Measurement device of shovel

Patent metadata

Field	Value
Publication number	US-10679371-B2
Application number	US-201815896645-A
Country	US
Kind code	B2
Filing date	Feb 14, 2018
Priority date	Aug 26, 2015
Publication date	Jun 9, 2020
Grant date	Jun 9, 2020

Abstract

A shovel includes a lower travelling body; an upper turning body pivotably mounted on the lower traveling body; a camera that is attached to the upper turning body and that is capable of stereo photographing; and a measurement device including a processor; and a memory that includes instructions, which when executed, cause the processor to execute the following step: measuring a landform in a vicinity of the shovel based on stereo-pair images captured by the camera during turning or traveling of the shovel.

First claim

The invention claimed is:

1. A measurement device of a shovel, wherein the shovel comprising:
a lower travelling body;
an upper turning body pivotably mounted on the lower traveling body; and
a camera that is attached to the upper turning body and that is capable of stereo photographing;
wherein the measurement device including
a processor; and
a memory that includes instructions, which when executed, cause the processor to execute the following step:
measuring a landform in a vicinity of the shovel based on stereo-pair images captured by the camera at a plurality of positions during turning or traveling of the shovel, and
measuring a distance to a measurement point included in a blind spot region that is not captured at one position of the plurality of positions, based on stereo-pair images captured at a position of the plurality of positions other than the one position.

2. The measurement device according to claim 1 , wherein the camera is formed of a plurality of cameras, and
wherein the step, by the processor, of measuring measures the landform in the vicinity of the shovel from the stereo-pair images captured by using the plurality of cameras.

3. The measurement device according to claim 1 , wherein the camera is a monocular camera, and
wherein the step executed by the processor further includes:
obtaining two images captured by the camera at different timings as stereo-pair images and measuring the landform in the vicinity of the shovel from the obtained stereo-pair images.

4. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
converting topography data in a camera coordinate system into topography data in a shovel coordinate system.

5. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
converting topography data in a camera coordinate system into topography data in a reference coordinate system, and
wherein the reference coordinate system includes a World Geodetic System.

6. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring a landform each time the shovel travels a predetermined distance.

7. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring the landform in response to an operation input by an operator of the shovel.

8. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
causing a display to simultaneously display topography data and design data.

9. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring the landform and capturing a camera image at a same time; and
combining and displaying the camera image on topography data.

10. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring landforms at predetermined time intervals;
updating topography data with a result of the measurement to obtain updated topography data; and
calculating an amount of sediment that was a target of working by comparing the previous topography data with the updated topography data.

11. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring a landform each time the shovel turns a predetermined angle.

12. The measurement device according to claim 1 , wherein the step executed by the processor further includes:
measuring landforms at predetermined time intervals.

13. A measurement device of a shovel, wherein the shovel comprises:
a lower travelling body that performs traveling operation;
an upper turning body pivotably mounted on the lower traveling body;
a boom attached to the upper turning body, wherein the boom is included in an attachment; and
an arm attached to the boom, wherein the arm is included in the attachment,
wherein the measurement device including
a processor; and
a memory that includes instructions, which when executed, cause the processor to execute the following step:
measuring a landform in a vicinity of the shovel at a plurality of positions based on an output of a device for obtaining distance information to a measurement target in the vicinity, wherein the device is located above the lower traveling body, and
measuring a distance to a measurement point included in a blind spot region that is not captured at one position of the plurality of positions, based on stereo-pair images captured at a position of the plurality of positions other than the one position.

14. The measurement device according to claim 13 , wherein the step executed by the processor further includes:
for an area for which distance information is unable to be obtained by the device at a first position of the plurality of positions, obtaining distance information on the area through the device at a second position other than the first position.

15. The measurement device according to claim 14 , wherein the first position and the second position are positions of the device during turning or traveling of the shovel.

16. The measurement device according to claim 13 , wherein the device includes a plurality of devices attached at respective different positions of the shovel.

17. The measurement device according to claim 13 , wherein the device includes a plurality of devices attached to a respective plurality of shovels, and the device obtains distance information to a plurality of measurement targets in the vicinity at the plurality of positions.

18. The measurement device according to claim 17 , wherein the distance information to the measurement target obtained by the corresponding device of the plurality of devices attached to the respective plurality of shovels is transmitted to a management device.

19. The measurement device according to claim 13 , wherein the step executed by the processor further includes:
outputting an instruction to an operator of the shovel based on the obtained distance information to the measurement target in the vicinity.

20. The measurement device according to claim 13 , wherein the step executed by the processor further includes:
generating a point that is not measured yet, based on the obtained distance information to the measurement target in the vicinity.

Assignees

• Sumitomo Shi Constr Mach Co

Inventors

• Izumikawa Takeya

Classifications

• G01B11/245

  using a plurality of fixed, simultaneously operating transducers ({G01B11/2408 - G01B11/2425, } G01B11/255 take precedence) · CPC title

• G06T2207/10012

  Stereo images · CPC title

• G06T7/593 Primary

  from stereo images · CPC title

• G06T2207/30181

  Earth observation · CPC title

• E02F3/30

  with a dipper-arm pivoted on a cantilever beam {, i.e. boom} · CPC title