PROBLEM TO BE SOLVED: To provide a work vehicle for a mine that detects an area where an obstacle is highly likely to be present ahead of fugitive dust in an off-road environment.SOLUTION: A work vehicle for a mine comprises a stereo camera device 11 having cameras 11a and 11b, an image information acquisition part for comparing a two-dimensional camera acquisition image acquired by the camera 11a with a two-dimensional camera acquisition image acquired by the camera 11b and identifying an area without a disparity between these two camera acquisition images as a non-disparity area, and a vehicle presence area detection part for identifying the non-disparity area as a vehicle possibility area where another vehicle 1A is highly likely to be present when a pixel number of the non-disparity area in the disparity image is larger than a predetermined value.SELECTED DRAWING: Figure 1
【課題】オフロード環境下において、砂埃の先に障害物が存在する可能性の高い領域を検出する鉱山用作業車両を提供する。【解決手段】カメラ11a,11bを備えたステレオカメラ装置11と、カメラ11aにて取得した二次元のカメラ取得画像と、カメラ11bにて取得した二次元のカメラ取得画像とを比較し、これら二つのカメラ取得画像間の視差の無い領域を視差無領域として特定する画像情報取得部と、視差画像中の視差無領域の画素数が所定値より大きい場合に、視差無領域を他車両1Aが存在する可能性の高い車両可能性領域と特定する車両存在領域検出部と、を備えた。【選択図】図1
WORK VEHICLE FOR MINE
鉱山用作業車両
2016-02-08
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |