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1. 发明授权

US10160383B2 Surroundings monitoring system for working machine 有权
公开(公告)号：US10160383B2
公开(公告)日：2018-12-25
申请号：US15124123
申请日：2015-03-04
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Chieko Onuma , Ryo Yumiba , Yoshibumi Fukuda , Yukihiro Kawamata , Yoichi Kowatari , Moritaka Oota
IPC分类号： G06K9/00 , B60R1/00 , B60R11/04 , G06K9/46 , H04N7/18 , E02F9/26 , G08G1/16 , E02F9/24 , G06T7/11 , G06T7/194
摘要： A surroundings monitoring system for a working machine prevents its own vehicle shadow from having an influence on the detection of an object existing around the working machine. The surroundings monitoring system for a working machine includes: a monocular camera picks up an image of the surroundings of the working machine. A characteristic pattern extraction unit extracts characteristic patterns in the picked-up image based on a characteristic amount of the image. A shadow profile extraction unit extracts a profile of a region, which can be regarded as a shadow of the working machine in the image, based on the characteristic amount of the image; and an object detection unit detects an obstacle existing around the working machine based on the remaining characteristic patterns obtained by excluding a shadow profile characteristic patterns positioned on the profile extracted by the shadow profile extraction unit from the characteristic patterns.

2. 发明授权

US09845051B2 Display device for self-propelled industrial machine 有权
公开(公告)号：US09845051B2
公开(公告)日：2017-12-19
申请号：US14400673
申请日：2013-04-25
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Yoichi Kowatari , Naokazu Oda , Katsuhiko Shimizu , Yoshihiro Inanobe , Hidefumi Ishimoto
IPC分类号： B60R1/00 , E02F9/26 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/303 , B60R2300/607 , E02F9/24 , E02F9/26 , E02F9/261 , H04N7/18 , H04N7/181
摘要： This invention has an object to assist for traveling operation of a self-propelled industrial machine to display underneath image of the self-propelled industrial machine on a monitor of a display device mounted in a operator's cab. The display device of the self-propelled industrial machine according to the present invention is provided for a dump truck, which comprises cameras having field of view to underneath of the dump truck, a symbol image storage section to store a symbol image which is symbolized the dump truck, a superposing process section to make transparent with a predetermined transparent ratio in the symbol image as a transparent region and to superpose an image taken by the camera on the area corresponding to the transparent region as underneath image, and a monitor mounted in a cab of the dump truck for displaying the symbol image composed by the superposing process section.

3. 发明申请

US20150116495A1 DISPLAY DEVICE FOR SELF-PROPELLED INDUSTRIAL MACHINE 审中-公开
标题翻译：自动工业机械显示装置
公开(公告)号：US20150116495A1
公开(公告)日：2015-04-30
申请号：US14404652
申请日：2013-05-30
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Yoichi Kowatari , Yoshihiro Inanobe , Katsuhiko Shimizu , Hidefumi Ishimoto
IPC分类号： E02F9/26 , B60R11/04 , H04N7/18
CPC分类号： B60R1/00 , B60P1/04 , B60R11/04 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B60R2300/802 , B60Y2200/142 , E02F3/32 , E02F9/26 , G06K9/00791 , G06T11/00 , G06T11/60 , G06T19/00 , G06T2219/028 , H04N7/18 , H04N7/181
摘要： The underneath image of a self-propelled industrial machine is displayed with as wide a range as possible on a monitor with cameras that take images around the self-propelled industrial machine in the form of bird's eye view images. A view point conversion section creates the bird's eye view image by converting images from plural cameras provided on a dump truck; and a superposing process section processes the images to make the underneath area in a symbol image a transparent region corresponding to the position in the bird's eye view. An image composing section sets the symbol image at the center position and the respective bird's eye view images around the symbol image. A monitor displays the composite image composed by the image composing section.
摘要翻译：在自动推进的工业机器的下面的图像显示在具有以鸟瞰图形式拍摄的自行式工业机器周围的照相机的监视器上尽可能宽的范围。视点转换部分通过转换设置在自卸车上的多个摄像机的图像来创建鸟瞰图图像; 并且重叠处理部分处理图像以使符号图像中的下方区域与鸟瞰图中的位置相对应的透明区域。图像合成部将中心位置处的符号图像和符号图像周围的各自的鸟瞰图设定。显示器显示由图像合成部分组成的合成图像。

