Tadano Ltd.

The School Corporation Kansai University

Iwao Ishikawa

Satoshi Kubota

Shigenori Tanaka

Masaya Nakahara

Takayuki Kosaka

Kenji Nakamura

Yuhei Yamamoto

Keita Mashima

Koki Nakahata

Kazuya Tanizumi

Kazuaki Tsuda

Masayuki Munekiyo

Keisuke Tamaki

Shuji Fujiwara

Hiroshi Yamauchi

Masafumi Takahashi

Yuji Tadano

Tomohiro Toyosaki

A ground surface estimation method includes: a continuous region recognizing step for recognizing, when a difference in altitude value between a representative point of one grid and a representative point of another adjacent grid out of the plurality of grids is equal to or less than a threshold, the one grid and the other adjacent grid as a continuous region that is a region where the one grid and the other adjacent grid are continuous; and a ground surface estimation step for estimating a continuous region having the largest number of grids among the continuous regions as a ground surface.

Ground surface estimation method, measurement region display system, and crane

The present invention provides a guide display device capable of recognizing a feature in a work area while distinguishing whether the feature is a moving body or not. In a guide display device of a crane, 3D maps are created for continuous frames; an altitude value for each grid in a 3D map that is created at time closest to the current time is obtained as a first altitude value; altitude values for respective corresponding grids in a predetermined number of 3D maps other than the 3D map that is created at time closest to the current time are obtained, and the average of the altitude values is calculated as a second altitude value; and it is determined that the feature is a moving body when the difference between the first altitude value and the second altitude value exceeds a predetermined threshold.

Guide display device and crane equipped with same

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.

Guide display device, and crane provided with same

A ground surface estimation method include: performing first estimation in which the continuous region having a largest number of the grids among the continuous regions is estimated as a ground surface; and performing second estimation including: calculating an average altitude value of the representative point of the grids in the non-adjacent continuous region for each of the non-adjacent continuous regions; calculating an average altitude value of the representative point of the grids in the predetermined range of the continuous region estimated as the ground surface; and estimating that a non-adjacent continuous region as the ground surface when a difference between the average altitude value of the representative point of the grids in the non-adjacent continuous region and the average altitude value of the representative point of the grids in a predetermined range of the continuous region estimated as the ground surface is equal to or less than a threshold.

Ground surface estimation method, measurement area display system, and crane

Provided is a guide display device with which incorrect recognition of a place having small features as a ground surface having no features can be suppressed in generating and updating a three-dimensional map. A data processing unit (): detects an edge (Eg) of a feature (E) on the basis of a result of subjecting image data captured by a camera () to image processing, and recognizes the feature (E) on the basis of the edge (Eg); and accumulates, from a predetermined number of frames from before the time at which the image data was captured, point group data (P) of a nearby range (Ma) of the edge (Eg) of the feature (E) that was recognized as a ground surface (F), and generates, on the basis of the accumulated point group data (P), a three-dimensional map (M) of the feature (E) the edge (Eg) of which has been recognized.

Guide display device and crane provided with same

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.

Provided is a guide display device that prevents misidentification of the same feature as a plurality of different features or the ground surface even if an occlusion area occurs. A guide display device for a crane includes: a laser scanner that scans a suspended load and a ground surface from above the suspended load; and a data processing unit that calculates a representative point for each grid using the point cloud data acquired by the laser scanner, creates a three-dimensional map based on the representative points, and updates the three-dimensional map if the newly calculated representative point differs from the existing representative point. When an occlusion area, which is a shadow of the suspended load, occurs in the three-dimensional map, the occlusion area is not updated even if the newly calculated representative point and the existing representative point are different.

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.

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

To accurately present guide information which expresses the shape and height of a hoisting load and an object located near the hoisting load. A guide information display device is equipped with: a data acquisition unit provided with a camera for capturing an image of a hoisting load region which includes at least a hoisting load and the ground surface below the hoisting load from above the hoisting load, and a laser scanner for obtaining a data point group in the hoisting load region; a data processing unit for estimating the top surface of the hoisting weight, the ground surface, and the top surfaces of objects, on the basis of the obtained data point group, and generating guide frames which surround the top surfaces of the hoisting weight and objects; and a data display unit which displays guide information obtained by overlapping the generated guide frames and the captured image with one another.

Guide information display device and crane

To accurately obtain the shapes of a hoisting load and an object located near the hoisting load, and the height of the ground surface, and present an accurate warning display when the hoisting load approaches the object. A guide information display device is equipped with a data processing unit which: estimates the top surface of a hoisting load, the ground surface, and the top surface of the object, on the basis of a data point group obtained by a laser scanner; generates guide frames representing guide frames that surround the top surface of the hoisting load and the top surface of the object, and also generates height information and height information which represent the elevation of the hoisting load and the object; calculates the distance between the hoisting load and the object on the basis of the estimated top surfaces of the hoisting load and object; and outputs a warning display when the distance is equal to or less than a threshold. The guide information display device is also equipped with a data display unit for displaying guide information obtained by overlapping an image captured by a camera with the guide frames, the height information and the height information, and the warning display which were generated by the data processing unit.

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

To estimate the top surface of a measurement target on the basis of a data point group that corresponds to the top surface of the measurement target and is obtained using a laser scanner. A data processing unit: selects two data points from the data point group which is contained within the thickness in the vertical direction of a hoisting load region, and calculates the distance between the selected two data points; determines the two data points are located in the same plane and calculates the gravitational center for each point determined to be in the same plane when the distance between the two points is equal to or less than a threshold; searches for a nearby point which is a data point for which the distance from the gravitational centers is equal to or less than the threshold, determines the nearby point is also in the same plane when the nearby point is discovered, and repeatedly performs the process in order each time a nearby point is discovered; obtains multiple data points determined to be in the same plane; and estimates plane clusters representing the top surfaces of a hoisting load and an object on the basis of the multiple data points.

A crane creates a 3D map on the basis of three-dimensional information acquired by a three-dimensional information obtaining section that is provided on a boom. The three-dimensional information obtaining section: is configured to be capable of accumulating acquired three-dimensional information and to be capable of changing a measurement direction, a measurement range, and a measurement density; and creates the 3D map by superimposing accumulated three-dimensional information. When an operation signal for a swivel operation for a swivel base, a hoisting operation for the boom, or an extension/retraction operation for the boom has been detected, on the basis of the movement direction and movement speed of the boom as calculated from a detected value for the operation signal, the three-dimensional information obtaining section: changes the measurement direction; and narrows the measurement range and increases the measurement density as compared to when the operation signal has not been detected.

Crane

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.

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

A human detection systemincludes: a camerathat acquires detection image data Dd of a detection region D, the detection region D being a prescribed region including a portion of a crane; a deviation determination unitin which image data of the craneincluded in the detection image data Dd acquired by the camerain a state of being disposed at a reference position is set as reference image data Sd of the detection region D, and in which the detection image data Dd of the detection region D acquired at an arbitrary time by the camerais compared to the reference image data Sd to determine whether the position of the camerahas deviated from the reference position; and a reporting unitthat reports that the position of the camerahas deviated.

Human detection system for work vehicle, and work vehicle equipped with same

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.

Growing community of inventors

Kagawa, Japan

Iwao Ishikawa