Measurement target top-surface estimation method, guide information display device, and crane

Patent metadata

Field	Value
Publication number	US-11560292-B2
Application number	US-201816632750-A
Country	US
Kind code	B2
Filing date	Jul 19, 2018
Priority date	Jul 21, 2017
Publication date	Jan 24, 2023
Grant date	Jan 24, 2023

Abstract

To estimate the top surface of a measurement target on the basis of a data point group that corresponds to the top surface of a measurement target and is obtained using a laser scanner. This top surface estimation method for hoisting loads and by acquiring, using the laser scanner, data point groups in a hoisting load region which includes a hoisting load and an object from above the hoisting load and the object, dividing the hoisting load region into layers which constitute a plurality of groups which have a prescribed thickness in the vertical direction, and allocating the acquired data point groups to the plurality of layer groups, and estimating the top surfaces of the hoisting load and the object in each layer group on the basis of the data point groups allocated to the plurality of layer groups.

First claim

The invention claimed is:

1. A guide information display apparatus, comprising:
a display which displays guide information;
a data acquisition section including a camera and a laser scanner that acquires image data of a suspended load region, and point cloud data, the image data being taken by the camera, the point cloud data being acquired by scanning an object from a top surface by the laser scanner, the object including a suspended load and a grounded object in the suspended load region; and
a processor that creates a guide frame from a planar cluster corresponding to a top surface of the object resulting from clustering the point cloud data and causes the guide frame to be displayed on the display while superimposing the created guide frame on the object in the image data, wherein
the processor forms a planar cluster by structuring the point cloud data into a hierarchy in a distance direction from the laser scanner and 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 of an inter-point distance, and
in a case where a difference between elevation values is equal to or smaller than a threshold of an elevation value in two planar clusters belonging to different layers, the processor creates the guide frame by combining the two planar clusters to form one planar cluster,
wherein an elevation value of the planar cluster is an average of elevation values of belonging point cloud data.

2. The guide information display apparatus according to claim 1 , wherein the processor forms one planar cluster by combining the two planar clusters in a case where overlapping of the two planar clusters is detected in planar view in the distance direction from the laser scanner or in a case where a separation amount of the two planar cluster is equal to or smaller than a threshold of a separation amount.

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

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

5. 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 from a top surface by a laser scanner, 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 while superimposing the created guide frame on the object in the image data, wherein
the data processing step includes
a step of forming a planar cluster corresponding to a top surface of the object by structuring the point cloud data into a hierarchy in a distance direction from the laser scanner and 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 of an inter-point distance, and
a step of creating, in a case where a difference between elevation values is equal to or smaller than a threshold of an elevation value in two planar clusters belonging to different layers, the guide frame by combining the two planar clusters to form one planar cluster,

wherein an elevation value of the planar cluster is an average of elevation values of belonging point cloud data.

6. The guide information display method according to claim 5 , wherein the data processing step includes a step of forming one planar cluster by combining the two planar clusters in a case where overlapping of the two planar clusters is detected in planar view in the distance direction from the laser scanner or in a case where a separation amount of the two planar cluster is equal to or smaller than a threshold of a separation amount.

7. The guide information display method according to claim 6 , wherein, in a case where overlapping of the one planar cluster resulting from the combining and a planar cluster of another layer is detected or in a case where a difference between an elevation value of the one planar cluster resulting from the combining and an elevation value of a planar cluster of another layer is equal to or smaller than a second threshold of an elevation value, the data processing step repeats a step of combining the one planar cluster and the planar cluster of the other layer.

Assignees

• Tadano Ltd
• The School Corporation Kansai Univ

Inventors

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

Classifications

• G06T7/187

  involving region growing; involving region merging; involving connected component labelling · 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

• G06T7/136

  involving thresholding · CPC title

• G06T2207/10028

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

• G06T7/11 Primary

  Region-based segmentation · CPC title