WO2023047809A1 - 車両判別システム - Google Patents
車両判別システム Download PDFInfo
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- WO2023047809A1 WO2023047809A1 PCT/JP2022/029759 JP2022029759W WO2023047809A1 WO 2023047809 A1 WO2023047809 A1 WO 2023047809A1 JP 2022029759 W JP2022029759 W JP 2022029759W WO 2023047809 A1 WO2023047809 A1 WO 2023047809A1
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- vehicle
- loading platform
- detection unit
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- 238000001514 detection method Methods 0.000 claims abstract description 126
- 238000004364 calculation method Methods 0.000 description 48
- 230000000694 effects Effects 0.000 description 10
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- 238000013135 deep learning Methods 0.000 description 1
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
Definitions
- the present invention relates to a vehicle discrimination system that discriminates the type of vehicle.
- Patent Document 1 describes a technology for determining the type of vehicle (model in the document).
- a vehicle is provided with a display unit.
- the document describes that the flickering cycle of the display differs depending on the type of vehicle, the color of the display differs depending on the type of vehicle, and the color of light emitted from the display differs depending on the type of vehicle. ing.
- an object of the present invention is to provide a vehicle discrimination system capable of discriminating the type of vehicle without providing a mark for discriminating the type of vehicle on the vehicle.
- the vehicle identification system identifies the type of vehicle that has a loading platform.
- the vehicle discrimination system includes a bed detector and a controller.
- the loading platform detector detects information including a distance to the loading platform.
- the controller calculates the dimension information of the cargo bed based on the distance detected by the cargo bed detector.
- the controller stores a correspondence relationship between the dimension information of the loading platform and the type of the vehicle.
- the controller determines the type of the vehicle based on the calculated dimension information and the stored correspondence relationship.
- the type of vehicle can be determined without providing a mark for determining the type of vehicle on the vehicle.
- FIG. 1 is a side view of a vehicle, a working machine, etc. of the vehicle discrimination system
- FIG. FIG. 2 is a top view of the vehicle, work machine, and the like shown in FIG. 1
- FIG. 2 is a diagram showing a loading platform and the like detected by a loading platform detection unit shown in FIG. 1
- 2 is a block diagram of the vehicle discrimination system shown in FIG. 1
- FIG. 5 is a flowchart showing processing of the controller shown in FIG. 4;
- FIG. 1 The vehicle discrimination system 1 will be described with reference to FIGS. 1 to 5.
- FIG. 1 The vehicle discrimination system 1 will be described with reference to FIGS. 1 to 5.
- the vehicle discrimination system 1 is a system that discriminates the type of the vehicle 10 shown in FIG.
- the vehicle discrimination system 1 includes a vehicle 10, a working machine 20, a loading platform detection unit 30 (loading platform detector), an attitude detection unit 41 (attitude detector) shown in FIG. 4, and a position detection unit 43 (position detector). and a controller 50 .
- the vehicle 10 has a loading platform 13, as shown in FIG.
- the vehicle 10 is a machine (a working machine, a transport vehicle, or a transport vehicle) that transports objects accommodated in the loading platform 13 .
- Vehicle 10 is, for example, a dump truck.
- the vehicle 10 includes a vehicle main body 11 and a loading platform 13 .
- the vehicle main body 11 supports the loading platform 13.
- the vehicle main body 11 is capable of running, and may run on wheels or on crawlers.
- the vehicle body portion 11 includes a vehicle cab 11a.
- the carrier 13 accommodates objects to be transported.
- the object to be transported accommodated in the carrier 13 may be earth and sand, stone, wood, metal, waste, or a structure such as concrete.
- the loading platform 13 is arranged on the vehicle rear side X2 (described later) from the vehicle cab 11a.
- the carrier 13 has, for example, a box-like shape without a lid (see FIG. 3).
- the loading platform 13 may be movable with respect to the vehicle body portion 11 or may be fixed to the vehicle body portion 11 .
- a state in which the floor surface 13a (described later) of the loading platform 13 is arranged horizontally or substantially horizontally will be described below.
- the loading platform 13 includes a floor surface 13a, a rear tilting plate surface 13b, a side tilting plate surface 13c, and a torii gate surface 13d.
- a vehicle up-down direction Z is a direction relative to the vehicle 10 that coincides with the vertical direction when the vehicle 10 is placed on a horizontal plane.
- the longitudinal direction of the loading platform 13 is defined as the longitudinal direction X of the vehicle.
- the vehicle front side X1 the side facing the vehicle driver's cab 11a from the loading platform 13 is the vehicle front side X1
- the opposite side is the vehicle rear side X2.
- a direction orthogonal to each of the vehicle up-down direction Z and the vehicle front-rear direction X is defined as a vehicle width direction Y. As shown in FIG.
- the floor surface 13a is the bottom surface of the loading platform 13.
- the floor surface 13a is planar or substantially planar.
- Each of the rear gate plate surface 13b, the side gate plate surface 13c, and the torii gate surface 13d is also planar or substantially planar.
- the rear tilt plate surface 13b is a surface of the loading platform 13 on the vehicle rear side X2, and protrudes upward from a portion of the floor surface 13a on the vehicle rear side X2.
- the left and right side tilt plate surfaces 13c are the outer surfaces (the left surface and the right surface) of the loading platform 13 in the vehicle width direction Y (see FIG. 3), and protrude upward from the left and right ends of the floor surface 13a. .
- the torii surface 13d is a surface of the loading platform 13 on the vehicle front side X1, and protrudes upward from a portion of the floor surface 13a on the vehicle front side X1.
- the torii surface 13d projects above the side flap surface 13c and above the rear flap surface 13b.
- the work machine 20 performs work on the vehicle 10.
- the work machine 20 performs, for example, an operation of loading objects to be transported onto the loading platform 13 (e.g., earth and sand loading operation).
