US 12,110,665 B2
Control system and control method for controlling work machine in accordance with image data
Masanori Aizawa, Tokyo (JP); Kenjiro Shimada, Tokyo (JP); and Yuki Tsuzuki, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 17/056,136
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Aug. 26, 2019, PCT No. PCT/JP2019/033244
§ 371(c)(1), (2) Date Nov. 17, 2020,
PCT Pub. No. WO2020/054366, PCT Pub. Date Mar. 19, 2020.
Claims priority of application No. 2018-169158 (JP), filed on Sep. 10, 2018.
Prior Publication US 2021/0310219 A1, Oct. 7, 2021
Int. Cl. E02F 9/26 (2006.01); E02F 3/43 (2006.01); G06N 3/04 (2023.01); G06T 7/70 (2017.01)
CPC E02F 9/262 (2013.01) [E02F 3/434 (2013.01); E02F 3/437 (2013.01); G06N 3/04 (2013.01); G06T 7/70 (2017.01); G06T 2207/20081 (2013.01); G06T 2207/30196 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system comprising:
a work machine;
a camera configured to capture an image including a periphery of the work machine; and
a processor configured to
acquire image data indicative of a captured image captured by the camera,
acquire, from the image data, at least one specific object present in the captured image and a distance from the work machine to the at least one specific object by performing image analysis using an object detection model trained using an image of the at least one specific object and the distance to the at least one specific object,
determine whether the at least one specific object is one specific object or a plurality of specific objects,
upon determining that the at least one specific object is one specific object, set the distance from the work machine to the one specific object as a distance parameter and control the work machine based on the distance parameter, and
upon determining that the at least one specific object is a plurality of specific objects, select a shortest distance among distances from the work machine to each of the plurality of specific objects as the distance parameter and control the work machine based on the distance parameter.