4. 发明申请

US20150138360A1 DISPLAY DEVICE FOR SELF-PROPELLED INDUSTRIAL MACHINE 有权
标题翻译：自动工业机械显示装置
公开(公告)号：US20150138360A1
公开(公告)日：2015-05-21
申请号：US14400673
申请日：2013-04-25
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Yoichi Kowatari , Naokazu Oda , Katsuhiko Shimizu , Yoshihiro Inanobe , Hidefumi Ishimoto
IPC分类号： B60R1/00 , H04N7/18 , E02F9/26
CPC分类号： B60R1/00 , B60R2300/303 , B60R2300/607 , E02F9/24 , E02F9/26 , E02F9/261 , H04N7/18 , H04N7/181
摘要： This invention has an object to assist for traveling operation of a self-propelled industrial machine to display underneath image of the self-propelled industrial machine on a monitor of a display device mounted in a operator's cab. The display device of the self-propelled industrial machine according to the present invention is provided for a dump truck, which comprises cameras having field of view to underneath of the dump truck, a symbol image storage section to store a symbol image which is symbolized the dump truck, a superposing process section to make transparent with a predetermined transparent ratio in the symbol image as a transparent region and to superpose an image taken by the camera on the area corresponding to the transparent region as underneath image, and a monitor mounted in a cab of the dump truck for displaying the symbol image composed by the superposing process section.
摘要翻译：本发明的目的是帮助自行式工业机器的行驶操作在自行式工业机器的图像下显示在安装在操作室内的显示装置的监视器上。根据本发明的自行式工业机器的显示装置被设置用于自卸车，该自卸车包括从自卸车的下面的视场的照相机，符号图像存储部分，用于存储符号图像的符号图像自卸车，重叠处理部分，以符号图像中的预定透明比透明，作为透明区域，并将由相机拍摄的图像叠加在与图像下方相对应的透明区域的区域上;以及监视器，其安装在用于显示由重叠处理部分组成的符号图像的自卸车的驾驶室。

5. 发明申请

US20150138356A1 DISPLAY DEVICE FOR SELF-PROPELLED INDUSTRIAL MACHINE 审中-公开
标题翻译：自动工业机械显示装置
公开(公告)号：US20150138356A1
公开(公告)日：2015-05-21
申请号：US14405490
申请日：2013-06-05
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Yoichi Kowatari , Yoshihiro Inanobe , Hidefumi Ishimoto , Yoshiyuki Nagano , Masayoshi Hayasaka , Eitaro Ito , Takaaki Ishii , Kenta Tsukijishin
IPC分类号： B60R1/00 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/802 , E02F9/26 , G06K9/00805 , H04N7/181
摘要： A bird's eye view image is displayed to be recognized by an operator intuitively and precisely, irrespective of the displayed direction of the bird's eye view image. The display device has a plurality of cameras having optical axis directed obliquely downward to take images around a self-propelled industrial machine. A view point converting section converts the camera images to an upper view point to create bird's eye images, and an image composing section creates a composite bird's eye view image by composing respective bird's eye images around a symbol image of a dump truck. A direction superposing section superposes a forward direction indicator to indicate the forward direction of the dump truck on the composite bird's eye view image, and a monitor mounted in a cab of the dump truck displays the composite bird's eye image in an arbitral direction which is composited with the forward direction indicator.
摘要翻译：显示鸟瞰图图像，由操作者直观且精确地识别，而与鸟瞰图的显示方向无关。显示装置具有多个照相机，其具有倾斜向下的光轴，以便在自推进的工业机器周围拍摄图像。视点转换部分将摄像机图像转换为上视点以产生鸟瞰图像，并且图像合成部分通过组合自动驾驶台的符号图像周围的各自的鸟瞰图来创建复合鸟瞰图图像。方向重叠部分叠加前向指示器以指示自卸车在复视鸟瞰图图像上的向前方向，并且安装在自卸车的驾驶室中的监视器以合成的仲裁方向显示复合鸟瞰图像与正向指示灯。

