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公开(公告)号：US20170028922A1
公开(公告)日：2017-02-02
申请号：US15303937
申请日：2014-04-23
Applicant: Hitachi, Ltd.
Inventor： Shigeru MATSUO , Noriyasu HASEJIMA , Kenichirou KURATA
CPC classification number: B60R1/002 , B60R2300/107 , B60R2300/802 , E02F9/205 , E02F9/261 , E02F9/262 , E02F9/264 , E02F9/265 , G01C11/06 , G06K9/00791 , G06K9/4638 , G06T7/593 , G06T2207/10012 , G06T2207/30252 , H04N13/204 , H04N13/239 , H04N2013/0081
Abstract: When excavation is performed using an excavation device, a position of a bucket and a position of an excavated material are measured with high accuracy, and further, a safe excavation work is realized in the present invention. The excavation device of the present invention is characterized by including: a stereo camera; a means for recognizing a bucket from an image photographed by the camera and measuring a position of the bucket; a means for recognizing an excavated material to be separated from a ground from the image photographed by the camera and measuring a position of the excavated material; and a means for measuring a positional relationship between the bucket and the excavated material in a same screen.
Abstract translation: 当使用挖掘装置进行挖掘时，高精度地测量铲斗的位置和挖掘位置的位置，并且在本发明中实现安全挖掘工作。 本发明的挖掘装置的特征在于包括：立体摄像机; 用于从由照相机拍摄的图像识别桶并测量铲斗的位置的装置; 用于识别与照相机拍摄的图像与地面分离的挖掘材料并测量挖掘材料的位置的装置; 以及用于在同一屏幕中测量铲斗和挖掘材料之间的位置关系的装置。
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公开(公告)号：US20240019872A1
公开(公告)日：2024-01-18
申请号：US18030783
申请日：2021-10-12
Applicant: Hitachi, Ltd.
Inventor： Hiroyuki YAMADA , Noriyasu HASEJIMA , Go SAKAYORI , Takehito OGATA , Keiichi KATSUTA
IPC: G05D1/02
CPC classification number: G05D1/0297 , G05D2201/0216
Abstract: The present invention addresses the problem of efficiently moving a plurality of moving objects under different rule-based control systems without impairing safety. In order to solve this problem, a moving body task estimation unit 501 estimates moving body tasks 541 of a plurality of moving bodies 1 under different rule-based control systems, an optimum route generation unit 503 searches for optimum routes 542 using various combinations of a plurality of pieces of task information, and a common movement route creation unit 504 creates a common movement route 543 for the plurality of moving bodies by overlapping the obtained optimum routes 542.
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公开(公告)号：US20210382491A1
公开(公告)日：2021-12-09
申请号：US17245041
申请日：2021-04-30
Applicant: Hitachi, Ltd.
Inventor： Kazuya MUROTANI , Noriyasu HASEJIMA , Takehito OGATA , Yuichi IGARASHI , Kazuo ONO , Yuta ESAKA
Abstract: A self-propelled inspection robot according to the invention includes a self-position estimation unit that performs inspection of an equipment by traveling on a travel route and obtains the position of the self-propelled inspection robot, an obstacle detection unit that detects an obstacle, an inspection continuity determination unit that determines whether the self-propelled inspection robot can continue the inspection, a mode selection unit that selects an automatic mode and a manual mode as a travel mode of the self-propelled inspection robot when the inspection continuity determination unit determines that the inspection cannot be continued, and a control unit that makes the self-propelled inspection robot automatically travel when the inspection continuity determination unit and when the mode selection unit selects the automatic mode, and makes the self-propelled inspection robot travel by a user's operation when the mode selection unit selects the manual mode.
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公开(公告)号：US20230021828A1
公开(公告)日：2023-01-26
申请号：US17751728
申请日：2022-05-24
Applicant: Hitachi, Ltd.
Inventor： Noriyasu HASEJIMA , Kazuya MUROTANI , Yuichi IGARASHI , Yuta ESAKA
Abstract: A worker constructs a map necessary for inspection of infrastructure equipment using data acquired using a target imaging device as data necessary for map generation, thereby reducing the cost necessary for transportation and the like of an autonomous inspection apparatus, and moreover, travel evaluation and inspection evaluation are performed using an evaluation function, and a map necessary for the inspection can be corrected based on a travel route of an autonomous travel route and an inspection result based on an evaluation result, whereby the introduction cost can be reduced.
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Patent Agency Ranking
公开(公告)号：US20220397908A1
公开(公告)日：2022-12-15
申请号：US17775413
申请日：2020-07-22
Applicant: Hitachi, Ltd.
Inventor： Yuichi IGARASHI , Yuta ESAKA , Kazuo ONO , Noriyasu HASEJIMA , Kazuya MUROTANI , Takehito OGATA
IPC: G05D1/02
Abstract: Provided is a self-propelled inspection device capable of improving efficiency of system introduction cost, setting, and update work necessary for self-propelling in a self-propelled inspection device expected to be operated outdoors for a long period of time. Therefore, there is provided the self-propelled inspection device that autonomously inspects an inspection object while autonomously traveling an inspection route, the self-propelled inspection device including: a self-position estimation unit that estimates a self-position; a map information database that manages map information for autonomous traveling; a traveling unit including a drive mechanism and a steering mechanism; a sensor that senses the inspection object; a map information update unit that updates the map information based on information sensed by the sensor; and a traveling unit control unit that controls the traveling unit based on the updated map information.
