JP2018095361A - Crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crane that enables easy grasping of a situation of an attention needed place where it is difficult to perform checking through operator's visual observation and imaging means.SOLUTION: The crane for acquiring three-dimensional information by using three-dimensional information acquisition means of a crane side is configured such that: three-dimensional information acquired by three-dimensional information acquisition means of an operator side carried by an operator can be communicated to a control device of the crane side, and pieces of the three-dimensional information acquired by the three-dimensional information acquisition means of the crane side and the three-dimensional information acquisition means of the operator side are synthesized to be displayed by a display device.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a crane.

  Conventionally, when a slinging operation is performed, there are cases where the operator cannot visually recognize the suspended load and the situation around the suspended load due to obstacles around the crane or the suspended load. In such a case, the hook is lowered to an appropriate position while communicating with the slinging workers around the suspended load through the communication means.

  The crane described in Patent Document 1 discloses a crane in which a suspended load monitoring camera is provided at the tip of a boom. The operator can safely lift or suspend a suspended load by operating the crane while monitoring the image from the suspended load monitoring camera, even in a place where the suspended load cannot be seen directly. it can.

JP-A-8-53290

In the above-described crane, in a state where a transported object (a suspended load) is being transported, a portion to be visually recognized at the transport destination may be blocked by the structure and may be difficult to confirm. In addition, depending on the shape of the transported object, the shooting range of the imaging unit may be blocked by the transported object, and it may be difficult to check the state of the transport destination.
Then, an object of this invention is to provide the crane which can grasp | ascertain easily the situation of the location which should be gaze which is difficult to confirm by a driver | operator's visual observation and an imaging means.

  The crane according to the present invention is a crane that acquires three-dimensional information using a crane-side three-dimensional information acquisition unit, and the three-dimensional information acquired by the operator-side three-dimensional information acquisition unit carried by the worker. It is configured to be communicable with a control device on the crane side, and combines the three-dimensional information acquired by the three-dimensional information acquisition means on the crane side and the three-dimensional information acquisition means on the operator side and displays it on the display device.

  Detecting the posture of the conveyed object based on the three-dimensional information of the conveyed object acquired by the crane-side three-dimensional information acquiring means and the operator-side three-dimensional information acquiring means during the conveying operation of the conveyed object To do.

  Based on the three-dimensional information of the lowered position of the transported object and the three-dimensional information of the transported object acquired by the three-dimensional information acquiring means on the operator side, the distance in the vertical direction of the lowered position and the transported object is measured. To do.

  The position information of the worker is displayed on the display device.

  By acquiring the 3D information using the 3D information acquisition means carried by the worker at the transport source or transport destination of the transported object, the situation of the transport destination is obtained by the crane operator or the 3D information acquisition means on the crane side. Even in a situation in which it is not possible to confirm the status, it is possible to easily grasp the status of the transport source or the transport destination.

  Even if the crane operator cannot confirm the posture of the transported object, the third order of the transported object acquired using the crane-side three-dimensional information acquiring means and the operator-side three-dimensional information acquiring means. Based on the original information, the posture of the conveyed product can be grasped.

  Even if the operator of the crane cannot easily check the status of the transport destination, he / she can grasp the distance between the transported object and the lowered position of the transported object. It is possible to safely suspend the transported object without relying on the signal.

  By marking the position of the operator on the 3D map or on the image taken by the crane side and the 3D information acquisition means on the operator side, the operator of the crane can easily grasp the operator's position, Safe lifting and lifting work can be performed.

