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1. WO2016148309 - CALIBRATION SYSTEM, AND CALIBRATION METHOD FOR WORK MACHINE

Publication Number WO/2016/148309
Publication Date 22.09.2016
International Application No. PCT/JP2016/060273
International Filing Date 29.03.2016
IPC
E02F 9/20 2006.01
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL-SHIFTING
FDREDGING; SOIL-SHIFTING
9Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/-E02F7/160
20Drives; Control devices
G01C 11/06 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
11Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
04Interpretation of pictures
06by comparison of two or more pictures of the same area
CPC
B60R 11/04
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
11Arrangements for holding or mounting articles, not otherwise provided for
04Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
E02F 3/32
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
FDREDGING; SOIL-SHIFTING
3Dredgers; Soil-shifting machines
04mechanically-driven
28with digging tools mounted on a dipper- or bucket-arm ; , i.e. there is either one arm or a pair of arms; , e.g. dippers, buckets
30with a dipper-arm pivoted on a cantilever beam ; , i.e. boom
32working downwardly and towards the machine, e.g. with backhoes
E02F 9/20
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
FDREDGING; SOIL-SHIFTING
9Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
20Drives; Control devices
E02F 9/2203
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
FDREDGING; SOIL-SHIFTING
9Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
20Drives; Control devices
22Hydraulic or pneumatic drives
2203Arrangements for controlling the attitude of actuators, e.g. speed, floating function
E02F 9/24
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
FDREDGING; SOIL-SHIFTING
9Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
24Safety devices ; , e.g. for preventing overload
E02F 9/261
EFIXED CONSTRUCTIONS
02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
FDREDGING; SOIL-SHIFTING
9Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
26Indicating devices
261Surveying the work-site to be treated
Applicants
  • 株式会社小松製作所 KOMATSU LTD. [JP]/[JP]
Inventors
  • 山口 博義 YAMAGUCHI, Hiroyoshi
  • 厚見 彰吾 ATSUMI, Shogo
  • 川本 駿 KAWAMOTO, Shun
  • 菅原 大樹 SUGAWARA, Taiki
Agents
  • 特許業務法人酒井国際特許事務所 SAKAI INTERNATIONAL PATENT OFFICE
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) CALIBRATION SYSTEM, AND CALIBRATION METHOD FOR WORK MACHINE
(FR) SYSTÈME D'ÉTALONNAGE, ET PROCÉDÉ D'ÉTALONNAGE POUR ENGIN DE CHANTIER
(JA) 校正システム、作業機械及び校正方法
Abstract
(EN)
 This calibration system is provided to a work machine having an implement, and comprises: at least one pair of imaging devices that capture an image of a subject: a position detector that detects the position of the implement; and a processing unit which uses first position information, which is information pertaining to a predetermined position of the implement imaged by at least the pair of imaging devices, second position information which is information pertaining to a predetermined position detected by the position detector with at least the pair of imaging devices in the orientation of the implement when the predetermined position was imaged, and third position information which is information concerning the predetermined position on the outside of the work machine, imaged by at least the pair of imaging devices, to calculate information pertaining to the position and orientation of at least the pair of imaging devices, and conversion information for converting the position of the subject imaged by at least the pair of imaging devices from a first coordinate system into a second coordinate system.
(FR)
L'invention concerne un système d'étalonnage pour un engin de chantier ayant un outil, qui comprend : au moins une paire de dispositifs d'imagerie qui capturent une image d'un sujet : un détecteur de position qui détecte la position de l'outil ; et une unité de traitement qui utilise des premières informations de position qui sont des informations relatives à une position prédéterminée de l'outil imagée par au moins la paire de dispositifs d'imagerie, des deuxièmes informations de position qui sont des informations relatives à une position prédéterminée détectée par le détecteur de position avec au moins la paire de dispositifs d'imagerie dans l'orientation de l'outil lorsque la position prédéterminée a été imagée, et des troisièmes informations de position qui sont des informations relatives à la position prédéterminée sur l'extérieur de l'engin de chantier, imagée par au moins la paire de dispositifs d'imagerie, pour calculer des informations relatives à la position et l'orientation d'au moins la paire de dispositifs d'imagerie, et des informations de conversion pour convertir la position du sujet imagée par au moins la paire de dispositifs d'imagerie d'un premier système de coordonnées à un second système de coordonnées.
(JA)
 校正システムは、作業機を有する作業機械に備えられて、対象を撮像する少なくとも一対の撮像装置と、前記作業機の位置を検出する位置検出器と、少なくとも一対の前記撮像装置によって撮像された前記作業機の所定の位置に関する情報である第1位置情報と、少なくとも一対の前記撮像装置が前記所定の位置を撮像したときの前記作業機の姿勢で、前記位置検出器によって検出された前記所定の位置に関する情報である第2位置情報と、少なくとも一対の前記撮像装置によって撮像された前記作業機械の外部における所定の位置に関する情報である第3位置情報と、を用いて、少なくとも一対の前記撮像装置の位置及び姿勢に関する情報と、少なくとも一対の前記撮像装置が撮像した前記対象の位置を第1の座標系から第2の座標系に変換するために用いられる変換情報と、を求める処理部と、を含む。
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