WO2022202564A1 - 検知装置および積載率推定システム - Google Patents
検知装置および積載率推定システム Download PDFInfo
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- WO2022202564A1 WO2022202564A1 PCT/JP2022/011999 JP2022011999W WO2022202564A1 WO 2022202564 A1 WO2022202564 A1 WO 2022202564A1 JP 2022011999 W JP2022011999 W JP 2022011999W WO 2022202564 A1 WO2022202564 A1 WO 2022202564A1
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- door
- luggage compartment
- determination value
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- 238000001514 detection method Methods 0.000 claims description 27
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 3
- 101100494448 Caenorhabditis elegans cab-1 gene Proteins 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- 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
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F7/00—Accessories for wings not provided for in other groups of this subclass
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V10/56—Extraction of image or video features relating to colour
Definitions
- the present disclosure relates to a detection device and a loading factor estimation system used in a vehicle with a luggage compartment.
- the sensors described above are provided only in locations that are likely to receive impact when the luggage compartment door is opened and closed (for example, around the luggage compartment door). Stability may decrease.
- the sensor is provided around the luggage compartment door, the degree of freedom in designing the vicinity of the luggage compartment door is reduced.
- An object of one aspect of the present disclosure is to provide a detection device and a loading factor estimation system that are highly durable and capable of stably detecting the open/closed state of a luggage compartment door and suppressing a decrease in the degree of freedom in designing the vicinity of the luggage compartment door. is.
- a detection device acquires a color image of the interior of a luggage compartment provided with an openable/closable door, and determines a determination value based on color information of a plurality of pixels included in the color image.
- a calculating unit for calculating, determining that the door is in an open state when the determination value is greater than a predetermined threshold, and determining that the door is in a closed state when the determination value is equal to or less than the threshold and a determination unit that determines that
- a loading rate estimation system acquires a color image of the interior of a luggage compartment provided with a door that can be freely opened and closed, and based on color information of a plurality of pixels included in the color image, for determination a calculating unit for calculating a value, determining that the door is in an open state when the determination value is greater than a predetermined threshold, and determining that the door is in a closed state when the determination value is equal to or less than the threshold.
- a detector that determines that the door is in a closed state, and a loading factor estimation that estimates the loading factor of the vehicle that includes the luggage compartment when the door is determined to be in the closed state by the determiner. and an apparatus.
- the present disclosure it is possible to stably detect the open/closed state of the luggage compartment door with high durability, and to suppress a decrease in the degree of freedom in designing the area around the luggage compartment door.
- FIG. 1 is a diagram schematically showing the interior of a vehicle and a luggage compartment according to an embodiment of the present disclosure.
- FIG. 2 is a block diagram showing an example of the configuration of the load factor estimation system according to the embodiment of the present disclosure.
- FIG. 3 is a diagram illustrating an example of a luggage compartment image according to the embodiment of the present disclosure.
- FIG. 4 is a diagram schematically showing an example of the configuration of the determination area according to the embodiment of the present disclosure.
- FIG. 5 is a flow chart showing an example of the operation of the detection device according to the embodiment of the present disclosure.
- FIG. 1 is a side view schematically showing the interior of a vehicle V and a luggage compartment.
- the vehicle V is a truck with a cab 1 and a luggage compartment 2.
- the vehicle V is not limited to a truck, and may be another type of vehicle.
- the luggage compartment 2 is, for example, box-shaped, and has an opening (not shown; hereinafter the same) on its rear side. Cargo is loaded and unloaded through the opening.
- FIG. 1 shows a state in which a plurality of loads 5 are arranged near an inner wall surface 6 of the luggage compartment 2 (specifically, an inner wall surface of a side wall located in front of the luggage compartment 2). .
- a door 3 that can be freely opened and closed is provided at the rear of the luggage compartment 2 so as to correspond to the position of the opening.
- Examples of the door 3 include, but are not limited to, a door that opens by rotating left and right from the center of the opening around the left and right ends of the opening (a so-called double-door type door).
- a camera 4 capable of photographing the interior of the luggage compartment 2 (excluding the door 3 and the opening) is provided behind the luggage compartment 2 .