The side view showing the whole crane composition concerning one embodiment of the present invention. The figure which shows the structure of the control block of the crane which concerns on one Embodiment of this invention. (A) The figure which shows the imaging range of the stereo camera on the crane side in the conveyance destination in the crane which concerns on one Embodiment of this invention, and the stereo camera on the side of an operator (b) The conveyance destination in the crane which concerns on one Embodiment of this invention The figure which shows the imaging | photography range of the stereo camera by the side of a crane and the stereo camera by the side of an operator. (A) Side view showing the descending position of the transported object and the vertical distance between the transported object and the descending position of the crane according to one embodiment of the present invention. (B) In the crane control apparatus according to one embodiment of the present invention. (C) The figure which shows the image which the stereo camera of the crane which concerns on one Embodiment of this invention image | photographs (d) The operator side of the crane which concerns on one Embodiment of this invention The figure which shows the image which a stereo camera of image | photographs. (A) Side view showing the descending position of the transported object and the three-dimensional object at the descending position of the crane according to one embodiment of the present invention (b) Diagram showing an image taken by the crane stereo camera according to one embodiment of the present invention . The figure which shows the position of the operator displayed on the display apparatus of the crane which concerns on one Embodiment of this invention.

  Below, the whole structure of the crane 1 which concerns on one Embodiment of this invention is demonstrated using FIG.1 and FIG.2. The crane 1 is a mobile crane that can move to an unspecified location. The crane 1 has a vehicle 2 and a crane device 6. The vehicle 2 is provided with a GNSS device 20a (see FIG. 2).

  As shown in FIG. 1, the crane apparatus 6 is a thing which lifts the conveyed product L on a hook with a wire rope. The crane device 6 includes a swivel base 7, a telescopic boom 8, a jib 9, a main hook block 10, a sub hook block 11, a hoisting cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a stereo camera. 17a, cabin 18, communication units 19a and 19b (see FIG. 2), control device 39 (see FIG. 2), and the like.

  The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged so that the center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 7 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as the center of rotation. The swivel base 7 is configured to be rotated by a hydraulic swivel motor.

  The telescopic boom 8 supports the wire rope so that the conveyed product L can be lifted. The telescopic boom 8 is composed of a plurality of boom members. Each boom member is inserted in a nested manner in the order of the cross-sectional area. The telescopic boom 8 is provided with an telescopic cylinder (not shown), and is configured to be telescopic in the axial direction by supplying hydraulic oil. The telescopic boom 8 is provided with a hoisting cylinder 12 and is supplied with hydraulic oil, so that the telescopic boom 8 is raised and lowered, and the posture of the telescopic boom 8 is maintained.

  As shown in FIG. 1, the jib 9 expands the lift and work radius of the crane device 6. The proximal end of the jib 9 is configured to be connectable to the distal end portion of the telescopic boom 8. The jib 9 is held in a posture protruding from the tip of the telescopic boom 8 in the direction of increasing the lift and work radius.

  The main hook block 10 hangs the conveyed product L. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook that suspends the conveyed product L. The sub hook block 11 suspends the conveyed product L. The sub hook block 11 is provided with a sub hook for hanging the conveyed product L.

  The main winch 13 which is a hydraulic winch is for carrying in (winding up) and feeding out (winding down) the main wire rope 14. A sub-winch 15 that is a hydraulic winch is used for feeding and unloading the sub-wire rope 16.

  The stereo camera 17a is provided as three-dimensional information acquisition means on the crane side, and acquires an image (video) of a work site. The stereo camera 17a is provided at the tip of the telescopic boom 8 or the tip of the jib 9 (the tip of the telescopic boom 8 in the present embodiment). The stereo camera 17a is disposed at the tip of the telescopic boom 8 via an actuator for changing its posture. The stereo camera 17a is configured to be swingable about an axis parallel to the swing axis of the telescopic boom 8 as a swing center. Thus, the stereo camera 17a is configured to be able to take a vertically downward image from the installation position regardless of the tilt angle of the telescopic boom 8. The stereo camera 17a is composed of at least two cameras. Specifically, the stereo camera 17a includes one reference camera and one or a plurality of comparison cameras (one in this embodiment). The stereo camera 17 a is connected to the control device 39 and transmits the captured image to the control device 39.

  The cabin 18 covers the cockpit. The cabin 18 is provided on the side of the telescopic boom 8 in the swivel base 7. A cockpit is provided inside the cabin 18. In the cockpit, a main operation valve for operating the main winch 13, a sub operation tool for operating the sub winch 15, a hoisting operation tool for operating the telescopic boom 8, and a crane 1 are moved. Handle, a monitor 22 (see FIG. 2), and the like.