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公开(公告)号：US20170328032A1
公开(公告)日：2017-11-16
申请号：US15527027
申请日：2014-12-12
Applicant: Hitachi, Ltd.
Inventor： Shigeru MATSUO , Noriyasu HASEJIMA , Kenichirou KURATA
CPC classification number: E02F9/262 , E02F3/43 , E02F9/26 , G01B11/00 , G06T7/55 , G06T7/593 , G06T7/62 , G06T2207/10012 , G06T2207/30164 , H04N13/207 , H04N13/239 , H04N13/271 , H04N2013/0081
Abstract: The invention improves volume estimation accuracy of an object in a container using a captured image in a case where a blind spot region exists in a captured image of the object in the container. A blind spot estimation portion for estimating the blind spot region of the object in the bucket; a blind spot region shape estimation portion for estimating a shape of the object in the blind spot region; and a volume estimation portion for estimating a volume of the object in the blind spot region are included, the blind spot estimation portion estimates the blind spot region by mesh disparity data obtained from a captured image of the object in the bucket imaged by a plurality of cameras, the blind spot region shape estimation portion estimates the shape of the object in the blind spot region by the mesh disparity data, and the volume estimation portion estimates the volume of the object in the blind spot region based on the shape of the object in the blind spot region estimated by the blind spot region shape estimation portion and a shape of a bottom of the bucket.
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公开(公告)号：US20170146343A1
公开(公告)日：2017-05-25
申请号：US15315415
申请日：2014-06-25
Applicant: Hitachi, Ltd.
Inventor： Shigeru MATSUO , Noriyasu HASEJIMA , Kenichirou KURATA
CPC classification number: G01C3/06 , E02F3/32 , E02F9/205 , E02F9/24 , E02F9/26 , E02F9/261 , G01C3/14 , G06K9/00805 , H04N7/181 , H04N7/183 , H04N13/128 , H04N13/239 , H04N13/25 , H04N13/296 , H04N2013/0081
Abstract: An outside recognition device according to the present invention has an object to perform distance measurement of an obstacle detected with a surrounding monitoring camera at a low cost. The outside recognition device according to the present invention has a stereo camera that measures a distance in front of the vehicle, a surrounding monitoring camera that photographs a surrounding area of the vehicle, a three-dimensional measuring unit that measures a photographing range of the surrounding monitoring camera with the stereo camera by means for rotating the stereo camera, and generates three-dimensional information from the measurement result, a distance correction information generating unit that generates distance correction information corresponding to a photographing direction of surrounding monitoring camera from the three-dimensional information, and a distance measuring unit that measures a position of the obstacle detected with a surrounding monitoring camera.
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公开(公告)号：US20160313444A1
公开(公告)日：2016-10-27
申请号：US15102157
申请日：2013-12-26
Applicant: HITACHI, LTD.
Inventor： Kenichirou KURATA , Shigeru MATSUO , Noriyasu HASEJIMA
CPC classification number: G01S13/931 , G01S13/867 , G01S17/023 , G01S17/936 , G01S2013/9367 , G06K9/00791 , G08G1/166
Abstract: An object recognition device includes a camera (113) and a radar (114), detects an estimated plane region estimated to be a plane from an image from the camera (113) (S202), and calculates a plane equation for the estimated plane region (S207). The object recognition device interpolates and estimates distance data within the estimated plane region based on the plane equation and the measured distance data from the radar (S210) and obtains the distance to an object by using the distance data. Accordingly, it is possible to obtain dense distance data throughout the estimated plane region and to detect the distance to small objects and distant objects.
Abstract translation: 一种物体识别装置，包括照相机（113）和雷达（114），根据来自照相机（113）的图像检测估计为平面的估计平面区域（S202），并计算估计平面区域的平面方程 （S207）。 对象识别装置根据平面方程和来自雷达的测量距离数据内插估计估计平面区域内的距离数据（S210），并通过使用距离数据获得与物体的距离。 因此，可以在整个估计平面区域中获得密集的距离数据，并且可以检测到小物体和远距离物体的距离。
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9.发明申请公开(公告)号：US20160094806A1
公开(公告)日：2016-03-31
申请号：US14738167
申请日：2015-06-12
Applicant: Hitachi, Ltd.
Inventor： Noriyasu HASEJIMA , Shigeru MATSUO
CPC classification number: H04N5/23293 , E02F9/261 , E02F9/264 , G01B11/14 , G06K9/00201 , G06K9/46 , G06K9/52 , G06K2009/4666 , H04N7/188 , H04N13/106 , H04N13/239 , H04N2013/0081
Abstract: An external recognition apparatus and an excavation machine using the external recognition apparatus, the external recognition apparatus including: a three-dimensional distance measurement device configured to acquire distance information in a three-dimensional space in a predetermined, region which is under a hydraulic shovel and which includes a region to be excavated by the hydraulic shovel; a plane surface estimation unit configured to estimate a plane surface in the predetermined region based on the distance information; and an excavation object region recognition unit configured to recognize the region to be excavated in the predetermined region based on the plane surface and the distance information.
Abstract translation: 一种使用外部识别装置的外部识别装置和挖掘机，所述外部识别装置包括：三维距离测量装置，被配置为获取在液压挖掘机下方的预定区域中的三维空间中的距离信息， 其中包括由液压挖掘机挖掘的区域; 平面表面估计单元，被配置为基于所述距离信息来估计所述预定区域中的平面; 以及挖掘对象区域识别单元，被配置为基于所述平面和所述距离信息来识别在所述预定区域中要挖掘的区域。
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