- the camera 4 transmits an image of the interior of the luggage compartment 2 (hereinafter referred to as an image of the luggage compartment) obtained by photographing to the determination device 100 (see FIG. 2) described later.
- FIG. 1 illustrates the case where the camera 4 is installed on the ceiling of the luggage compartment 2 as an example, the installation position of the camera 4 is not limited to this.
- the image of the luggage compartment is a color image with color information for each pixel that constitutes it.
- the color image is an RGB image having R (red), G (green), and B (blue) elements, and the color information is RGB values.
- R (red), G (green), and B (blue) elements the color information is RGB values.
- the camera 4 is configured integrally with a depth sensor (not shown).
- a depth sensor is a sensor that can two-dimensionally measure the distance from itself to a person or an object.
- the detection result of the depth sensor is output to the loading factor estimation device 100 (see FIG. 2), which will be described later.
- the vehicle V is further equipped with a detection device 100 and a load factor estimation device 200 (see FIG. 2), which will be described later.
- FIG. 2 is a block diagram showing a configuration example of the load factor estimation system S. As shown in FIG.
- the loading factor estimation system S shown in FIG. 2 is mounted on the vehicle V shown in FIG.
- the detection device 100 and the loading rate estimation device 200 each include hardware such as a CPU (Central Processing Unit), a ROM (Read Only Memory) storing a computer program, and a RAM (Random Access Memory). have The functions of each device described below are realized by the CPU executing a computer program read from the ROM in the RAM.
- the detection device 100 and the load factor estimation device 200 may be realized by an ECU (Electronic Control Unit).
- the detection device 100 calculates a determination value (details will be described later) based on the image of the luggage compartment obtained from the camera 4, and compares the determination value with a threshold value to determine whether the door 3 is open or closed. It is a device for determining whether or not a state exists.
- the detection device 100 has a calculation unit 110 and a determination unit 120.
- the calculation unit 110 acquires an image of the luggage compartment from the camera 4 .
- FIG. 3 is a diagram showing an example of an image of the luggage compartment.
- the cargo room image includes an image showing the cargo 5 and the inner wall surface 6 shown in FIG.
- a determination area 7 including a plurality of pixels is set in the image of the luggage compartment.
- the determination area 7 is set in the central portion of the cargo room image (more specifically, the image showing the central portion of the inner wall surface 6).
- the setting (including change) of the determination area 7 is performed in advance by a computer program, for example.
- the setting takes into consideration the usage of the user (for example, the occupant of the vehicle V, or the worker who loads or unloads the cargo), the required accuracy, and the like.
- FIG. 4 is a diagram schematically showing a configuration example of the judgment area 7. As shown in FIG.
- the determination area 7 includes pixels A, pixels B, pixels C, and pixels D.
- pixels A to D each have an RGB value.
- the RGB values of pixel A are, for example, (23, 11, 1).
- the RGB values of pixel B are, for example, (18, 12, 1).
- the RGB values of pixel C are, for example, (19, 13, 0).
- the RGB values of pixel D are, for example, (20, 12, 2).
- the determination area 7 has been described above.
- the calculation unit 110 recognizes the determination area 7 in the luggage compartment image shown in FIG.
- a judgment value is a value that is compared with a predetermined threshold value, and is, for example, a statistic (average, variance, sum, etc.) for a plurality of pixels.
- the determination value may be the average value of each of the R, G, and B values of pixels A to D.
- the determination value may be an average value of RGB total values (total values of R value, G value, and B value) for each of pixels AD.
- the determination value may be the median value of each of the R value, G value, and B value of pixels AD.
- it may be the total value of each of the R value, G value, and B value of pixels A to D.
- the threshold is a value at which the door 3 can be regarded as closed, and is set based on the results of pre-implemented experiments or simulations.
- the determination unit 120 compares the determination value calculated by the calculation unit 110 with a predetermined threshold.
- the determination unit 120 determines that the door 3 is open.
- the determination unit 120 determines that the door 3 is closed. Further, in this case, the determination unit 120 transmits (outputs) determination result information indicating that the door 3 is closed to the loading factor estimation device 200 .
- the loading rate estimating device 200 determines whether the loading rate is It is a device for rate estimation.