  As shown in FIG. 2, the communication units 19a and 19b are configured by devices that transmit and receive predetermined data wirelessly. The communication unit 19a is connected to the control device 39 by wire. The communication unit 19b is connected to a stereo camera 17b carried by a worker W described later by wire. The communication unit 19b is configured to be able to wirelessly transmit three-dimensional information acquired using the stereo camera 17b to the communication unit 19a. The communication unit 19a inputs the three-dimensional information transmitted by the communication unit 19b to the control device 39.

  The GNSS device 20a is provided as a satellite positioning system, receives a positioning signal transmitted from a positioning satellite, and measures (calculates) the position coordinates of the crane 1. The GNSS device 20 a is provided on the vehicle body frame of the vehicle 2. A positioning satellite refers to a GNSS satellite including a GPS satellite. The GNSS device 20a receives the signals from a plurality of satellites, and outputs the current position of the crane 1 as coordinate data composed of latitude, longitude, and altitude. The GNSS device 20a is connected to the control device 39 so that the position coordinates of the crane 1 can be transmitted.

  The crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 2. Moreover, the crane 1 raises the telescopic boom 8 to an arbitrary hoisting angle by the hoisting cylinder 12, extends the telescopic boom 8 to an arbitrary boom length, or connects the jib 9, thereby lifting the lift of the crane device 6. And work radius can be expanded.

  The control device 39 acquires 3D information based on an image captured by the stereo camera 17a at the work site of the crane 1 and generates a 3D map. Specifically, the control device 39 first compares the images simultaneously captured by the reference camera and the comparison camera constituting the stereo camera 17a, and estimates the distance of each pixel of the reference camera to thereby determine the object. Acquire three-dimensional information (three-dimensional information represented in the camera coordinate system). The control device 39 converts the three-dimensional information represented by the camera coordinate system into the three-dimensional information represented by a predetermined reference coordinate system (for example, a global coordinate system). Here, the three-dimensional information refers to point cloud data represented by three-dimensional coordinate values of an object photographed by the stereo camera 17a. The point cloud data may be configured to include color information.

  The control device 39 obtains three-dimensional information (point cloud data) constituting the crane 1 by object recognition from the three-dimensional information (point cloud data) represented by a predetermined reference coordinate system acquired using the stereo camera 17a. The three-dimensional information (point cloud data) constituting the crane 1 may be excluded from the three-dimensional information (point cloud data) that is configured to be identifiable and acquired using the stereo camera 17a. Moreover, the control apparatus 39 may produce | generate the 3D model of the crane 1 which consists of the attitude | position of the present crane 1, and may project on a 3D map.

  The control device 39 may generate a 3D map by converting the point cloud data acquired by the stereo camera 17a into data representing the 3D structure of the object surface. In addition, the control device 39 divides the image data captured by the imaging means such as the stereo camera 17a into display points for each display area in the point cloud data represented by a predetermined reference coordinate system acquired using the stereo camera 17a. A 3D map may be generated by pasting image data.

  In the above configuration, the stereo camera 17a is used as the three-dimensional information acquisition unit. However, the present invention is not limited to this, and may be a laser scanner, for example. When a laser scanner is used, the measurement distance may be calculated from the time until it returns after being reflected by the measurement object, or the measurement distance may be calculated from the phase difference of a plurality of laser wavelengths.

  A monitor 22 is connected to the control device 39 as an output device. The monitor 22 displays an image captured by the stereo camera 17a in real time, displays a 3D map created based on the image captured by the stereo camera 17a from an arbitrary viewpoint, or images captured by the stereo cameras 17a and 17b. A 3D map created based on an image can be displayed from an arbitrary viewpoint.

  In the above configuration, a 3D map can be created and displayed on the monitor 22 based on an image captured by the stereo camera 17a in real time. Therefore, for example, a 3D map from a desired viewpoint is displayed on the monitor 22 even if it is a blind spot (dead spot part) from the cockpit of the crane 1, and the blind spot part is confirmed on the monitor 22 while checking the blind spot part. Lifting work and the like can be performed safely.