- the work machine 20 is, for example, a construction machine, such as a shovel, or a crane. A case where the work machine 20 is a shovel will be described below.
- the work machine 20 includes a lower travel body 21 , an upper revolving body 23 and an attachment 25 .
- the lower traveling body 21 causes the work machine 20 to travel.
- the lower traveling body 21 includes, for example, crawlers.
- the upper revolving body 23 is rotatably mounted on the lower traveling body 21 .
- the upper revolving body 23 has a working machine cab 23a.
- the working machine cab 23a is a part provided with an operating device and the like that allows an operator to operate the working machine 20 .
- the work machine 20 may be operated by an operator's operation, or may be operated by automatic operation.
- the attachment 25 is a part that performs work, and includes, for example, a boom 25a, an arm 25b, and a tip attachment 25c.
- the boom 25a is attached to the upper revolving body 23 so as to be able to rise and fall (rotatable in the vertical direction).
- Arm 25b is rotatably attached to boom 25a.
- the tip attachment 25c is provided at the tip of the attachment 25 and rotatably attached to the arm 25b.
- the tip attachment 25c may be, for example, a bucket for scooping earth and sand, a device for pinching an object (such as a grapple), or a device for crushing or excavating (such as a breaker).
- the loading platform detection unit 30 detects information including the distance to the loading platform 13, specifically information including the distance from the loading platform detection unit 30 to the loading platform 13, for example.
- the loading platform detection unit 30 may be a detector provided with a sensor for detecting information including the distance to the loading platform 13 .
- the loading platform detector 30 is arranged at a position where the loading platform 13 can be detected.
- the platform detector 30 may be attached to the work machine 20 .
- the platform detector 30 may be attached to the work machine cab 23a.
- the platform detector 30 may be attached to the roof portion of the working machine cab 23a, or may be arranged inside the working machine cab 23a.
- the platform detector 30 may be attached to a portion of the work machine 20 other than the work machine cab 23a.
- the loading platform detection unit 30 may be arranged outside the work machine 20 (see the loading platform detection unit 30 indicated by the two-dot chain line in FIG. 1).
- the platform detector 30 may be installed at a work site where the work machine 20 is arranged (a work site where the vehicle 10 is arranged).
- each of the position detector 43 and the controller 50 may be mounted on the work machine 20 or may be arranged outside the work machine 20 .
- the platform detector 30 may be provided at only one location, or may be provided at a plurality of locations (the same applies to the position detector 43 and the controller 50).
- the vehicle discrimination system 1 may include a bed detector 30 mounted on the work machine 20 and a bed detector 30 arranged outside the work machine 20 . This is the same for the position detector 43 and the controller 50 as well.
- the loading platform detection unit 30 may detect the distance to a part of the loading platform 13. Specifically, for example, the loading platform detection unit 30 may detect the distance to the torii surface 13d, or may detect the distance to the rear flap surface 13b. The loading platform detection unit 30 may detect a distance image (described later) of the entire loading platform 13 or substantially the entire loading platform 13 . The loading platform detection unit 30 may detect information other than the distance, and specifically may detect a two-dimensional image of the loading platform 13 .
- the carrier detector 30 may include a two-dimensional image detector 31 and a three-dimensional information detector 33 .
- the two-dimensional image detection unit 31 detects a two-dimensional image of the loading platform 13.
- the two-dimensional image detection section 31 may be a detector equipped with a sensor for detecting a two-dimensional image of the loading platform 13 .
- the two-dimensional image detected by the two-dimensional image detection unit 31 may include the entire loading platform 13 as shown in FIG. 3, for example.
- a distance image acquired by the three-dimensional information detection unit 33, which will be described later, may also include the entire loading platform 13 in the same manner.
- This two-dimensional image may include portions of the vehicle 10 other than the loading platform 13, and may include the working machine 20 (for example, the attachment 25, etc.).
- the distance image acquired by the three-dimensional information detection unit 33 may include portions of the vehicle 10 other than the loading platform 13, and may include the work machine 20 (for example, the attachment 25, etc.).
- the two-dimensional image detection unit 31 shown in FIG. 1 may be a monocular camera.
- the three-dimensional information detection unit 33 detects three-dimensional information (three-dimensional distance information) including the loading platform 13.
- the three-dimensional information detection unit 33 may be a detector provided with a sensor for detecting three-dimensional information (three-dimensional distance information) including the loading platform 13 .
- the three-dimensional information detection unit 33 acquires a distance image, which is an image having distance information (depth information). Specifically, for example, the three-dimensional information detection unit 33 detects point cloud data and the like.
- the three-dimensional information detection unit 33 may include a device that detects three-dimensional information using laser light, for example, LIDAR (Light Detection and Ranging), or for example, a TOF (Time Of Flight) sensor. You may prepare.
- LIDAR Light Detection and Ranging
- TOF Time Of Flight
- the three-dimensional information detection unit 33 may include a device (such as a millimeter wave radar) that detects three-dimensional information using radio waves.
- the three-dimensional information detection section 33 may have a stereo camera. It is preferable that the coordinate system of the two-dimensional image and the coordinate system of the three-dimensional information be unified. For example, these coordinate systems may be unified into a coordinate system (machine coordinate system) based on the work machine 20, or may be unified into a coordinate system based on the work site.
- the carrier detection unit 30 may include a device that detects one-dimensional or two-dimensional distance information. More specifically, the platform detector 30 may include a device for detecting the distance from the platform detector 30 to a certain point (device for detecting one-dimensional distance information). The platform detector 30 may include a device (device for detecting two-dimensional distance information) for detecting the distance to each point where the plane passing through the platform detector 30 and the platform 13 intersect.
- the carrier detector 30 may include an optical sensor (for example, a laser sensor) or a radio wave sensor that detects one-dimensional or two-dimensional distance information.
- the posture detection unit 41 detects the posture of the working machine 20.
