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1. 发明公开

EP3154024A4 HUMAN DETECTION SYSTEM FOR CONSTRUCTION MACHINE 有权
公开(公告)号：EP3154024A4
公开(公告)日：2017-11-15
申请号：EP15803985
申请日：2015-05-26
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA , AIZAWA SUSUMU
IPC分类号： E02F9/26 , E02F9/24 , G06K9/00 , G06K9/62 , G06T7/00 , G06T7/33 , H04N7/18
CPC分类号： E02F9/26 , B60R1/00 , B60R2300/30 , B60R2300/8033 , E02F3/32 , E02F9/24 , E02F9/262 , G06K9/00362 , G06K9/00805 , G06K9/6215 , H04N7/18 , H04N7/183
摘要： A human detection system (100) detects the presence of a human around a shovel by using an image captured by an imaging device (40) attached to the shovel. Also, the human detection system (100) has an extracting part (31) that extracts a part of the captured image as an identification process target image, and an identifying part (32) that identifies whether an image included in the identification process target image is an image of a human. A region (TRg) of the identification process target image is preliminarily associated with one of head image positions (AP) in the captured image. The extracting part (31) finds out a helmet image (HRg) in the captured image, and extracts the identification process target image by associating a representative position (RP) of the helmet image (HRg) with one of the head image positions (AP).

2. 发明公开

EP3098776A4 IMAGE GENERATION DEVICE AND OPERATION ASSISTANCE SYSTEM 有权
标题翻译： BILDERZEUGUNGSVORRICHTUNG UNDBETRIEBSUNTERSTÜTZUNGSSYSTEM
公开(公告)号：EP3098776A4
公开(公告)日：2017-09-27
申请号：EP14880217
申请日：2014-10-21
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA , ICHIKAWA TOMOKO
IPC分类号： G06T3/40 , B60R1/00 , E02F3/32 , E02F9/26 , G06T3/00 , G06T5/00 , H04N1/40 , H04N5/232 , H04N7/18
CPC分类号： G06T5/006 , E02F3/32 , E02F9/261 , G06T3/00 , G06T5/002 , G06T2207/20192 , G06T2207/30232 , H04N5/23293 , H04N7/18 , H04N7/181

3. 发明公开

EP2833162A4 PERIMETER-MONITORING DEVICE FOR OPERATING MACHINE 有权
标题翻译： PERIMETERÜBERWACHUNGSVORRICHTUNGFÜREINE ARBEITSMASCHINE
公开(公告)号：EP2833162A4
公开(公告)日：2015-04-01
申请号：EP13769103
申请日：2013-02-07
申请人： SUMITOMO SHI CONSTR MACH CO , SUMITOMO HEAVY INDUSTRIES
发明人： IZUMIKAWA TAKEYA , KIYOTA YOSHIHISA , AIZAWA SUSUMU
IPC分类号： G01S17/89 , E02F9/26 , G01S7/497 , G01S17/02 , G01S17/42 , G01S17/87 , G06K9/00 , H04N7/18
CPC分类号： G01S17/42 , E02F9/26 , E02F9/261 , G01S7/4808 , G01S7/497 , G01S7/51 , G01S17/023 , G01S17/026 , G01S17/87 , G01S17/89 , G01S17/936 , G06K9/00697 , G06K9/00791 , H04N7/18
摘要： A shovel 60 according to an embodiment of the present invention is equipped with an image-creating device 100 as a periphery-monitoring device for working machines, which creates an output distance image based on an input distance image taken by a distance image sensor 6 attached to an upper-part turning body 63. The image-creating device 100 associates coordinates on an input distance image plane on which the input distance image is positioned with coordinates on an output distance image plane on which the output distance image is positioned.
摘要翻译：根据本发明的实施例的铲铲60配备有作为作业机的周边监视装置的图像创建装置100，其基于附加的距离图像传感器6拍摄的输入距离图像来创建输出距离图像图像创建装置100将输入距离图像所在的输入距离图像平面上的坐标与输出距离图像所在的输出距离图像平面上的坐标相关联。

4. 发明公开

EP2560384A4 PROCESSING TARGET IMAGE GENERATION DEVICE, PROCESSING TARGET IMAGE GENERATION METHOD, AND OPERATION SUPPORT SYSTEM 有权
标题翻译：装置用于生成图像的处理目标，方法处理对象的图像和运营支撑系统的生产状况
公开(公告)号：EP2560384A4
公开(公告)日：2016-08-31
申请号：EP11768796
申请日：2011-04-08
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： H04N7/18 , B60R1/00 , E02F9/26 , G06T3/00 , G06T15/20
CPC分类号： E02F9/26 , G06T3/0062 , G06T15/205 , H04N7/18

