Guide display device and crane equipped with same

Patent metadata

Field	Value
Publication number	US-11958725-B2
Application number	US-202117911272-A
Country	US
Kind code	B2
Filing date	Mar 23, 2021
Priority date	Mar 26, 2020
Publication date	Apr 16, 2024
Grant date	Apr 16, 2024

Abstract

A guide display unit for a crane, wherein a data processing unit: calculates a measurement area corresponding to the measurement area of a camera; the measurement area from the viewpoint of the camera and generates a first image; performs mosaic-processing on the image captured by the camera according to the particle size of the three-dimensional map and generates a second image; performs registration processing on the first image and the second image and calculates the amount of deviation between the first image and the second image; corrects the position of a guide frame figure with respect to the image of a suspended load and a feature on the basis of the calculated amount of deviation; and overlays the guide frame figure on the images of the suspended load and the feature and displays the result on the data display unit.

First claim

The invention claimed is:

1. A guide display device of a crane, comprising:
a data processing section configured to generate a three-dimensional map of a lifting cargo, a ground surface and a ground object and a guide frame diagram representing outlines of the lifting cargo and the ground object by using point group data acquired with a laser scanner by scanning the lifting cargo, the ground surface and the ground object from above the lifting cargo; and
a data display section configured to display images of the lifting cargo, the ground surface and the ground object captured by a camera from above the lifting cargo,
wherein the guide frame diagram generated by the data processing section is displayed in a superimposed manner on the images of the lifting cargo and the ground object captured with the camera and displayed on the data display section,
wherein the data processing section calculates a measurement region of the camera, generates a first image by capturing the three-dimensional map in the measurement region from a perspective of the camera, and generates a second image by performing a mosaic process on an image of the camera in accordance with a granularity of the three-dimensional map, and
wherein the data processing section performs a registration process on the first image and the second image, calculates a displacement amount of the first image and the second image, corrects an installation position of the guide frame diagram with respect to the images of the lifting cargo and the ground object based on a calculated displacement amount, and displays the images of the lifting cargo and the ground object and the guide frame diagram in a superimposed manner on the data display section.

2. The guide display device according to claim 1 , wherein the data processing section performs the registration process on the first image and the second image through an image process.

3. The guide display device according to claim 2 , wherein the data processing section performs the registration process on the first image and the second image through an image process of a template matching method.

4. The guide display device according to claim 3 , wherein the data processing section sets, as a template image, an image at a position where the lifting cargo is not included in the second image.

5. A crane comprising the guide display device according to claim 1 .

Assignees

• Tadano Ltd
• The School Corporation Kansai Univ

Inventors

• Ishikawa Iwao
• Kosaka Takayuki
• Mashima Keita
• Kubota Satoshi
• Tanaka Shigenori
• NAKAHARA Masaya
• Nakahata Koki

Classifications

• B66C13/46 Primary

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

• G06T7/337

  involving reference images or patches · CPC title

• G06T17/05

  Geographic models · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• G06T2219/2004

  Aligning objects, relative positioning of parts · CPC title