- Posture detection unit 41 may be a detector that includes a sensor for detecting the posture of work machine 20 .
- the posture detection unit 41 may detect the rotation angle (hoisting angle) of the boom 25 a with respect to the upper swing body 23 .
- the posture detection unit 41 may detect the rotation angle of the arm 25b with respect to the boom 25a.
- the posture detection unit 41 may detect the rotation angle of the tip attachment 25c with respect to the arm 25b.
- the posture detection unit 41 may detect the turning angle of the upper turning body 23 with respect to the lower traveling body 21 .
- the attitude detection unit 41 may include a sensor (for example, a rotary encoder) that detects an angle, or a sensor that detects an inclination with respect to a horizontal plane, and detects the stroke of a cylinder (not shown) that drives the attachment 25. It may be provided with a sensor for Posture detection unit 41 may detect the posture of work machine 20 based on one or both of the two-dimensional image and the range image. In this case, one or both of the two-dimensional image and the range image may be detected by the carrier detector 30 . In this case, the carrier detector 30 also has the function of the posture detector 41, and the posture detector 41 may be omitted.
- a sensor for example, a rotary encoder
- Posture detection unit 41 may detect the posture of work machine 20 based on one or both of the two-dimensional image and the range image. In this case, one or both of the two-dimensional image and the range image may be detected by the carrier detector 30 . In this case, the carrier detector 30 also has the function of the posture detector 41, and the
- the position detection unit 43 detects the position of the work machine 20 at the work site.
- the position detection unit 43 may detect the position and orientation of the work machine 20 with respect to the work site (for example, the orientation of the upper swing body 23).
- the position detection unit 43 may detect the position and orientation of the reference portion of the work machine 20 with respect to the work site.
- the reference portion of the work machine 20 may be, for example, a specific portion of the upper revolving body 23 or the lower traveling body 21, or may be a mounting portion (boom foot) of the boom 25a to the upper revolving body 23, for example.
- the position detection unit 43 may be a detector equipped with a sensor for detecting the position of the work machine 20 at the work site. Specifically, for example, the position detection unit 43 may use a satellite positioning system (for example, GNSS (Global Navigation Satellite System)) or may use a total station to detect the position of the work machine 20 at the work site. Other known techniques that can be used may be used.
- GNSS Global Navigation Satellite System
- the controller 50 (see FIG. 4) is a computer that performs signal input/output, computation (processing), information storage, and the like.
- the functions of the controller 50 shown in FIG. 4 are realized by executing a program stored in the storage unit 53 of the controller 50 or the like by the arithmetic unit.
- the controller 50 performs processing related to discrimination of the type of the vehicle 10 (see FIG. 1).
- the controller 50 may perform processing different from determining the type of the vehicle 10 .
- the controller 50 may control automatic operation of the work machine 20 (see FIG. 1), or may perform control to assist the operation of the work machine 20 .
- the controller 50 includes a dimension information calculation unit 51 , a storage unit 53 , a determination unit 55 and a detection availability determination unit 57 .
- the dimension information calculation unit 51 calculates the dimension information of the loading platform 13 based on the distance detected by the loading platform detection unit 30 shown in FIG.
- This dimension information is information that serves as a reference for discriminating the type of the vehicle 10 .
- Information from which the type of the vehicle 10 can be determined is used as the dimension information.
- a specific example of the dimension information is as follows.
- the dimension information may include the dimension of the loading platform 13 in a specific direction or the dimension of a specific portion.
- the dimension information may include the dimension Lx of the loading platform 13 in the vehicle longitudinal direction X (the dimension and depth of the loading platform 13 in the longitudinal direction of the loading platform 13).
- the dimension Lx is the space in the vehicle front-rear direction X between the torii surface 13d and the rear flap plate surface 13b.
- the dimension information may include the dimension Ly (width) in the vehicle width direction Y of the loading platform 13 shown in FIG.
- the dimension Ly may be the space in the vehicle width direction Y between the side flap surfaces 13c, 13c on both sides in the vehicle width direction Y.
- the dimension Ly may be the dimension in the vehicle width direction Y of the rear gate plate surface 13b or the torii surface 13d.
- the dimension information may include the dimension of the loading platform 13 in the vertical direction Z of the vehicle.
- the dimension information may include the dimension Lzb (height) in the vehicle vertical direction Z of the rear flap surface 13b (or the side flap surface 13c) shown in FIG.
- the dimension information may include the dimension Lzd (height) of the torii surface 13d in the vertical direction Z of the vehicle.
- the dimension information may include the overall dimensions (in each direction) of the loading platform 13 . More specifically, the dimension information may include dimension Lx, dimension Ly (see FIG. 2), and vehicle vertical direction Z dimension (at least one of dimension Lzb and dimension Lzd) of cargo bed 13 .
- the dimension information may include the capacity of the loading platform 13 calculated from the dimensions of the loading platform 13 .
- the capacity of the loading platform 13 is the product of the dimension Lx of the loading platform 13, the dimension Ly (see FIG. 2), and the dimension Lzb.
- the dimension information may include information on the three-dimensional shape of the loading platform 13 . More specifically, the dimension information may include information on the three-dimensional shape of the entire (or substantially the entire) cargo bed 13 .
- the three-dimensional shape information of the loading platform 13 may include dimension Lx, dimension Ly (see FIG. 2), and dimension Lzb.
- the three-dimensional shape information of the loading platform 13 is the height (value obtained by subtracting the dimension Lzb from the dimension Lzd) from the intersection of the upper end of the side flap surface 13c and the torii surface 13d to the upper end of the torii surface 13d. may contain.
- the three-dimensional shape information of the loading platform 13 may include the dimension Lzd of the torii surface 13d in the vertical direction Z of the vehicle.
- the information on the three-dimensional shape of the loading platform 13 may include information on the angles between the surfaces (rear flap surface 13b, side flap surface 13c, etc.).
