Guide information display device, crane equipped with same, and guide information display method

Patent metadata

Field	Value
Publication number	US-11084692-B2
Application number	US-201816632639-A
Country	US
Kind code	B2
Filing date	Jul 19, 2018
Priority date	Jul 21, 2017
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

To accurately present information about the shape and location of a hoisting load and an object located near the hoisting load, regardless of the orientation and operational state of the crane. A guide information display device, wherein a camera images part of a work region of a crane, a laser scanner obtains a data point group of the work region captured by the camera, and a data processing unit: removes, from the obtained data point group, a data point group located between a hoisting load hanging from a crane and the tip end section of the telescopic boom of the crane; estimates, on the basis of the remaining data point group, the top surface of the hoisting load, the ground surface of the work region, and the top surfaces of objects located in the work region; generates guide frames which surround the top surfaces of the hoisting load and the objects; and overlaps the generated guide frames on the captured image, and displays the same on a data display unit.

First claim

The invention claimed is:

1. A guide information display apparatus, comprising:
a data display section;
a data acquisition section that acquires image data of a suspended load region taken by a camera, and point cloud data acquired by scanning with a laser scanner from a top surface of an object including a suspended load and a top surface of a ground object in the suspended load region; and
a data processing section that creates a guide frame corresponding to the object based on remaining point cloud data after excluding unnecessary pieces of point cloud data from the acquired point cloud data and causes the created guide frame to be displayed on the data display section while superimposing the created guide frame on the object in the image data,
wherein the data processing section structures the acquired point cloud data into a hierarchy from a distance direction from the laser scanner, clusters the acquired point cloud data which belongs to a same layer and for which an inter-point distance is equal to or smaller than a predetermined value to create plane clusters,
wherein the data processing section excludes, as the unnecessary point cloud data, point cloud data forming a plane cluster having an elevation value higher than an elevation value of the suspended load,
wherein the data processing section
calculates a straight line connecting between a suspending position of the suspended load and a center of gravity of the suspended load, and
determines whether the acquired point cloud data belongs to the unnecessary point cloud data
based on whether or not a horizontal distance between a center of gravity of each of the plane cluster and the straight line is smaller than a suspended load width which is a distance to an outer edge of the suspended load remotest from the center of gravity of the suspended load in a distance direction from the laser scanner, or
based on whether or not the suspended load and each of the plane cluster overlap each other in planar view in the distance direction from the laser scanner, and creates the guide frame for each of the remaining plane clusters, and

wherein the data acquisition section and the data processing section are each implemented via at least one processor.

2. The guide information display apparatus according to claim 1 , wherein the unnecessary point cloud data to be excluded is a wire rope for suspending the suspended load.

3. The guide information display apparatus according to claim 1 , wherein the data processing section
sets an excluded area between the suspended load and a suspending position of the suspended load, and
sets the point cloud data acquired in the excluded area to be the unnecessary point cloud data to be excluded from the point cloud data acquired by the laser scanner.

4. The guide information display apparatus according to claim 1 , wherein the data processing section assumes a center of gravity of a visible outline of one of the plane clusters having a maximum height value from the plane cluster to be the suspending position of the suspended load.

5. A work machine, comprising the guide information display apparatus according to claim 1 .

6. A work machine, comprising the guide information display apparatus according to claim 2 .

7. A work machine, comprising the guide information display apparatus according to claim 3 .

8. A work machine, comprising the guide information display apparatus according to claim 4 .

Assignees

• Tadano Ltd
• The School Corporation Kansai Univ

Inventors

• Kosaka Takayuki
• Ishikawa Iwao
• Kubota Satoshi
• Tanaka Shigenori
• Nakamura Kenji
• Yamamoto Yuhei
• NAKAHARA Masaya

Classifications

• B66C13/46 Primary

  Position indicators for suspended loads or for crane elements · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• B66C13/22

  for electric drives (transmitting control pulses B66C13/40; systems or devices of general application H02P) · CPC title

• G01B11/00

  Measuring arrangements characterised by the use of optical techniques · CPC title

• G06T7/11

  Region-based segmentation · CPC title