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公开(公告)号：US20160282874A1
公开(公告)日：2016-09-29
申请号：US15032972
申请日：2013-11-08
Applicant: HITACHI, LTD.
Inventor： Kenichirou KURATA , Hiroto MORIZANE , Shigeru MATSUO
CPC classification number: G05D1/0223 , G05D1/0088 , G05D1/024 , G05D1/0251 , G05D1/0257 , G05D1/0274 , G05D1/0278 , G05D1/0289 , G05D2201/021
Abstract: In an autonomous driving system in which a plurality of autonomous driving vehicles drive under the control by occlusion control, such a situation is prevented that a vehicle is disabled to drive by a failure of an external world sensor for recognizing an obstacle and stops in an occlusion region thereby to obstruct advancement of overall succeeding vehicles to remarkably degrade the efficiency of the overall transportation work. In the autonomous driving system of the present invention, an autonomous driving vehicle which detects an obstacle or a driving road by a sensor and performs autonomous driving includes sensor state evaluation means configured to evaluate a state of performance degradation of the sensor, speed and steering angle control value setting means configured to provide limit values to the driving speed and the steering angle based on a state of performance degradation of the sensor, and movement obstacle evaluation means configured to evaluate an influence on movement of other vehicles when the vehicle stops at a position at present. When the sensor suffers from performance degradation, the vehicle stops after it drives within the set limit values to the speed and the steering angle to a point at which the vehicle does not obstruct movement of other vehicles.
Abstract translation: 在多个自主驾驶车辆通过遮挡控制的控制下驾驶的自主驾驶系统中，防止了由于外部世界传感器的故障而使车辆无法驾驶以识别障碍物而停止的情况， 从而阻碍整体后续车辆的进步，显着降低整体运输工作的效率。 在本发明的自主驾驶系统中，由传感器检测障碍物或驾驶道路进行自主驾驶的自主驾驶车辆包括传感器状态评价单元，其被配置为评估传感器的性能劣化状态，速度和转向角度 控制值设定单元，其被配置为基于所述传感器的性能劣化的状态来提供对所述驱动速度和所述转向角的限制值;以及运动障碍物评估装置，被配置为评估当所述车辆停止在位置时对其他车辆的移动的影响 现在。 当传感器遭受性能下降时，车辆在其设定的限制值内驱动到车辆不阻碍其他车辆的移动的速度和转向角度时停止。
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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：US20230282003A1
公开(公告)日：2023-09-07
申请号：US18017262
申请日：2021-04-19
Applicant: Hitachi, Ltd.
Inventor： Shigeru MATSUO , Masahiro KIYOHARA , Hideaki KIDO
CPC classification number: G06V20/58 , G06V10/25 , G01C21/3804 , G06V2201/07
Abstract: Provided is an external environment recognition system which complements a blind spot of an on-board camera occurring due to a moving obstacle such as a preceding vehicle with a photographed image obtained from an on-road camera, and can generate a detailed map for automatic traveling. To this end, the external environment recognition system composites a photographed image from an on-board camera with a photographed image from an external camera to recognize the environment outside the host vehicle, the external environment recognition system comprising: an on-board camera which photographs an area in front of the host vehicle; an on-board communication unit which communicates with the external camera; a front moving body detection unit which detects a moving body in the front area on the basis of the photographed image from the on-board camera; a blind spot extraction unit which extracts a blind spot caused by the moving body; an image conversion unit which converts the received photographed image from the external camera into a viewpoint of the on-board camera; an image compositing unit which composites the viewpoint conversion image from the image conversion unit with the blind spot of the photographed image from the on-board camera; and a detailed map generation unit which generates a detailed map in the traveling direction of the host vehicle on the basis of the composited image from the image compositing unit.
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Patent Agency Ranking
4.发明申请公开(公告)号：US20180120098A1
公开(公告)日：2018-05-03
申请号：US15566272
申请日：2015-04-24
Applicant: Hitachi, Ltd.
Inventor： Shigeru MATSUO , Miyako HOTTA
IPC: G01B11/245 , E02F9/26 , G01F17/00
Abstract: The invention estimates a volume of an object inside a container without deteriorating excavation efficiency at the time of viewing the entire inside of the container with a camera. There is provided a container determination unit which determines whether an inner bottom of a bucket is within a photographing range of a stereo camera device during the work of a hydraulic excavator including the bucket and the stereo camera device; and a volume estimation unit which estimates a volume of an excavated material inside the bucket when the inner bottom of the bucket is within the photographing range of the stereo camera device.
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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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8.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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