Terminal device, control device, data-integrating device, work vehicle, image-capturing system, and image-capturing method

Patent metadata

Field	Value
Publication number	US-2019020867-A1
Application number	US-201716069573-A
Country	US
Kind code	A1
Filing date	Mar 8, 2017
Priority date	Mar 30, 2016
Publication date	Jan 17, 2019
Grant date	—

Abstract

A capture data-receiving unit receiving first capture data captured by an image-capturing device, which is included in a work vehicle, capable of generating three-dimensional data, a display unit displaying the first capture data received by the capture data-receiving unit, and an acquisition instruction-transmitting unit transmitting an acquisition instruction for causing the work vehicle to acquire second capture data captured by the image-capturing device and used for generation of three-dimensional data are included.

First claim

1 . A terminal device, comprising:
a capture data-receiving unit receiving first capture data captured by an image-capturing device, which is included in a work vehicle, capable of generating three-dimensional data; a display unit displaying the first capture data received by the capture data-receiving unit; and an acquisition instruction-transmitting unit transmitting an acquisition instruction for causing the work vehicle to acquire second capture data captured by the image-capturing device and used for generation of three-dimensional data.

2 . The terminal device according to claim 1 , further comprising:
an input-receiving unit accepting an input of a transmission trigger of an acquisition instruction after the first capture data is displayed, wherein the acquisition instruction-transmitting unit transmits the acquisition instruction when the transmission trigger is input.

3 . The terminal device according to claim 1 , further comprising:
a capture instruction-transmitting unit transmitting a capture instruction including identification information of a work vehicle, wherein the capture data-receiving unit receives the first capture data from the work vehicle represented by the identification information included in the capture instruction.

4 . The terminal device according to claim 1 , further comprising:
a three-dimensional data-receiving unit receiving three-dimensional data generated on the basis of capture data captured by the image-capturing device, wherein the display unit displays the three-dimensional data received by the three-dimensional data-receiving unit.

5 . The terminal device according to claim 1 , wherein the display unit displays measuring range information representing a range used for generation of the three-dimensional data together with the first capture data.

6 . The terminal device according to claim 1 ,
wherein the image-capturing device is a plurality of image-capturing devices, and wherein the first capture data is capture data captured by one image-capturing device among the plurality of image-capturing devices.

7 . An image-capturing system, comprising:
a work vehicle; and a terminal device, wherein the work vehicle includes: a vehicle body; an image-capturing device included in the vehicle body and being capable of acquiring information of a depth direction; a capture data-transmitting unit transmitting first capture data captured by the image-capturing device to the terminal device; an acquisition instruction-receiving unit receiving an acquisition instruction of second capture data used for generation of three-dimensional data; and a capture data-acquiring unit acquiring the second capture data from the image-capturing device in accordance with the acquisition instruction, and wherein the terminal device includes: a capture data-receiving unit receiving the first capture data from the work vehicle; a display unit displaying the first capture data received by the capture data-receiving unit; and an acquisition instruction-transmitting unit transmitting an acquisition instruction for causing the work vehicle to acquire the second capture data.

8 . The image-capturing system according to claim 7 , wherein the work vehicle further includes a three-dimensional data-generating unit generating three-dimensional data using the second capture data.

9 . An image-capturing method, comprising:
receiving first capture data captured by an image-capturing device included in a work vehicle and being capable of acquiring information of a depth direction; displaying the received first capture data in a terminal device; and transmitting an acquisition instruction causing the work vehicle to acquire second capture data captured by the image-capturing device and used for generation of three-dimensional data.

10 . A control device, comprising:
a capture data-transmitting unit transmitting first capture data captured by an image-capturing device included in a work vehicle and being capable of acquiring information of a depth direction to a terminal device; an acquisition instruction-receiving unit receiving an acquisition instruction of second capture data used for generation of three-dimensional data; and a capture data-acquiring unit acquiring the second capture data from the image-capturing device in accordance with the acquisition instruction.

11 . A data-integrating device, comprising:
a three-dimensional data-acquiring unit acquiring a plurality of pieces of three-dimensional data generated on the basis of capture data acquired by performing image-capturing of a construction site using an image-capturing device included in a work vehicle; and a three-dimensional data-integrating unit generating integrated three-dimensional data by integrating the plurality of pieces of three-dimensional data acquired by the three-dimensional data-acquiring unit.

12 . The data-integrating device according to claim 11 , wherein, in a case in which a plurality of pieces of common three-dimensional data that are a plurality of pieces of three-dimensional data having height information for the same plane coordinates are included in the plurality of pieces of three-dimensional data, the three-dimensional data-integrating unit calculates an average value of heights relating to the plane coordinates in the common three-dimensional data and generates the integrated three-dimensional data using the average value.

13 . The data-integrating device according to claim 11 , wherein, in a case in which a plurality of pieces of common three-dimensional data that are a plurality of pieces of three-dimensional data having height information for the same plane coordinates are included in the plurality of pieces of three-dimensional data, the three-dimensional data-integrating unit generates the integrated three-dimensional data using a height relating to newest common three-dimensional data among the plurality of pieces of common three-dimensional data.

14 . The data-integrating device according to claim 11 , wherein the three-dimensional data-integrating unit generates the integrated three-dimensional data by integrating the plurality of pieces of three-dimensional data generated on the basis of the capture data captured by the image-capturing devices included in a plurality of work vehicles.

15 . The data-integrating device according to claim 11 , wherein the three-dimensional data-integrating unit generates the integrated three-dimensional data in a case in which a time width of times associated with the plurality of pieces of three-dimensional data is less than a predetermined time.

16 . A work vehicle, comprising:
a vehicle body; an image-capturing device included in the vehicle body; a three-dimensional data-generating unit generating a plurality of pieces of three-dimensional data on the basis of a plurality of pieces of capture data captured by the image-capturing device; and a three-dimensional data-integrating unit generating integrated three-dimensional data by integrating a plurality of pieces of three-dimensional data generated by the three-dimensional data-generating unit.

17 . An image-capturing system, comprising:
a work vehicle; and a data-integrating device, wherein the work vehicle includes: a vehicle body; an image-capturing device included in the vehicle body; a three-dimensional data-generating unit generating a plurality of pieces of three-dimensional data on the basis of a plurality of pieces of capture data captured by the image-capturing device; and a data-transmitting unit transmitting the pl

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Akanuma Hiroki
• Nemoto Yuuichi
• SEINO Masato
• Yamaguchi Hiroyoshi
• Kawamoto Shun

Classifications

• H04N23/64

  Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image · CPC title

• H04N23/45

  for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images · CPC title

• H04N23/63

  by using electronic viewfinders · CPC title

• E02F9/26 Primary

  Indicating devices {(E02F5/145 takes precedence)} · CPC title

• H04N7/181

  for receiving images from a plurality of remote sources · CPC title