- the dimension information calculation unit 51 calculates the dimension information as follows, for example.
- the dimension information calculation unit 51 shown in FIG. 4 calculates a three-dimensional shape based on a two-dimensional image and three-dimensional information. More specifically, the dimension information calculation unit 51 includes a two-dimensional shape calculation unit 51a and a three-dimensional shape calculation unit 51b.
- the two-dimensional shape calculation unit 51a calculates (estimates) the two-dimensional shape of the loading platform 13 (see FIG. 3) based on the two-dimensional image detected by the two-dimensional image detection unit 31. For example, the two-dimensional shape calculator 51a calculates the two-dimensional shape of the loading platform 13 by image recognition. Specifically, for example, the two-dimensional shape calculator 51a extracts (recognizes, estimates) feature points P (see FIG. 3) corresponding to the corner positions of the loading platform 13 in the two-dimensional image. The two-dimensional shape calculation unit 51a also determines links L (see FIG. 3) corresponding to the sides of the loading platform 13 in the two-dimensional image. As shown in FIG. 3, the link L is a line segment connecting the feature points P to each other. The two-dimensional shape calculation unit 51a shown in FIG. 4 determines feature points P and links L, for example, by executing software for extracting a specific shape from a two-dimensional image. For example, this software may be one using deep learning technology.
- the three-dimensional shape calculation unit 51b calculates the three-dimensional shape of the loading platform 13.
- the three-dimensional shape calculation unit 51b uses the two-dimensional shape of the cargo bed 13 calculated by the two-dimensional shape calculation unit 51a, the three-dimensional information (for example, point cloud data) of the cargo bed 13 detected by the three-dimensional information detection unit 33, The three-dimensional shape of the loading platform 13 is calculated based on. Specifically, for example, the three-dimensional shape calculation unit 51b calculates the position of the cargo bed 13 in the three-dimensional information detected by the three-dimensional information detection unit 33 from the positions (two-dimensional coordinates) of the feature point P and the link L in the two-dimensional image. Locate corners and sides.
- the three-dimensional shape calculation unit 51b acquires the three-dimensional coordinates at the positions of the corners and sides of the loading platform 13 from the three-dimensional information (for example, point cloud data). Accordingly, the three-dimensional shape calculation unit 51b determines the three-dimensional coordinates of the corners and sides of the loading platform 13 and determines the three-dimensional shape of the loading platform 13 .
- the dimension information calculation unit 51 may calculate the three-dimensional shape of the loading platform 13 based on three-dimensional information without using a two-dimensional image. Specifically, for example, the three-dimensional shape calculation unit 51b clusters the three-dimensional information (for example, point cloud data) of the loading platform 13 detected by the three-dimensional information detecting unit 33, thereby obtaining a three-dimensional shape of each surface of the loading platform 13. Identify (estimate, calculate) the position. As a result, the three-dimensional shape calculator 51b determines the three-dimensional shape of the loading platform 13.
- the carrier detector 30 may not include the two-dimensional image detector 31, and the dimension information calculator 51 may not include the two-dimensional shape calculator 51a.
- the dimension information calculation unit 51 calculates the dimensions and capacity of the bed 13 ([Example A1] and [Example A2] above) based on the information on the three-dimensional shape of the bed 13 calculated by the three-dimensional shape calculation unit 51b. , and see [Example A3]).
- the dimension information calculation unit 51 calculates the dimensions and capacity of the loading platform 13 (see [Example A1], [Example A2], and [Example A3] above) without computing the three-dimensional shape of the loading platform 13. You may In this example, the dimension information calculator 51 does not have to include the two-dimensional shape calculator 51a and the three-dimensional shape calculator 51b.
- the platform detector 30 shown in FIG. 1 detects the distance from the platform detector 30 to two surfaces of the platform 13 that face each other. Based on the detected distance, the dimension information calculation unit 51 (see FIG. 4) may calculate the dimension of the loading platform 13 in the direction in which these two surfaces face each other. Specifically, for example, the distance in the vehicle front-rear direction X from the platform detector 30 to the rear flap surface 13b and the distance in the vehicle front-rear direction X from the platform detector 30 to the torii surface 13d are detected.
- the dimension information calculation unit 51 calculates the distance in the vehicle front-rear direction X between the torii surface 13d and the rear flap surface 13b, and calculates the dimension Lx of the loading platform 13 in the vehicle front-rear direction X (the [ Example A1a]) may be calculated. Similarly, the dimension information calculation unit 51 calculates the dimension Ly (see [Example A1b] above) of the loading platform 13 in the vehicle width direction Y from the interval between the two side tilt plate surfaces 13c, 13c shown in FIG. may In this example, the carrier detector 30 may be a device that detects one-dimensional or two-dimensional distance information.
- the carrier detector 30 does not have to include the two-dimensional image detector 31 and the three-dimensional information detector 33 (the same applies to [Example B3b] below).
- the dimension information calculation unit 51 does not have to include the two-dimensional shape calculation unit 51a and the three-dimensional shape calculation unit 51b (the same applies to [Example B3b] below).
- the dimension information calculation unit 51 may use the dimensions detected by the loading platform detection unit 30 as part or all of the dimension information of the loading platform 13 .
- the platform detector 30 detects the height (dimension Lzd) of the torii surface 13d.
- the dimension information calculation unit 51 may use the dimension Lzd as part or all of the dimension information.
- the platform detector 30 may be a device that detects two-dimensional distance information, for example.
- the storage unit 53 (see FIG. 4) stores the correspondence relationship between the dimension information of the loading platform 13 and the type of the vehicle 10.
- the storage unit 53 stores this correspondence relationship in advance (before the type of the vehicle 10 is determined).
- the correspondence stored in the storage unit 53 is the condition (for example, numerical range) of the dimensions of part or all of the loading platform 13 (see [Example A1] and [Example A2] above) and the type of the vehicle 10. and relationship.
