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1.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
Applicant: Komatsu Ltd.
Inventor： Shogo Atsumi , Taiki Sugawara , Hiroyoshi Yamaguchi , Atsushi Nagato
IPC: G06T7/80 , G06T7/70 , H04N13/246 , H04N13/243 , E02F9/26
Abstract: 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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公开(公告)号：US20240410136A1
公开(公告)日：2024-12-12
申请号：US18576114
申请日：2022-07-01
Applicant: Komatsu Ltd.
Inventor： Shogo Atsumi , Shoji Sonoyama , Toshihide Mineushiro , Taiki Sugawara , Toyohisa Matsuda
Abstract: A control system of a work machine includes a first position/azimuth calculation unit that calculates a position and an azimuth angle of the work machine based on a GNSS radio wave, a second position/azimuth calculation unit that calculates the position and the azimuth angle of the work machine based on an image of a plurality of targets installed on the outside of the work machine, and a switching unit that switches a first calculation mode in which the first position/azimuth calculation unit calculates the position and the azimuth angle of the work machine and a second calculation mode in which the second position/azimuth calculation unit calculates the position and the azimuth angle of the work machine.
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公开(公告)号：US20170284071A1
公开(公告)日：2017-10-05
申请号：US15308453
申请日：2016-03-29
Applicant: Komatsu Ltd.
Inventor： Hiroyoshi Yamaguchi , Shogo Atsumi , Shun Kawamoto , Taiki Sugawara
Abstract: A calibration system includes at least a pair of imaging devices in a work machine having a working unit that image an object; a position detector detecting a position of the working unit; and a processing unit that, by using first position information about a predetermined position of the working unit captured by the imaging devices, second position information about the predetermined position detected by the position detector in an attitude of the working unit taken when the imaging devices image the predetermined position, and third position information about a predetermined position outside the work machine, imaged by the imaging devices, obtains information about a position and an attitude of the imaging devices, and transformation information used for transforming a position of the object imaged by the imaging devices from a first coordinate system to a second coordinate system.
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Patent Agency Ranking
公开(公告)号：US20240287767A1
公开(公告)日：2024-08-29
申请号：US18572322
申请日：2022-07-01
Applicant: Komatsu Ltd.
Inventor： Shogo Atsumi , Shoji Sonoyama , Toshihide Mineushiro , Taiki Sugawara , Toyohisa Matsuda
IPC: E02F9/26
CPC classification number: E02F9/264
Abstract: A control system of a work machine including a traveling body and a turning body includes a position/azimuth calculation unit that calculates a position and an azimuth angle of the turning body based on an image of a plurality of targets installed on the outside of the work machine and an inclination angle of the turning body.
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5.发明授权公开(公告)号：US11508091B2
公开(公告)日：2022-11-22
申请号：US17059517
申请日：2018-06-29
Applicant: Komatsu Ltd.
Inventor： Shogo Atsumi , Taiki Sugawara , Hiroyoshi Yamaguchi , Atsushi Nagato
IPC: H04N13/246 , H04N13/243 , G06T7/80 , G06T7/70 , E02F9/26 , E02F3/32
Abstract: 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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公开(公告)号：US11136745B2
公开(公告)日：2021-10-05
申请号：US15758074
申请日：2017-06-30
Applicant: KOMATSU LTD.
Inventor： Takeo Yamada , Kenichirou Tanaka , Takafumi Katayama , Taiki Sugawara , Shogo Atsumi
Abstract: A stereo camera provided in an earth-moving machine includes a first image pick-up portion and a second image pick-up portion. An optical axis of the first image pick-up portion and an optical axis of the second image pick-up portion are inclined away from a work implement at angles different from each other with respect to a central axis of the work implement in a plan view as a distance from a main body is greater.
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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
Applicant: Komatsu Ltd.
Inventor： Taiki Sugawara , Hiroyoshi Yamaguchi , Shogo Atsumi , Yasuo Kanemitsu
IPC: H04N13/243 , G06T7/80 , H04N13/128 , H04N13/246 , H04N13/00
Abstract: 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
Applicant: Komatsu Ltd.
Inventor： Taiki Sugawara , Hiroyoshi Yamaguchi , Shogo Atsumi , Yasuo Kanemitsu
IPC: G06T7/80 , H04N13/243 , H04N13/246 , H04N13/128
Abstract: 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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