Work machine abnormality determination system and work machine abnormality determination method
AssigneeKomatsu Ltd.
InventorsYohei Seki, Koji Kusaka, Yuki Hosoda
Life of this patent
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Abstract
An abnormality determination system applicable to a work machine includes: a stereo camera mounted on a wheel loader having working equipment; a position data calculation unit that estimates a position of the working equipment in a captured image of the stereo camera based on a posture of the working equipment when captured by the stereo camera; and a determination unit that determines whether the stereo camera is normal based on the estimated position of the working equipment.
Claims15
An abnormality determination system of a work machine, the system comprising:
- a processor, and
- a camera mounted on the work machine having working equipment;
- the processor being configured to:
- estimate a position of the working equipment in a captured image of the camera based on a posture of the working equipment when captured by the camera;
- and
- determine the camera being normal in a case where an estimated position of the working equipment in the captured image defined from a posture of the working equipment when captured by the camera matches an actual position of the working equipment in the captured image, or in a case where a deviation is within a predetermined range, and
- determine the camera being not normal in a case where the estimated position of the working equipment in the captured image defined from the posture of the working equipment when captured by the camera does not match the actual position of the working equipment in the captured image, or in a case where the deviation is outside the predetermined range.
An abnormality determination method applicable to a work machine, the method comprising:
- estimating a position of working equipment in a captured image obtained by a camera mounted on the work machine including the working equipment based on a posture of the working equipment when captured by the camera;
- and
- determining the camera being normal in a case where an estimated position of the working equipment in the captured image defined from a posture of the working equipment when captured by the camera matches an actual position of the working equipment in the captured image, or in a case where a deviation is within a predetermined range, and
- determining the camera being not normal in a case where the estimated position of the working equipment in the captured image defined from the posture of the working equipment when captured by the camera does not match the actual position of the working equipment in the captured image, or in a case where the deviation is outside the predetermined range.
Dependencies are inferred from the claim text.