- the correspondence stored in the storage unit 53 may be the relationship between the condition (for example, numerical range) of the dimension Lx of the loading platform 13 and the type of the vehicle 10 .
- the correspondence stored in the storage unit 53 may be the relationship between the condition (for example, numerical range) of the capacity of the loading platform 13 (see [Example A3] above) and the type of the vehicle 10 (Fig. 4 (see the relationships R1 and R2 shown in ).
- the correspondence stored in the storage unit 53 may be the relationship between the conditions of the three-dimensional shape information (for example, the dimensional ratio of each surface, the angle, etc.) of the loading platform 13 and the type of the vehicle 10. .
- the storage unit 53 may store information different from the correspondence relationship between the dimension information of the loading platform 13 and the type of the vehicle 10 .
- the storage unit 53 may store specification information (known information) for each model of the vehicle 10 .
- This specification information may include information on the dimensions of the loading platform 13 and may include information on the shape of the loading platform 13 .
- the storage unit 53 may store information as to whether the type of the vehicle 10 is a type that is scheduled to enter the work site where the work machine 20 performs work.
- the storage unit 53 stores a correspondence relation regarding the type of the vehicle 10 scheduled to enter the work site where the work machine 20 works, and the type of the vehicle 10 scheduled not to enter the work site. It is not necessary to store the correspondence regarding the type.
- the determination unit 55 determines the type of the vehicle 10 shown in FIG. 1 based on the dimension information calculated by the dimension information calculation unit 51 shown in FIG. 4 and the correspondence stored in the storage unit 53. Specific examples of the “type” of the vehicle 10 determined by the determination unit 55 are as follows.
- the classification determined by the determination unit 55 may be a classification based on the size of the loading platform 13 .
- the classification may be a classification (class) based on the maximum loading capacity of the loading platform 13 .
- the type may be a division including "4t", "8t” and "10t” (see relationship R1 shown in FIG. 4).
- "4t" is a category to which the vehicle 10 with a maximum loading capacity of about 4t on the loading platform 13 belongs. For example, if the vehicle 10 is a dump truck, it is "4t dump”.
- the classification may be a classification based on the capacity of the loading platform 13 .
- Example D1c Information may be set in the storage unit 53 as to whether or not the work machine 20 is scheduled to enter the work site where the work is to be performed.
- the discrimination unit 55 may discriminate the type only from the classification that is scheduled to enter the work site.
- the determination unit 55 may narrow down the candidates for the classification to be determined to the classification scheduled to enter the work site.
- the dimension Lx of the loading platform 13 in the vehicle front-rear direction X is different from that of the loading platform 13. Differences are likely to occur compared to the dimension in the direction (for example, the dimension Ly (see FIG. 2)). Therefore, when the classification determined by the determining unit 55 is a classification based on the size of the loading platform 13, the dimension information preferably includes the dimension Lx of the loading platform 13 in the vehicle front-rear direction X. FIG. For example, when the classification determined by the determination unit 55 is a classification based on the size of the loading platform 13, the dimension information may be only the dimension Lx of the loading platform 13 in the vehicle front-rear direction X. FIG.
- the controller 50 may use the classification result based on the size of the loading platform 13 to grasp the appropriate amount of objects to be transported onto the loading platform 13 .
- the controller 50 may use the classification result based on the size of the loading platform 13 for guidance of the loading amount in the loading operation from the working machine 20 to the loading platform 13 .
- the type determined by the determining unit 55 may be the model of the vehicle 10 .
- the “model of vehicle 10” is a type to which vehicles 10 manufactured with the same (or substantially the same) size and shape belong.
- Information may be set in the storage unit 53 as to whether or not the work machine 20 is of a model that is scheduled to enter the work site where work is to be performed. In this case, the determination unit 55 may determine the model only from the models that are scheduled to enter the work site. The determination unit 55 may narrow down the candidates for the model to be determined to models that are scheduled to enter the work site.
- the controller 50 may read the specification information of the model stored in the storage unit 53 (the specification information of the loading platform 13) based on the model discrimination result of the vehicle 10.
- the controller 50 may use the specification information of the loading platform 13 to grasp the appropriate amount of objects to be transported onto the loading platform 13 .
- the controller 50 may use the specification information of the loading platform 13 for guidance of the amount of objects to be transported from the work machine 20 to the loading platform 13 .
- the controller 50 may use the specification information of the loading platform 13 to grasp the detailed position of the loading platform 13 .
- the controller 50 may use detailed positional information of the loading platform 13 for automatic operation of loading objects to be transported from the work machine 20 onto the loading platform 13 .
- the controller 50 may use the detailed positional information of the loading platform 13 to specify the loading position (for example, the unloading position) of the object to be transported from the working machine 20 to the loading platform 13 .
- the controller 50 may use the detailed positional information of the loading platform 13 to assist the operation of loading an object to be transported from the working machine 20 onto the loading platform 13 .
- the controller 50 may use detailed positional information of the loading platform 13 for collision prevention control between the loading platform 13 and the work machine 20 .
- the discrimination unit 55 does not need to discriminate only one type.
- the determining unit 55 may narrow down the candidate types stored in the storage unit 53 to a plurality of types.
- the discrimination unit 55 may discriminate the type based on all the information included in the dimension information, or discriminate the type based on only part of the information (information necessary for discriminating the type) included in the dimension information. You may
- the detection availability determination unit 57 determines whether or not the loading platform 13 can be detected by the loading platform detection unit 30 .
- the detection propriety determination unit 57 determines whether or not the dimension information calculation unit 51 can appropriately calculate the dimension information of the loading platform 13, and whether or not the determination unit 55 can appropriately determine the type of the vehicle 10. judge.
- the information necessary for determination by the detection availability determination unit 57 differs depending on whether or not the loading platform detection unit 30 is attached to the work machine 20 .
