Container measurement system
A container measuring system includes a distance image acquiring part and a calculation part. The distance image acquiring part is provided on a working machine for performing a work of loading into a container, and is capable of acquiring a distance image of the container. The calculation part processes the distance image of the container acquired by the distance image acquiring part. The calculation part calculates a three-dimensional position of a flat face part constituting the container on the basis of the distance image of the container. The calculation part calculates three-dimensional information including a three-dimensional position and a three-dimensional shape of the container on the basis of the three-dimensional position of the flat face part.
1. A container measuring system provided on a working machine for performing a work of loading into a container including a flat face part, comprising:
a distance image acquiring part provided on the working machine and configured to acquire a distance image of the container, the distance image acquiring part comprising a camera; and
a controller comprising circuitry configured to process the distance image of the container acquired by the distance image acquiring part, wherein
the controller calculates:
a three-dimensional position of the flat face part on the basis of the distance image of the container, and
three-dimensional information including a three-dimensional position and a three-dimensional shape of the container on the basis of the three-dimensional position of the flat face part,
the controller calculates a three-dimensional position of a section of the flat face part that is beyond the distance image on the basis of a three-dimensional position of a section of the flat face part that is in the distance image, and
the controller estimates the three-dimensional position of the section of the flat face part that is beyond the distance image on the basis of the three-dimensional position of the section of the flat face part that is in the distance image on the assumption that the flat face part is continuously flat.
2. The container measuring system according to claim 1 , further comprising:
an operation information acquiring part including a sensor configured to acquire information on an operation of the working machine including at least one of slewing and travelling, wherein
the controller is configured to store the three-dimensional information on the container calculated by the controller, and
the controller calculates the three-dimensional information on the container after an execution of the operation on the basis of the three-dimensional information on the container stored in the controller before the execution of the operation and information on the operation acquired by the operation information acquiring part.
3. The container measuring system according to claim 2 , wherein
the controller has a threshold value for a difference between the three-dimensional information on the container calculated by the controller and the three-dimensional information on the container stored in the controller, and
the controller updates the three-dimensional information on the container stored in the controller to the calculated three-dimensional information on the container when the difference exceeds the threshold value.
4. The container measuring system according to claim 1 , wherein
the container is a box bed provided on a transport vehicle for transporting a transport matter loaded by the working machine.
5. The container measuring system according to claim 4 , wherein
the flat face part includes a bottom surface of the box bed and surfaces surrounding the bottom surface.
6. The container measuring system according to claim 1 , wherein
the three-dimensional position of the flat face part concerns a three-dimensional position of a corner and a side of the flat face part, and
the shape information on the flat face part includes three-dimensional positions of a group of points on the side.
7. A container measuring system provided on a working machine for performing a work of loading into a container including a flat face part, comprising:
a distance image acquiring part provided on the working machine and configured to acquire a distance image of the container, the distance image acquiring part comprising a camera;
a controller comprising circuitry configured to process the distance image of the container acquired by the distance image acquiring part, wherein the controller calculates:
a three-dimensional position of the flat face part on the basis of the distance image of the container, and
three-dimensional information including a three-dimensional position and a three-dimensional shape of the container on the basis of the three-dimensional position of the flat face part; and
an operation information acquiring part including a sensor configured to acquire information on an operation of the working machine including at least one of slewing and travelling, wherein
the controller is configured to store the three-dimensional information on the container calculated by the controller,
the controller calculates the three-dimensional information on the container after an execution of the operation on the basis of the three-dimensional information on the container stored in the controller before the execution of the operation and information on the operation acquired by the operation information acquiring part,
the controller has a threshold value for a difference between the three-dimensional information on the container calculated by the controller and the three-dimensional information on the container stored in the controller, and
the controller updates the three-dimensional information on the container stored in the controller to the calculated three-dimensional information on the container when the difference exceeds the threshold value.