  The sharing of three-dimensional information between the crane 1 and the worker W will be described with reference to FIG. The worker W here is a worker who is in the vicinity of the transport source or transport destination of the transported object L and performs the transport work of the transported object L, and refers to, for example, a slinging worker or a signal operator. In FIG. 3A, a situation is assumed in which the field of view in the transport destination direction of the stereo camera 17 a of the crane 1 is blocked by the transport object L. In FIG. 3B, it is assumed that the structure S makes it difficult to confirm the state of the transport destination by visual observation of the operator of the crane 1.

  The worker W measures a stereo camera 17b provided as a three-dimensional information acquisition unit on the worker side, a GNSS device 20b (see FIG. 2) that measures the position coordinates of the stereo camera 17b, and a shooting direction of the stereo camera 17b. An orientation sensor 21b (see FIG. 2), a control device 39b (see FIG. 2) that calculates three-dimensional information based on an image taken by the stereo camera 17b, and the three-dimensional information acquired by the control device 39b to the crane 1. It carries a communication unit 19b (see FIG. 2) that enables transmission. The stereo camera 17b is provided, for example, in the front part of a helmet worn by the worker W in the field, and can photograph the visual line direction of the worker W.

  The control device 39 is configured to be able to receive three-dimensional information acquired using the stereo camera 17b via the communication units 19a and 19b. The control device 39 is connected to the data request switch 23 (see FIG. 2). The data request switch 23 receives the three-dimensional information acquired using the stereo camera 17b through the communication units 19a and 19b when operated by the operator of the crane 1. When the control device 39 receives the three-dimensional information acquired using the stereo camera 17b, the control device 39 combines the three-dimensional information and the three-dimensional information acquired using the stereo camera 17a to monitor 22 (FIG. 2). Display).

  As described above, the three-dimensional information acquired using the stereo camera 17b carried by the operator W and the stereo camera 17a of the crane 1 can be synthesized and displayed, so that the crane 1 shown in FIG. Even in the situation where the shooting field of view of the stereo camera 17a in the transport destination direction is obstructed by the transport object L, the stereo camera 17b can be used to acquire the three-dimensional information of the transport destination and reflect it on the 3D map. can do. Further, with the structure S shown in FIG. 3B, even in a situation where it is difficult to confirm the situation of the transport destination by the operator of the crane 1, the three-dimensional information of the transport destination using the stereo camera 17b. Can be acquired and reflected on the 3D map. As described above, even in a situation where it cannot be confirmed by the operator of the crane 1 or the stereo camera 17a, by acquiring the three-dimensional information using the stereo camera 17b carried by the operator W, The status of the transport destination can be easily grasped.

  Moreover, when receiving the three-dimensional information acquired using the stereo camera 17b, although the data request switch 23 is used, it is not limited to this. For example, three-dimensional information acquired using the stereo camera 17b in real time can be received via the communication units 19a and 19b, and acquired using the stereo camera 17b and the three-dimensional information acquired using the stereo camera 17a. The 3D map may be updated when there is a difference between the three-dimensional information to be compared.

  In the above configuration, the crane 1 can receive the three-dimensional information acquired using the stereo camera 17b via the communication units 19a and 19b, but is not limited thereto. For example, image information captured by the stereo camera 17b and position information and orientation information associated with the image information may be received. In this case, the control device 39 may be configured to be able to acquire three-dimensional information based on the received image information, position information, and orientation information of the stereo camera 17b.

  The detection of the posture of the conveyed product L will be described with reference to FIG. As shown in FIG. 4 (a), the transported object L is being transported by the crane 1, and the transported object L is being lowered to an appropriate position in the vicinity of the transport destination.