- the detection availability determination unit 57 makes determinations as follows.
- the detectability determination unit 57 determines whether or not the posture of the work machine 20 is the “load bed detectable posture”.
- the load-bed detectable posture is a posture of the work machine 20 in which the load-bed detection unit 30 can detect the load-bed 13 . More specifically, the load-bed detectable posture is a posture of the work machine 20 that allows the load-bed detection unit 30 to detect information necessary for the dimension information calculation unit 51 to appropriately calculate the dimensional information of the load-bed 13. .
- the loading platform detectable attitude is set in the controller 50 .
- the load-bed detectable posture is a posture in which the ratio of the attachment 25 reflected in the detection area (angle of view) of the load-bed detection unit 30 shown in FIG. 3 is equal to or less than a predetermined value.
- the loading platform detectable posture may be a posture in which the attachment 25 is not reflected in the detection area of the loading platform detection unit 30 (the "predetermined value" may be zero).
- a posture in which the proportion of the attachment 25 reflected in the detection area of the loading platform detection unit 30 exceeds a predetermined value does not correspond to the loading platform detectable posture.
- the dimension information calculation unit 51 calculates the size information of the bed 13. (step S2 in FIG. 5). In this case, the determination unit 55 determines the type of the vehicle 10 (step S3 in FIG. 5). On the other hand, if the posture detected by the posture detection unit 41 is not a platform detectable posture (NO in step S1 in FIG. 5), the dimension information calculation unit 51 does not calculate the dimension information of the platform 13 . In this case, the discrimination unit 55 does not discriminate the type of the vehicle 10 .
- the detection availability determination unit 57 performs determination as follows. .
- the detection propriety determination unit 57 determines whether or not the “carrying platform detectable condition” is satisfied.
- the loading platform detectable condition is a condition regarding the posture and position of work machine 20 that allows loading platform detection unit 30 to detect loading platform 13 . More specifically, the loading platform detectable condition is the attitude and position of the work machine 20 that allow the loading platform detection unit 30 to detect information necessary for the dimension information calculation unit 51 to appropriately calculate the dimensional information of the loading platform 13. It is a condition regarding A loading platform detectable condition is set in the controller 50 .
- the loading platform detectable condition is a condition regarding the attitude and position of working machine 20 such that the percentage of working machine 20 reflected in the detection area of loading platform detection unit 30 is equal to or less than a predetermined value.
- the loading platform detectable condition may be a condition regarding the attitude and position of working machine 20 such that working machine 20 is not reflected in the detection area of loading platform detection unit 30 (the above-mentioned "predetermined value" may be zero).
- predetermined value may be zero.
- the attitude and position of work machine 20 that exceed a predetermined value for work machine 20 reflected in the detection area of platform detection unit 30 do not satisfy the platform detectable condition.
- the dimension information calculation unit 51 obtains the dimension information of the platform 13 . Calculate. In this case, the discrimination unit 55 discriminates the type of the vehicle 10 . On the other hand, if the posture detected by the posture detection unit 41 and the position detected by the position detection unit 43 do not satisfy the platform detectable condition, the dimension information calculation unit 51 does not calculate the dimension information of the platform 13 . In this case, the discrimination unit 55 does not discriminate the type of the vehicle 10 .
- the effects of the vehicle discrimination system 1 shown in FIG. 1 are as follows.
- the vehicle discrimination system 1 discriminates the type of the vehicle 10 having the loading platform 13 .
- the vehicle discrimination system 1 includes a platform detection section 30 , a dimension information calculation section 51 , a storage section 53 and a discrimination section 55 .
- the loading platform detection unit 30 detects information including the distance to the loading platform 13 (the distance from the loading platform detection unit 30 to the loading platform 13).
- the dimension information calculation section 51 calculates the dimension information of the bed 13 based on the distance detected by the bed detection section 30 .
- the storage unit 53 stores the correspondence relationship between the dimension information of the loading platform 13 and the type of the vehicle 10 .
- the determination unit 55 determines the type of the vehicle 10 based on the dimension information calculated by the dimension information calculation unit 51 and the correspondence stored in the storage unit 53 .
- the dimensional information of the bed 13 is calculated based on the distance from the bed detector 30 to the bed 13 shown in FIG. Then, the type of the vehicle 10 is determined based on this dimensional information. Therefore, the type of the vehicle 10 can be determined without providing the vehicle 10 with a mark for determining the type of the vehicle 10 . As a result, it is possible to save time and effort for providing a mark or the like on the vehicle 10 . In addition, it is possible to save the trouble of setting the mark according to the type of the vehicle 10 (for example, setting the light emission pattern, color, etc. of the mark).
- Dispossion information includes the dimension Lx of the loading platform 13 in the longitudinal direction (vehicle front-rear direction X) of the loading platform 13 .
- the dimension Lx of the loading platform 13 in the vehicle longitudinal direction X is determined by the type of the vehicle 10.
- the dimension information includes the dimension Lx of the loading platform 13 in the vehicle front-rear direction X, so the vehicle determination system 1 can appropriately determine the type of the vehicle 10 .
- Dispossion information includes information on the three-dimensional shape of the loading platform 13 .
- [Configuration 3] increases the amount of dimensional information compared to when the dimensional information does not include information on the three-dimensional shape of the cargo bed 13 (for example, when it includes only the dimensions of the cargo bed 13 in a specific direction). can be done. As a result, the vehicle discrimination system 1 can discriminate the type of the vehicle 10 with high accuracy.
- the carrier detector 30 includes a two-dimensional image detector 31 and a three-dimensional information detector 33 .
- a two-dimensional image detection unit 31 detects a two-dimensional image of the loading platform 13 .
- a three-dimensional information detection unit 33 detects three-dimensional information of the loading platform 13 .