6. 发明授权

US09776566B2 Environment monitoring device for operating machinery 有权
公开(公告)号：US09776566B2
公开(公告)日：2017-10-03
申请号：US14417307
申请日：2013-07-26
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Hidefumi Ishimoto , Yoichi Kowatari , Yoshihiro Inanobe
IPC分类号： B60R1/00 , G09G5/14 , H04N7/18 , E02F9/26 , E02F3/32
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/802 , E02F3/32 , E02F9/262 , H04N7/18 , H04N7/181
摘要： A plurality of images captured by a plurality of cameras respectively to create a plurality of upper viewpoint images. Display images are extracted from the upper viewpoint images, and the extracted display images are synthesized to create an overhead image or bird's eye view image of surroundings, which has an image corresponding to an operating machine at a center of the bird's eye view image. When extracting each of the display images, a region of the display image extracted from the upper viewpoint image is expanded beyond the size of a standard extraction region on the basis of the set height of a mating face. Each of the extracted display images is adjusted to the size of the standard extraction region, and synthesized. Thus, any three-dimensional object (obstacle) present near the boundary between display images constituting the bird's eye view image is displayed.

7. 发明申请

US20150203034A1 SURVEILLANCE APPARATUS FOR TRANSPORTATION VEHICLE 审中-公开
标题翻译：监控车辆的运输工具
公开(公告)号：US20150203034A1
公开(公告)日：2015-07-23
申请号：US14418978
申请日：2013-05-23
申请人： Hitachi Construction Machinery Co., Ltd.
发明人： Hidefumi Ishimoto , Yoichi Kowatari , Yoshihiro Inanobe
IPC分类号： B60R1/00 , H04N7/18
CPC分类号： B60R1/00 , E02F9/261 , H04N7/181 , H04N7/183
摘要： An object is to bring an operation to recognize precisely situation of an underneath of a vessel provided at a transportation vehicle and rearward situation on the basis of camera image which is attached to the transportation vehicle. Surveillance system of the transportation vehicle according to the present invention comprises a lamp unit 13 mounted at a position under the vessel and rear end of a frame of a dump truck 1, a rearward camera 10B mounted above the lamp unit 13 directing an optical axis toward obliquely downward and having a field of view including at least partially of an axle 11 provided rear wheels 6 of the dump truck 1, a shield plate 16 provided between the lamp unit 13 and the rearward camera 10B to be extended at a position to be included at least partially in the rearward camera 10B, a monitor device provided in the cab 2 of the dump truck 11 to display camera image taken by the rearward camera 10B.
摘要翻译：目的是提供一种操作，以准确地识别设置在运输车辆处的船只下方的状况，以及基于附接到运输车辆的相机图像的向后情况。根据本发明的运输车辆的监视系统包括安装在自卸车1的框架下方的位置下方的灯单元13，安装在灯单元13上方的指向光轴的后方照相机10B朝向至少部分地包括设置在自卸车1的后轮6上的车轴11的视场，设置在灯单元13和后照相机10B之间的屏蔽板16，以在要包括的位置延伸的视野至少部分地在后方相机10B中，设置在自卸车11的驾驶室2中以显示由后方照相机10B拍摄的照相机图像的监视器装置。

