Guide display device, and crane provided with same

Patent metadata

Field	Value
Publication number	US-12110213-B2
Application number	US-202117911315-A
Country	US
Kind code	B2
Filing date	Mar 23, 2021
Priority date	Mar 26, 2020
Publication date	Oct 8, 2024
Grant date	Oct 8, 2024

Abstract

A guide display device of a crane including a data processing unit that creates a plurality of surfaces using point cloud data, which is acquired by a laser scanner from above a hung load and which includes the hung load, and creates a three-dimensional map according to the plurality of surfaces, the three-dimensional map being created for each prescribed period, wherein the data processing unit is configured to set a reference position at the hung load in the three-dimensional map and also set a current surface present within a prescribed distance from a past reference position as the surface of the hung load, thereby tracking the hung load in the three-dimensional map.

First claim

The invention claimed is:

1. A guide display device of a crane, comprising:
a data processing section configured to create a plurality of planes by using point group data including a lifting cargo acquired with a laser scanner from above the lifting cargo, create a three-dimensional map with the plurality of planes, and create the three-dimensional map at a predetermined time interval,
wherein the data processing section sets a reference position to the lifting cargo in the three-dimensional map, and
wherein the data processing section tracks the lifting cargo in the three-dimensional map by setting a current plane located within a predetermined distance from a past reference position as a surface of the lifting cargo.

2. The guide display device according to claim 1 , wherein the data processing section sets the reference position to a gravity center of the lifting cargo.

3. The guide display device according to claim 2 ,
wherein the point group data is data including the ground surface acquired with the laser scanner from above the ground surface, and
wherein the data processing section sets, as a height of the lifting cargo, a difference in an altitude value between the ground surface and the lifting cargo in the three-dimensional map when the lifting cargo is placed on the ground surface, and calculates the gravity center of the lifting cargo by using the height of the lifting cargo.

4. The guide display device according to claim 2 ,
wherein the point group data is data including a ground object acquired with the laser scanner from above the ground object; and
wherein the data processing section sets, as the height of the lifting cargo, the difference in the altitude value between the ground object and the lifting cargo in the three-dimensional map when the lifting cargo is placed on the ground object, and calculates the gravity center of the lifting cargo by using the height of the lifting cargo.

5. The guide display device according to claim 1 , wherein when tracking of the lifting cargo in the three-dimensional map fails, the data processing section tracks, through image analysis, the lifting cargo in an image including the lifting cargo captured with a camera from above the lifting cargo.

6. 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

• G06T2210/56

  Particle system, point based geometry or rendering · CPC title

• G06T2207/10028

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

• G06T17/05

  Geographic models · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G06T7/66

  of image moments or centre of gravity · CPC title