- the dimension information calculation unit 51 includes a two-dimensional shape calculation unit 51a and a three-dimensional shape calculation unit 51b.
- the two-dimensional shape calculation unit 51a calculates the two-dimensional shape of the loading platform 13 based on the two-dimensional image detected by the two-dimensional image detection unit 31.
- the three-dimensional shape calculation unit 51b calculates the load bed 13 based on the two-dimensional shape of the bed 13 calculated by the two-dimensional shape calculation unit 51a and the three-dimensional information of the bed 13 detected by the three-dimensional information detection unit 33. Calculate the three-dimensional shape of
- the vehicle discrimination system 1 can discriminate the type of the vehicle 10 with high accuracy.
- the result of discrimination of the type of vehicle 10 can be used for functions that require information on the size of the loading platform 13 .
- the determination result of the type of the vehicle 10 may be used for grasping the appropriate loading amount of the object to be transported on the loading platform 13 and for guidance on the loading amount of the object to be transported on the loading platform 13. good.
- the determination result of the type of the vehicle 10 can be used for functions that require information on the model of the vehicle 10 .
- the determination result of the type of the vehicle 10 may be used for reading specification information corresponding to the model of the vehicle 10 that has been determined.
- various functions such as accurate grasping of the position of the loading platform 13, automatic operation and assistance of loading work on the loading platform 13, control of collision prevention between the loading platform 13 and the work machine 20, and the like are performed.
- Original information may be used.
- the vehicle discrimination system 1 includes a posture detection section 41 .
- the attitude detection unit 41 detects the attitude of the working machine 20 that performs work on the vehicle 10 .
- the platform detector 30 is attached to the work machine 20 .
- the determination unit 55 determines the type of the vehicle 10 when the posture detected by the posture detection unit 41 is the loading platform detectable posture.
- the loading platform detectable posture is a posture set as a posture in which the loading platform 13 can be detected by the loading platform detection unit 30 .
- the determination unit 55 does not determine the type of the vehicle 10 when the posture detected by the posture detection unit 41 is not the load bed detectable posture.
- the type of the vehicle 10 can be determined in a state in which the loading platform 13 is appropriately detected by the loading platform detection unit 30 . Therefore, the vehicle discrimination system 1 can discriminate the type of the vehicle 10 with high accuracy.
- the vehicle discrimination system 1 includes an attitude detection section 41 and a position detection section 43 .
- the attitude detection unit 41 detects the attitude of the working machine 20 that performs work on the vehicle 10 .
- the position detection unit 43 detects the position of the work machine 20 at the work site where the work machine 20 is arranged.
- the platform detector 30 is arranged outside the work machine 20 .
- the discrimination section 55 shown in FIG. 4 discriminates the type of the vehicle 10 when the posture detected by the posture detection section 41 and the position detected by the position detection section 43 satisfy the load bed detectable condition.
- the loading platform detectable condition is a condition set as a condition that allows the loading platform detection unit 30 shown in FIG. 1 to detect the loading platform 13 . 4 discriminates the type of vehicle 10 shown in FIG. do not
- the type of the vehicle 10 can be determined in a state in which the loading platform 13 is appropriately detected by the loading platform detection unit 30 . Therefore, the vehicle discrimination system 1 can discriminate the type of the vehicle 10 with high accuracy.
- the above embodiments may be modified in various ways.
- the connections shown in FIG. 4 between the components of the above embodiments may be changed.
- values, ranges, and the like for example, conditions of correspondence stored in the storage unit 53