8. 发明申请

US20140354816A1 Peripheral Monitoring Device for Transportation Vehicle 审中-公开
标题翻译：运输车辆周边监控装置
公开(公告)号：US20140354816A1
公开(公告)日：2014-12-04
申请号：US14377028
申请日：2013-02-05
申请人： Hitachi Construction Machinery Co., Ltd.
发明人： Yoshihiro Inanobe , Yoichi Kowatari , Hidefumi Ishimoto
IPC分类号： B60R1/00 , H04N7/18
CPC分类号： B60R1/002 , B60R1/00 , B60R2300/105 , B60R2300/602 , B60R2300/70 , B60R2300/802 , H04N7/181
摘要： This invention comprises, for the sake of improving the safety at the time of traveling a transportation vehicle by displaying an image corresponding to the traveling direction of the dump truck 1, cameras 4B, 4L and 4R having the field of visions at least rear side, left side and right side of the dump truck 1, respectively, a monitor 14 disposed in an operator's cab 7 of the dump truck 1, the operator's cab 7 is further comprises a shift lever 21 for operating the forward and rearward traveling direction, a vehicle controller20 and a display controller 30 being also provided for displaying one or plurality of camera image on the monitor in accordance with the traveling direction of the dump truck 1, on the basis of steering information of left or right traveling direction of the dump truck 1 and information from the shift lever 21.
摘要翻译：本发明为了通过显示与自卸车1的行进方向相对应的图像来提高运输车辆的行驶时的安全性，具有至少后方的视场的照相机4B，4L，4R，自卸车1的左侧和右侧分别设置在自卸车1的操作室7中的监视器14，驾驶室7还包括用于操作前进和后退行驶方向的换档杆21，车辆控制器20和显示控制器30还被设置用于根据自卸车1的行进方向根据自卸车1的行进方向在监视器上显示一个或多个照相机图像; 来自变速杆21的信息。

9. 发明授权

US10650251B2 Monitoring image display device of industrial machine 有权
公开(公告)号：US10650251B2
公开(公告)日：2020-05-12
申请号：US16158346
申请日：2018-10-12
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Yoichi Kowatari , Hidefumi Ishimoto , Moritaka Oota , Yoshihiro Inanobe , Hiroyoshi Tanaka , Kouji Fujita , Takashi Kusama
IPC分类号： G06K9/00 , H04N7/18 , B60R1/00 , E02F9/26 , E02F9/24 , G06T11/60 , H04N5/247
摘要： In an industrial machine, the work safety is further improved by eliminating blind spots from an image displayed on a monitor. A hydraulic excavator 1 which is the industrial machine is equipped with monitoring cameras 15F, 15B, 15L, 15R mounted in the respective places of a revolving upperstructure 3 in order to capture images for monitoring. A monitor 20 displays camera images 21F, 21B, 21L, 21R obtained by the cameras as well as an icon image 21C of an image illustration of the hydraulic excavator 1. The cameras 15F, 15L, 15R are mounted at the distal ends of support arms 40F, 40L, 40R to be located in positions jutting from a revolving upperstructure main unit 3a of the revolving upperstructure 3, so that a hidden area under the underside of a catwalk 14 provided on the revolving upperstructure 3 falls within the field of view.

10. 发明授权

US10044933B2 Periphery monitoring device for work machine 有权
公开(公告)号：US10044933B2
公开(公告)日：2018-08-07
申请号：US14913695
申请日：2015-02-26
申请人： Hitachi Construction Machinery Co., Ltd.
发明人： Moritaka Oota , Yoichi Kowatari , Yoshihiro Inanobe
IPC分类号： H04N7/00 , H04N5/232 , G06K9/20 , G06T7/00 , G06T11/60 , H04N5/247 , E02F9/26 , G06T3/40
摘要： A periphery monitoring device for a work machine includes imaging devices that capture an image of the surroundings of the work machine. An overhead view image is generated from the surroundings of the work machine based upon upper view-point images of the image devices. When generating an overhead view image of an overlap region of first and second upper view-point images relating to the images captured by the first and second imaging devices, the overhead view image generating unit, based upon a height of a virtual monitoring target, sets at least one of a first region in which the first upper view-point image is displayed and a second region in which the second upper view-point image is displayed, and also sets a third region in which a composite display image based upon the first and second upper view-point images is displayed.

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