |
US15/303,937 US10118553B2 (en) | 2014-04-23 | 2014-04-24 | Excavation device using stereo camera and angle sensors to position bucket |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2014/061353 WO2015162710A1 (ja) | 2014-04-23 | 2014-04-23 | 掘削装置 |
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Also Published As
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JP6232494B2 (ja) | 2017-11-15 |
JPWO2015162710A1 (ja) | 2017-04-13 |
US10118553B2 (en) | 2018-11-06 |
US20170028922A1 (en) | 2017-02-02 |
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