5. 发明公开

EP3154025A4 HUMAN DETECTION SYSTEM FOR CONSTRUCTION MACHINE 有权
标题翻译： PERSONENDETEKTIONSSYSTEMFÜREINE BAUMASCHINE
公开(公告)号：EP3154025A4
公开(公告)日：2017-07-12
申请号：EP15804017
申请日：2015-05-27
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： G06T7/00 , E02F3/32 , E02F9/24 , E02F9/26 , G06K9/00 , G06K9/46 , H04N7/18
CPC分类号： G06K9/00369 , E02F3/32 , E02F3/40 , E02F9/24 , E02F9/261 , G06K9/00805 , G06K9/4604 , G06T7/00 , H04N7/18 , H04N7/181

6. 发明公开

EP2560140A4 IMAGE GENERATION DEVICE AND OPERATION SUPPORT SYSTEM 有权
标题翻译：成像设备和操作系统支持
公开(公告)号：EP2560140A4
公开(公告)日：2017-03-15
申请号：EP11768797
申请日：2011-04-08
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： G06T3/00 , B60R1/00 , B66C13/16 , B66C15/00 , E02F9/26 , G06T15/20 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/304 , B66C13/16 , B66C15/00 , E02F9/26 , G06T3/0062 , G06T15/205
摘要： An image generation device (100) generates an output image based on a plurality of input images image-taken by a plurality of image-taking parts (2B, 2R) mounted to a body to be operated (60). A coordinates correspondence part (10) causes coordinates on a columnar space model (MD), which is arranged to surround the body to be operated and having a center axis and a side surface, to correspond to coordinates on a plurality of input image planes on which the plurality of input images are positioned, respectively. An output image generation part (11) generates the output image by causing values of the coordinates on the plurality of input image planes to correspond to values of the coordinates on an output image plane on which the output image is positioned through coordinates on the columnar space model. A distance between the center axis and the side surface of the columnar space model is determined in accordance with installation positions of the image-taking parts (2B, 2R).

7. 发明公开

EP2991343A4 IMAGE TO BE PROCESSED GENERATING DEVICE, IMAGE TO BE PROCESSED GENERATING METHOD, AND OPERATION ASSISTANCE SYSTEM 审中-公开
标题翻译：器具，用于产生图像以制造过程产生图像的制造及其操作辅助系统
公开(公告)号：EP2991343A4
公开(公告)日：2016-05-25
申请号：EP14788579
申请日：2014-02-24
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： H04N7/18 , B60R1/00 , G06T3/00
CPC分类号： G06T7/60 , B60R1/00 , B60R2300/607 , G06K9/00791 , G06K9/52 , G06T3/00 , G06T3/0062 , G06T7/33 , G06T7/73 , G06T2200/32 , G06T2207/30252
摘要： A processing-target image creating device (100) creates a processing-target image based on a plurality of input images. The processing-target image creating device (100) includes a coordinates-associating part (11) configured to associate coordinates on each input image plane on which each input image is positioned, coordinates (PP1, PP2) on a space model (MD) onto which each input image is projected, and coordinates (PT1, PT2) on a processing-target image plane (R3), and an image adjusting part (12) configured to adjust the processing-target image by determining for each input image a re-projection angle (³1, ³2) of a re-projection line (RL1, RL2) joining the coordinate (PP1, PP2) and the coordinate (PT1, PT2). The image adjusting part (12) determines for each input image slopes of the re-projection lines (RL1, RL2) such that each coordinate on the processing-target image plane (R3) corresponding to an infinity line in each input image corresponds with each other on a dividing line between image parts corresponding to each input image on the processing-target image plane.
摘要翻译：处理对象图像生成装置（100）创建基于输入图像生成多个处理对象图像。处理对象图像生成装置（100）包括被配置为对每个输入图像被定位在每个输入图像平面上的坐标，坐标（PP1，PP2）上的空间模型（MD）安装到相关联一个坐标对应部分（11）每个输入图像被投影，并且在处理对象图像平面（R3）坐标（PT1，PT2），并且被配置为调节由确定性采矿的处理对象图像的每个输入图像的重新图像调整部分（12）连接坐标（PP1，PP2）和坐标（PT1，PT2）重新投影线（RL1，RL2）的投影角度（³1，³2）。图像调整部（12）bestimmt用于每个输入图像无穷远线对应于所述再投影线（RL1，RL2）处理对象图像平面上的搜索没有各坐标的每一个输入图像的斜坡（R3）与每个对应其他上图像部分相应于处理对象图像平面上的每个输入图像之间的分界线。