- the loading ratio is the ratio of the volume of the cargo 5 arranged in the luggage compartment 2 to the maximum loading volume of the vehicle V. As shown in FIG.
- a known technique can be applied to the loading factor estimation method performed by the loading factor estimation device 200 .
- Known technologies include, for example, JP-A-2003-35527, ⁇ URL: https://creanovo.de/portfolio/wabco-cargocam/>, ⁇ URL: https://www.ncos.co.jp/ news/news_210113.html> and the like, but not limited to them.
- FIG. 5 is a flow chart showing an operation example of the detection device 100 .
- the flow of FIG. 5 is started, for example, when the vehicle V is stopped, and is repeatedly performed while the vehicle V is stopped.
- the calculation unit 110 acquires an image of the luggage compartment from the camera 4 (step S1).
- the calculation unit 110 calculates each of a plurality of pixels (for example, pixels A to D shown in FIG. 4) included in the judgment area 7 in the luggage compartment image (for example, the luggage compartment image shown in FIG. 3).
- a determination value is calculated based on the RGB values (step S2). Note that the determination value may be in any of the above-described modes.
- the determination unit 120 determines whether or not the calculated determination value is equal to or less than the threshold (step S3).
- step S3 NO
- the flow returns to step S1.
- step S3 determines that the door 3 is closed.
- the determination unit 120 transmits determination result information indicating that the door 3 is closed to the load factor estimation device 200 (step S5).
- the load factor estimating device 200 that has received this determination result information estimates the load factor.
- the detection device 100 of the present embodiment acquires a color cargo room image, and based on color information (for example, RGB values) of a plurality of pixels included in the cargo room image, A judgment value is calculated, and if the judgment value is greater than the threshold, it is judged that the door 3 is open, and if the judgment value is equal to or less than the threshold, it is judged that the door 3 is closed. It is characterized by
- the detection device 100 of the present embodiment can detect the open/closed state of the door 3 without the need to use a sensor installed around the luggage compartment door as disclosed in Patent Documents 1 and 2, for example. Therefore, it is possible to stably detect the opened/closed state of the luggage compartment door with high durability, and to suppress a decrease in the degree of freedom in designing the vicinity of the luggage compartment door.
- the load factor estimation system S of the present embodiment is characterized in that the load factor estimation device 200 estimates the load factor when the detection device 100 determines that the door 3 is closed.
- the loading factor estimation system S of the present embodiment the loading factor is estimated when the door 3 is closed (that is, when the worker is not in the luggage compartment 2), so the estimation accuracy is improved. be able to.
- the camera 4 and the depth sensor are integrated, so the configuration can be simplified.
- the detection device 100 may have the function of the loading factor estimating device 200 (which may be called a loading factor estimating unit). In that case, the combination of the camera 4 and the detection device 100 may be called a loading rate estimation system.
- the detection device 100 and the load factor estimation device 200 are mounted on the vehicle V has been described as an example, but the present invention is not limited to this.
- the detection device 100 and the load factor estimation device 200 may be realized by a computer (for example, a server or the like) installed outside the vehicle V.
- a communication device (not shown) mounted on the vehicle V may transmit the luggage compartment image and determination result information to the computer.
- the determination area 7 may be the entire cargo room image.
- the determination area 7 may be an area corresponding to a portion of the luggage compartment 2 that is first exposed to light when the door 3 is opened. In that case, if the door 3 is open even a little, it can be determined that the door 3 is open, so the determination speed can be further improved.
- determination unit 120 may transmit determination result information indicating whether door 3 is open or closed to a device other than load factor estimation device 200 .
- the determination unit 120 may transmit determination result information indicating either the open state or the closed state of the door 3 to a notification device (not shown; for example, a display, a speaker, etc.) provided in the cab 1. good.
- the notification device performs image display, voice output, or the like indicating either the open state or the closed state.
- the detection device and loading factor estimation system of the present disclosure are useful for vehicles with luggage compartments.
