Data point group clustering method, guide information display device, and crane

Patent metadata

Field	Value
Publication number	US-11270450-B2
Application number	US-201816632779-A
Country	US
Kind code	B2
Filing date	Jul 19, 2018
Priority date	Jul 21, 2017
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

Provided is a method for clustering the data point groups of one or more measurement targets located in the same region from among the acquired data point groups. This method is provided with: acquiring a data point group in a region that contains a measurement target from above the measurement target by using a laser scanner; clustering the data point groups that correspond to the top surface of the measurement target as a planar cluster by using a data processing unit; extracting a reference planar cluster which is a reference for making a same-region determination; calculating the difference in height between the reference planar cluster and other planar clusters, and searching for planar clusters exhibiting a height difference within a prescribed threshold; selecting one planar cluster exhibiting a height difference within the prescribed threshold; detecting whether there is overlap between the reference planar cluster and the one planar cluster; and clustering the planar clusters as clusters in the same region when overlap is detected.

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, and point cloud data, the image data being taken by a camera, the point cloud data being acquired by scanning an object with a laser scanner from a top surface, the object including a suspended load and a grounded object in the suspended load region; and
a data processing section that creates a guide frame from a planar cluster resulting from clustering the point cloud data and causes the guide frame to be displayed on a data display section while superimposing the created guide frame on the object in the image data, wherein the data processing section is implemented via at least one hardware processor of a computer,
wherein the data processing section deems a plurality of planar clusters in a same region to be a same region cluster, and creates and displays a single guide frame including the plurality of planar clusters,
wherein the data processing section extracts a planar cluster with a maximum elevation value as a reference planar cluster from the planar clusters,
wherein, the data processing section deems the reference planar cluster and another planar cluster to be in a same region
in a case where an overlap between the reference planar cluster and the another planar cluster for which a difference between elevation values is equal to or smaller than a threshold, is detected in planar view in a distance direction from the laser scanner, and
in a case where the overlap is not detected but a separation amount between the reference planar cluster and the another planar cluster is equal to or smaller than a threshold.

2. The guide information display apparatus according to claim 1 , wherein the data processing section causes the guide frame of the planar cluster and the single guide frame including the plurality of planar clusters to be simultaneously or selectively displayed.

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

4. The guide information display apparatus according to claim 2 , wherein the data processing section structures the point cloud data into a hierarchy in a distance direction from the laser scanner and forms the planar cluster by clustering points which belong to a same layer and for which an inter-point distance is equal to or smaller than a predetermined value.

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

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

7. The guide information display apparatus according to claim 1 , wherein the data processing section structures the point cloud data into a hierarchy in a distance direction from the laser scanner and forms the planar cluster by clustering points which belong to a same layer and for which an inter-point distance is equal to or smaller than a predetermined value.

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

9. The guide information display apparatus according to claim 1 , wherein the data processing section structures the point cloud data into a hierarchy in a distance direction from the laser scanner and forms the planar cluster by clustering points which belong to a same layer and for which an inter-point distance is equal to or smaller than a predetermined value.

10. A work machine, comprising the guide information display apparatus according to claim 9 .

11. A guide information display method, comprising:
a data acquisition step of acquiring image data of a suspended load region, and point cloud data, the image data being taken by a camera, the point cloud data being acquired by scanning an object with a laser scanner from a top surface, the object including a suspended load and a grounded object in the suspended load region;
a data processing step of creating a guide frame by clustering the point cloud data; and
a data display step of causing the guide frame to be displayed on a data display section while superimposing the created guide frame on the object in the image data, wherein
the data processing step includes
a step of structuring the point cloud data into a hierarchy in a distance direction from the laser scanner and forming a planar cluster by clustering point cloud data which belongs to a same layer and for which an inter-point distance is equal to or smaller than a threshold, and
a step of deeming a plurality of planar clusters in a same region to be a same region cluster, and creating and displaying a single guide frame including the plurality of planar clusters,

wherein a planar cluster with a maximum elevation value is extracted as a reference planar cluster from the planar clusters, and
wherein, the reference planar cluster and another planar cluster are deemed to be in a same region in the data processing step
in a case where an overlap between the reference planar cluster and the another planar cluster for which a difference between elevation values is equal to or smaller than a threshold, is detected in planar view in a distance direction from the laser scanner, and
in a case where the overlap is not detected but a separation amount between the reference planar cluster and the another planar cluster is equal to or smaller than a threshold.

Assignees

• Tadano Ltd
• The School Corporation Kansai Univ

Inventors

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

Classifications

• G06T19/00

  Manipulating three-dimensional [3D] models or images for computer graphics · CPC title

• B66C13/16

  Applications of indicating, registering, or weighing devices (in crane hooks B66C1/40; in safety gear B66C15/00; weighing-apparatus G01G; remote indicating in general G08) · CPC title

• B60R2300/301

  combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision · CPC title

• G01B11/24

  for measuring contours or curvatures · CPC title

• B66C23/42 Primary

  with jibs of adjustable configuration, e.g. foldable · CPC title