8. 发明公开

EP2560385A4 IMAGE GENERATION DEVICE AND OPERATION SUPPORT SYSTEM 审中-公开
标题翻译：图像生成装置和操作支持系统
公开(公告)号：EP2560385A4
公开(公告)日：2013-07-17
申请号：EP11768798
申请日：2011-04-08
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： H04N7/18 , B60R1/00 , E02F9/26 , G06T1/00 , G06T3/00
CPC分类号： G06T15/20 , E02F9/261 , G06T3/0062 , H04N7/18 , H04N13/0221 , H04N13/04
摘要： An image generation device (100) generates an output image based on an image obtained by taking images by an image-taking part mounted to a body to be operated, which boy is capable of performing a turning operation. A coordinates correspondence part (10) causes coordinates on a columnar space model (MD), which is arranged to surround the body to be operated and has a center axis, to correspond to coordinates on an image plane (R4) on which the input image is positioned. An output image generation part (11) generates the output image by causing values of the coordinates on the input image plane (R4) to correspond to values of the coordinates on an output image plane (R5) on which the output image is positioned through coordinates on the columnar space model. The columnar space model (MD) is arranged so that an optical axis of the image-taking part (2) intersects with the center axis of said columnar space model (MD).

9. 发明公开

EP3107285A4 IMAGE GENERATION APPARATUS AND OPERATION ASSISTANCE SYSTEM 有权
标题翻译： BILDERZEUGUNGSVORRICHTUNG UND BETRIEBSASSISTENZSYSTEM
公开(公告)号：EP3107285A4
公开(公告)日：2017-09-13
申请号：EP14882404
申请日：2014-11-06
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA , ICHIKAWA TOMOKO
IPC分类号： H04N7/18 , B60R1/00 , E02F9/26 , G06T3/00
CPC分类号： G06T5/50 , E02F3/32 , E02F9/261 , E02F9/262 , G06T3/0062 , G06T2207/20221 , G06T2207/30232 , G06T2207/30252 , H04N5/23293 , H04N7/181
摘要： An image generation device (100) generates an output image based on input images captured by three cameras. An input image portion corresponding to a region where imaging ranges of the cameras overlap each other forms a lattice pattern in the output image. The lattice pattern uses, as a unit pattern, lattice points divided by circles drawn by a wave when a camera (2B) is a wave source and circles drawn by a wave when a camera (2R) is a wave source. Values of pixels that form the unit pattern are values obtained by weight-averaging values of pixels of a first input image captured by the camera (2B) and values of pixels of a second input image captured by the camera (2R). In one of a unit pattern through which an abdominal line formed by the two waves passes and a unit pattern through which a nodal line formed by the two waves passes, a weighted (w B ) average value of the values of the pixels of the first input image is equal to or larger than a weighted (w R ) average value of the values of the pixels of the second input image, and in the other one thereof, a weighted (w B ) average value of the values of the pixels of the first input image is equal to or smaller than a weighted (w R ) average value of the values of the pixels of the second input image.
摘要翻译：图像生成设备（100）基于由三个相机捕获的输入图像生成输出图像。与相机的成像范围相互重叠的区域相对应的输入图像部分在输出图像中形成格子图案。格子图案使用当照相机（2B）是波源时由波所画出的圆所划分的格点以及当照相机（2R）是波源时由波所画的圆。形成单位图案的像素的值是通过对照相机（2B）捕获的第一输入图像的像素的值和照相机（2R）捕获的第二输入图像的像素的值的加权平均而获得的值。在由两个波形成的腹部线所穿过的单元图案和由两个波形成的结点线穿过的单元图案中的一个中，第一个像素的像素的值的加权（w B）平均值输入图像的像素值的加权（w B）平均值等于或大于第二输入图像的像素的值的加权（w R）平均值，并且在另一个输入图像中，第一输入图像等于或小于第二输入图像的像素的值的加权（w R）平均值。

10. 发明公开

EP2642754A4 IMAGE GENERATING DEVICE AND OPERATION ASSISTANCE SYSTEM 有权
公开(公告)号：EP2642754A4
公开(公告)日：2016-12-07
申请号：EP11841991
申请日：2011-11-04
申请人： SUMITOMO HEAVY INDUSTRIES
发明人： KIYOTA YOSHIHISA
IPC分类号： G06T3/00 , H04N5/232
CPC分类号： H04N7/181 , G06T3/0062 , G06T3/4038 , H04N5/23238 , H04N5/2624 , H04N5/3572 , H04N7/183
摘要： An image generation device (100) that generates an output image based on plural input images captured by plural cameras mounted to an excavator (60) is configured to arrange two input image portions of two cameras (2R, 2B) corresponding to an overlapping area where the image capturing ranges of the two cameras (2R, 2B) overlap so that the two input image portions form a lattice pattern on the output image.

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