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公开(公告)号：US10385542B2
公开(公告)日：2019-08-20
申请号：US15752677
申请日：2016-10-05
申请人： Komatsu Ltd.
IPC分类号： E02F9/20 , E02F9/26 , G01B11/245 , G01C3/06 , G01C11/06 , H04N13/00 , H04N7/18 , H04N13/243 , H04N13/239
摘要： A construction management system includes: an object detecting unit mounted on a work machine and configured to detect an object in a construction site and output information on the object; a shape detecting unit configured to output shape information indicating a three-dimensional shape of the object by using the information on the object detected by the object detecting unit; an information attaching unit configured to attach, to the shape information, time information indicating a time when the object is detected; and a management device configured to generate current state information on the construction site on the basis of the shape information to which a latest piece of the time information is attached.
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公开(公告)号：US10233615B2
公开(公告)日：2019-03-19
申请号：US15027547
申请日：2015-10-15
申请人： Komatsu Ltd.
摘要： A position measurement system includes: at least a pair of imaging devices mounted on a work machine; a calculation unit provided at the work machine and configured to perform stereo measurement by using information of an image of an object captured by at least the pair of imaging devices; and a determination unit configured to determine condition related to image capturing by the imaging device based on a performance result of the stereo measurement.
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公开(公告)号：US11195351B2
公开(公告)日：2021-12-07
申请号：US16487863
申请日：2018-07-27
申请人： Komatsu Ltd.
摘要： A work machine measurement system includes an image acquisition unit that acquires an image of a work target captured, while a swinging body of a work machine is swinging, by an image capturing device mounted on the swinging body, a three-dimensional position calculation unit that calculates a three-dimensional position of the work target based on the image, a swing data acquisition unit that acquires swing data about the swinging body, a determination unit that determines whether or not the swing data satisfies a predefined swinging condition and an output unit that outputs a swinging instruction signal based on a result of the determination by the determination unit.
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公开(公告)号：US11120577B2
公开(公告)日：2021-09-14
申请号：US16069560
申请日：2018-02-07
申请人： Komatsu Ltd.
IPC分类号： H04N13/243 , G06T7/80 , H04N13/128 , H04N13/246 , H04N13/00
摘要： A position measurement system includes: an image data acquisition unit that acquires first image data photographed by a first camera of a first stereo camera provided at a work machine and second image data photographed by a second camera of the first stereo camera; a stereo measurement unit that executes stereo measurement on the basis of the first image data, the second image data, and parameters related to the first camera and the second camera; a first adjustment unit that changes at least a part of the parameters to adjust a stereo ratio of first disparity image data subjected to stereo measurement; and a second adjustment unit that changes at least a part of the parameters to adjust a scale of first three-dimensional data obtained from the first disparity image data.
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公开(公告)号：US20210209799A1
公开(公告)日：2021-07-08
申请号：US16069560
申请日：2018-02-07
申请人： Komatsu Ltd.
IPC分类号： G06T7/80 , H04N13/243 , H04N13/246 , H04N13/128
摘要： A position measurement system includes: an image data acquisition unit that acquires first image data photographed by a first camera of a first stereo camera provided at a work machine and second image data photographed by a second camera of the first stereo camera; a stereo measurement unit that executes stereo measurement on the basis of the first image data, the second image data, and parameters related to the first camera and the second camera; a first adjustment unit that changes at least a part of the parameters to adjust a stereo ratio of first disparity image data subjected to stereo measurement; and a second adjustment unit that changes at least a part of the parameters to adjust a scale of first three-dimensional data obtained from the first disparity image data.
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公开(公告)号：US10533305B2
公开(公告)日：2020-01-14
申请号：US15559138
申请日：2015-09-30
申请人： KOMATSU LTD.
IPC分类号： E02F9/26 , B60R1/00 , H04N13/243 , E02F9/16 , B62D25/04
摘要： A first stereo camera has a first image pick-up portion and a second image pick-up portion arranged on the right side of the first image pick-up portion in a lateral direction of a vehicular main body. A second stereo camera has a third image pick-up portion and a fourth image pick-up portion arranged on the right side of the third image pick-up portion in the lateral direction of the vehicular main body. The first image pick-up portion and the third image pick-up portion constitute a left image pick-up portion group. The second image pick-up portion and the fourth image pick-up portion constitute a right image pick-up portion group. The left image pick-up portion group and the right image pick-up portion group are arranged at a distance from each other in the lateral direction of the vehicular main body.
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公开(公告)号：US20190003153A1
公开(公告)日：2019-01-03
申请号：US16121884
申请日：2018-09-05
申请人： Komatsu Ltd.
IPC分类号： E02F9/20 , G01C3/06 , G01B11/245
CPC分类号： E02F9/2045 , E02F9/20 , E02F9/261 , G01B11/245 , G01C3/06 , G01C11/06 , H04N7/18 , H04N13/00 , H04N13/239 , H04N13/243
摘要： A construction management system includes: an object detecting unit mounted on a work machine and configured to detect an object in a construction site and output information on the object; a shape detecting unit configured to output shape information indicating a three-dimensional shape of the object by using the information on the object detected by the object detecting unit; an information attaching unit configured to attach, to the shape information, time information indicating a time when the object is detected; and a management device configured to generate current state information on the construction site on the basis of the shape information to which a latest piece of the time information is attached.
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公开(公告)号：US20180245314A1
公开(公告)日：2018-08-30
申请号：US15756673
申请日：2016-10-05
申请人： Komatsu Ltd.
IPC分类号： E02F9/26 , B60R1/00 , H04N13/282 , G01C11/06
摘要： A shape measuring system includes an object detection unit attached to a work machine and configured to detect an object and output information of the object, a shape detection unit configured to output shape information representing a three-dimensional shape of the object by using the information of the object detected by the object detection unit, and an information providing unit configured to attach time information for specifying the shape information to the shape information and output the shape information.
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公开(公告)号：US20170089041A1
公开(公告)日：2017-03-30
申请号：US14915743
申请日：2015-09-30
申请人： KOMATSU LTD.
摘要： A calibration method includes: detecting a predetermined position of a work machine according to first and second methods in a different posture of the work machine; and obtaining a conversion information item used to convert a position detected by the first method from a coordinate system in the first method into a coordinate system different from that of the first method or obtaining a conversion information item used to convert a position detected by the second method from a coordinate system of the second method into a coordinate system different from that of the second method by using a first position information item as information for the predetermined position detected by the first method and a second position information item as information for the predetermined position detected by the second method in a posture of the work machine when the predetermined position is detected by the first method.
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10.发明申请公开(公告)号：US20210209800A1
公开(公告)日：2021-07-08
申请号：US17059517
申请日：2018-06-29
申请人： Komatsu Ltd.
IPC分类号： G06T7/80 , G06T7/70 , H04N13/246 , H04N13/243 , E02F9/26
摘要： A calibration device for an imaging device includes an imaging data acquisition unit that acquires imaging data of a known external target installed at a known position outside a work range of work equipment, the imaging data being obtained by imaging of at least one imaging device provided in a work machine including the work equipment, an external target position acquisition unit that acquires a position of the known external target, and a calibration unit that calibrates the imaging device based on the position of the known external target, which is acquired by the external target position acquisition unit, and the imaging data of the known external target, which is acquired by the imaging data acquisition unit.
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