US 12,249,095 B2
Surroundings sensing device for work machine
Yuki Kojima, Hiroshima (JP)
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
Appl. No. 17/907,438
Filed by KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
PCT Filed Mar. 24, 2021, PCT No. PCT/JP2021/012204
§ 371(c)(1), (2) Date Sep. 27, 2022,
PCT Pub. No. WO2021/200458, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. 2020-063883 (JP), filed on Mar. 31, 2020.
Prior Publication US 2023/0105895 A1, Apr. 6, 2023
Int. Cl. G06T 7/73 (2017.01); E02F 9/26 (2006.01); G06T 7/11 (2017.01); H04N 7/18 (2006.01); E02F 9/08 (2006.01)
CPC G06T 7/73 (2017.01) [E02F 9/261 (2013.01); G06T 7/11 (2017.01); H04N 7/181 (2013.01); E02F 9/08 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/30232 (2013.01); G06T 2207/30261 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surroundings observation device for use in a working machine, comprising:
at least one image capturing device which is provided on the working machine to capture an image of an object around the working machine and thereby obtain a captured image;
an operating part for operating the working machine;
a specifying part for specifying a position of the object in the captured image;
a first setting part for setting a detection region where the object is to be detected in the captured image;
a responsive action part for executing a predetermined responsive action in a case that the object is in the detection region in the captured image, wherein
the specifying part
encloses the object with a polygonal frame in the captured image;
sets a straight line which passes a point that is on the polygonal frame and is closest to a to-machine side, and extends in a front orthogonal direction, the front orthogonal direction being orthogonal to a forward direction of the working machine in the captured image, and the to-machine side being a side closer to the working machine in the forward direction;
sets a first end point which is on the straight line and attributes to a first apex of a plurality of apexes of the polygonal frame that is at a first side on one side in the front orthogonal direction and closer to the to-machine side;
sets a second end point which is on the straight line and attributes to a second apex of the plurality of apexes that is at a second side on the other side in the front orthogonal direction and closer to the to-machine side;
sets a midpoint between the first end point and the second end point; and
determines one of the first end point, the second end point, and the midpoint as a coordinate indicative of the position of the object according to an operation pattern of the operating part.