- the number of components may vary and some components may not be provided.
- fixing, coupling, etc. between components may be direct or indirect.
- what has been described as a plurality of different members or parts may be treated as one member or part.
- what has been described as one member or portion may be divided into a plurality of different members or portions.
- the components of the controller 50 may be arranged in one place, or may be arranged in a plurality of places. good.
- a component may have only a portion of each feature (function, arrangement, shape, method of manufacture, operation, etc.).
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Abstract
Description
車両10に関する方向であって、車両10が水平面に置かれた場合に鉛直方向と一致する方向を、車両上下方向Zとする。荷台13の長手方向を、車両前後方向Xとする。車両前後方向Xにおいて、荷台13から車両運転室11aに向かう側を車両前側X1とし、その逆側を車両後側X2とする。車両上下方向Zおよび車両前後方向Xのそれぞれに直交する方向を、車両幅方向Yとする。
図1に示す車両判別システム1による効果は、次の通りである。車両判別システム1は、荷台13を有する車両10の種別を判別する。図4に示すように、車両判別システム1は、荷台検出部30と、寸法情報演算部51と、記憶部53と、判別部55と、を備える。
[構成2]「寸法情報」(上記[構成1]参照)は、荷台13の長手方向(車両前後方向X)における荷台13の寸法Lxを含む。
[構成3]「寸法情報」(上記[構成1]参照)は、荷台13の三次元形状の情報を含む。
荷台検出部30は、二次元画像検出部31と、三次元情報検出部33と、を備える。二次元画像検出部31は、荷台13の二次元画像を検出する。三次元情報検出部33は、荷台13の三次元情報を検出する。図4に示すように、寸法情報演算部51は、二次元形状演算部51aと、三次元形状演算部51bと、を備える。
[構成5]「車両10の種別」(上記[構成1]参照)は、荷台13の大きさに基づく区分である。
[構成6]「車両10の種別」(上記[構成1]参照)は、車両10の機種である。
車両判別システム1は、姿勢検出部41を備える。姿勢検出部41は、車両10に対して作業を行う作業機械20の姿勢を検出する。荷台検出部30は、作業機械20に取り付けられる。
車両判別システム1は、姿勢検出部41と、位置検出部43と、を備える。姿勢検出部41は、車両10に対して作業を行う作業機械20の姿勢を検出する。位置検出部43は、作業機械20が配置される作業現場における作業機械20の位置を検出する。荷台検出部30は、作業機械20の外部に配置される。
上記実施形態は様々に変形されてもよい。例えば、上記実施形態の構成要素どうしの、図4に示す接続は変更されてもよい。例えば、値や範囲など(例えば記憶部53に記憶された対応関係の条件など)は、一定でもよく、手動操作により変えられてもよく、何らかの条件に応じて自動的に変えられてもよい。例えば、構成要素の数が変更されてもよく、構成要素の一部が設けられなくてもよい。例えば、構成要素どうしの固定や連結などは、直接的でも間接的でもよい。例えば、互いに異なる複数の部材や部分として説明したものが、一つの部材や部分とされてもよい。例えば、一つの部材や部分として説明したものが、互いに異なる複数の部材や部分に分けて設けられてもよい。具体的には例えば、コントローラ50の構成要素(寸法情報演算部51、記憶部53、および判別部55)は、1か所に配置されてもよく、複数か所に分散して配置されてもよい。例えば、構成要素は、各特徴(作用機能、配置、形状、製法、作動など)の一部のみを有してもよい。
Claims (8)
- 荷台を有する車両の種別を判別する車両判別システムであって、
前記荷台までの距離を含む情報を検出する荷台検出部と、
コントローラと、を備え、
前記コントローラは、
前記荷台検出部に検出された距離に基づいて、前記荷台の寸法情報を演算し、
前記荷台の前記寸法情報と前記車両の種別との対応関係を記憶し、
演算された前記寸法情報と、記憶された前記対応関係とに基づいて、前記車両の種別を判別する、
車両判別システム。 - 請求項1に記載の車両判別システムであって、
前記寸法情報は、前記荷台の長手方向における前記荷台の寸法を含む、
車両判別システム。 - 請求項1または2に記載の車両判別システムであって、
前記寸法情報は、前記荷台の三次元形状の情報を含む、
車両判別システム。 - 請求項3に記載の車両判別システムであって、
前記荷台検出部は、
前記荷台の二次元画像を検出する二次元画像検出部と、
前記荷台の三次元情報を検出する三次元情報検出部と、
を備え、
前記コントローラは、
前記二次元画像検出部に検出された前記二次元画像に基づいて、前記荷台の二次元形状を演算し、
演算された前記荷台の前記二次元形状と、前記三次元情報検出部に検出された前記荷台の前記三次元情報と、に基づいて、前記荷台の前記三次元形状を演算する、
車両判別システム。 - 請求項1~4のいずれか1項に記載の車両判別システムであって、
前記車両の種別は、前記荷台の大きさに基づく区分である、
車両判別システム。 - 請求項1~5のいずれか1項に記載の車両判別システムであって、
前記車両の種別は、前記車両の機種である、
車両判別システム。 - 請求項1~6のいずれか1項に記載の車両判別システムであって、
前記車両に対して作業を行う作業機械の姿勢を検出する姿勢検出部を備え、
前記荷台検出部は、前記作業機械に取り付けられ、
前記コントローラは、前記姿勢検出部に検出された姿勢が、前記荷台検出部による荷台の検出が可能な姿勢として設定された荷台検出可能姿勢である場合に、前記車両の種別を判別し、
前記コントローラは、前記姿勢検出部に検出された姿勢が前記荷台検出可能姿勢でない場合に、前記車両の種別の判別を行わない、
車両判別システム。 - 請求項1~6のいずれか1項に記載の車両判別システムであって、
前記車両に対して作業を行う作業機械の姿勢を検出する姿勢検出部と、
前記作業機械が配置される作業現場における前記作業機械の位置を検出する位置検出部と、
を備え、
前記荷台検出部は、前記作業機械の外部に配置され、
前記コントローラは、前記姿勢検出部に検出された姿勢および前記位置検出部に検出された位置が、前記荷台検出部による前記荷台の検出が可能な条件として設定された荷台検出可能条件を満たす場合に、前記車両の種別を判別し、
前記コントローラは、前記姿勢検出部に検出された姿勢および前記位置検出部に検出された位置が、前記荷台検出可能条件を満たさない場合に、前記車両の種別の判別を行わない、
車両判別システム。
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JPH11210020A (ja) | 1998-01-26 | 1999-08-03 | Hitachi Constr Mach Co Ltd | 自動運転建設機械 |
JP2016184316A (ja) * | 2015-03-26 | 2016-10-20 | 株式会社東芝 | 車種判別装置および車種判別方法 |
JP2017045137A (ja) * | 2015-08-24 | 2017-03-02 | 株式会社東芝 | 車種判別装置、及び車種判別方法 |
JP2021021263A (ja) * | 2019-07-29 | 2021-02-18 | 住友重機械工業株式会社 | 作業機械 |
JP2021055256A (ja) * | 2019-09-26 | 2021-04-08 | コベルコ建機株式会社 | 輸送車位置判定装置 |
JP2021188258A (ja) * | 2020-05-25 | 2021-12-13 | 住友建機株式会社 | ショベル用のシステム |
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Patent Citations (6)
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JPH11210020A (ja) | 1998-01-26 | 1999-08-03 | Hitachi Constr Mach Co Ltd | 自動運転建設機械 |
JP2016184316A (ja) * | 2015-03-26 | 2016-10-20 | 株式会社東芝 | 車種判別装置および車種判別方法 |
JP2017045137A (ja) * | 2015-08-24 | 2017-03-02 | 株式会社東芝 | 車種判別装置、及び車種判別方法 |
JP2021021263A (ja) * | 2019-07-29 | 2021-02-18 | 住友重機械工業株式会社 | 作業機械 |
JP2021055256A (ja) * | 2019-09-26 | 2021-04-08 | コベルコ建機株式会社 | 輸送車位置判定装置 |
JP2021188258A (ja) * | 2020-05-25 | 2021-12-13 | 住友建機株式会社 | ショベル用のシステム |
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