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Abstract
Description
実施の形態では、検知装置100と積載率推定装置200とを別体で設ける場合を例に挙げて説明したが、これに限定されない。
実施の形態では、図3に示したように、長方形状の判定用領域7が荷室内画像の中央部分に1つだけ設定されている場合を例に挙げて説明したが、判定用領域7の位置、形状、大きさ、数は、図3の図示に限定されない。ただし、判定用領域7は、荷室内画像において扉3の開閉によって明暗の差が出やすい領域であることが好ましい。
実施の形態において、判定部120は、扉3が開状態であるかまたは閉状態であるかを示す判定結果情報を積載率推定装置200以外の装置へ送信してもよい。
2 荷室
3 扉
4 カメラ
5 積み荷
6 (前方側壁の)内壁面
100 検知装置
110 算出部
120 判定部
200 積載率推定装置
S 積載率推定システム
V 車両
Claims (7)
- 開閉自在の扉が設けられた荷室の内部のカラー画像を取得し、前記カラー画像に含まれる複数の画素の色情報に基づいて、判定用値を算出する算出部と、
前記判定用値が予め定められた閾値より大きい場合、前記扉が開状態であると判定し、前記判定用値が前記閾値以下である場合、前記扉が閉状態であると判定する判定部と、を有する、
検知装置。 - 前記算出部は、
前記カラー画像において部分的に設定された判定用領域を認識し、
前記判定用領域に含まれる前記複数の画素の色情報に基づいて、前記判定用値を算出する、
請求項1に記載の検知装置。 - 前記判定用値は、前記色情報としてのRGB値に基づく統計量である、
請求項1に記載の検知装置。 - 前記扉が閉状態であると判定された場合に、前記荷室を備えた車両の積載率を推定する積載率推定部をさらに有する、
請求項1に記載の検知装置。 - 前記判定部は、
前記扉が閉状態であると判定した場合、前記扉が閉状態である旨を示す情報を、前記荷室を備えた車両の積載率を推定する積載率推定装置へ送信する、
請求項1に記載の検知装置。 - 前記カラー画像は、
前記荷室の内部に設けられたカメラで撮影される画像であり、
前記積載率は、
前記カメラと一体化された深度センサの検知結果に基づいて推定される、
請求項4に記載の検知装置。 - 開閉自在の扉が設けられた荷室の内部のカラー画像を取得し、前記カラー画像に含まれる複数の画素の色情報に基づいて、判定用値を算出する算出部と、
前記判定用値が予め定められた閾値より大きい場合、前記扉が開状態であると判定し、前記判定用値が前記閾値以下である場合、前記扉が閉状態であると判定する判定部と、を備えた検知装置と、
前記判定部によって前記扉が閉状態であると判定された場合に、前記荷室を備えた車両の積載率を推定する積載率推定装置と、を有する、
積載率推定システム。
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US18/280,416 US20240046662A1 (en) | 2021-03-24 | 2022-03-16 | Detecting device, and loading ratio estimating system |
DE112022001690.6T DE112022001690T5 (de) | 2021-03-24 | 2022-03-16 | Detektionsvorrichtung und beladungsverhältnis-schätzungssystem |
CN202280017337.6A CN116964622A (zh) | 2021-03-24 | 2022-03-16 | 检测装置及载货率推断系统 |
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JP2017032432A (ja) * | 2015-08-03 | 2017-02-09 | 株式会社日本自動車部品総合研究所 | 超音波式物体検知装置 |
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JP3867955B2 (ja) | 2001-07-23 | 2007-01-17 | 鹿島建設株式会社 | 積載物の体積計測方法及び装置 |
JP2021049744A (ja) | 2019-09-26 | 2021-04-01 | キヤノン株式会社 | 画像形成装置、情報処理方法及びプログラム |
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WO2015194118A1 (ja) * | 2014-06-16 | 2015-12-23 | 日本電気株式会社 | 物体管理装置、物体管理方法及び物体管理プログラムを記憶する記録媒体 |
JP2017032432A (ja) * | 2015-08-03 | 2017-02-09 | 株式会社日本自動車部品総合研究所 | 超音波式物体検知装置 |
JP2017069613A (ja) * | 2015-09-28 | 2017-04-06 | 株式会社日本ヴューテック | 映像記録装置 |
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US10762331B1 (en) * | 2019-10-11 | 2020-09-01 | Zebra Technologies Corporation | Three-dimensional (3D) depth and two-dimensional (2D) imaging systems and methods for automatic container door status recognition |
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