  The control device 39 is configured to be able to extract the three-dimensional information of the conveyed object L from the three-dimensional information acquired using the stereo camera 17a provided at the distal end portion of the telescopic boom 8 and the stereo camera 17b carried by the operator W. The In the control device 39, three-dimensional models of various transport objects L are registered in advance. For example, the feature points of the transport object L are extracted and pattern matching is performed to perform object recognition of the transport object L. Yes. When the three-dimensional information of the conveyed product L is extracted, the control device 39 can recognize the position information and the posture of the conveyed product L.

  As shown in FIG. 4B, a three-dimensional model Lm of the conveyed product L is registered in the control device 39 in advance. In the present embodiment, the conveyed product L is formed by including a columnar body portion La and a plurality of columnar leg portions Lb from the bottom surface of the body portion La downward.

  As shown in FIG. 4C, the three-dimensional information acquired using the stereo camera 17a of the crane 1 can only photograph the upper surface of the transported object L, that is, the upper surface of the trunk portion La, and is substantially circular. Only 3D information can be obtained. For this reason, it is difficult to detect the three-dimensional information and the posture of the conveyed object L only by the three-dimensional information acquired using the stereo camera 17a.

  As shown in FIG. 4D, since the three-dimensional information acquired using the stereo camera 17b carried by the operator W can photograph the transported object L from the bottom surface side, The three-dimensional information on the bottom surface side of the conveyed product L including the plurality of leg portions Lb can be acquired. For this reason, the 3D information acquired using the stereo camera 17a and the stereo camera 17b of the crane 1 is synthesized, or the feature point of the transported object L based on the 3D information acquired using the stereo camera 17b. The object recognition of the conveyed product L can be performed by extracting and performing pattern matching.

  As described above, even when the three-dimensional information of the transported object L cannot be extracted from the three-dimensional information acquired using the stereo camera 17a of the crane 1, the tertiary acquired using the stereo camera 17b. By using the original information, the three-dimensional information of the conveyed product L can be extracted. Therefore, the posture of the conveyed product L can be detected.

The measurement of the distance D1 in the vertical direction between the conveyed product L and the lowered position P of the conveyed product L will be described with reference to FIG. The worker W has acquired three-dimensional information in the vicinity of the transport position at the descending position P using the stereo camera 17b in advance.
The control device 39 measures the descending position P of the conveyed object L based on the three-dimensional information of the conveyed object L.
The lowered position P of the conveyed product L refers to an area where the conveyed product L comes into contact with a placement unit such as the ground (light ink portion in FIG. 4A) by pulling down the wire rope in the current posture of the crane 1. The control device 39 measures the area that comes into contact with the placement surface when the coordinate component in the vertical direction is moved vertically downward in the point cloud data represented by the predetermined reference coordinate system of the conveyed object L.

  Based on the three-dimensional information in the vicinity of the lowered position P of the conveyed object L and the three-dimensional information of the conveyed object L acquired using the stereo camera 17b, the control device 39 and the lowered position P of the conveyed object L are obtained. A vertical distance D1 is measured.

  The control device 39 extracts the point data that is located at the lowest position among the point cloud data constituting the three-dimensional information of the conveyed product L. The control device 39 extracts the point data located most vertically above the point group data constituting the three-dimensional information of the descending position P. Then, the control device 39 determines the vertical direction based on the difference in the vertical coordinate components between the point data located most vertically below the conveyed product L and the point data located most vertically above the descending position P. The distance D1 is measured.

  As described above, by measuring the vertical distance D1 between the transported object L and the lowered position P of the transported object L, it is difficult for the operator of the crane 1 to check the status of the transport destination. Even if it exists, since the distance D1 between the transported object L and the lowered position P of the transported object L can be grasped, it is possible to safely suspend the transported object L without depending on the intuition of the operator or the signal of the operator W. Unloading work can be performed.

  Moreover, the case where the three-dimensional object 24 exists in the descent position P of the conveyed product L is demonstrated using FIG. As shown in FIG. 5 (a), the transported object L is being transported by the crane 1, and the transported object L is being lowered to an appropriate position in the vicinity of the transport destination.

  The control device 39 detects the three-dimensional object 24 based on the three-dimensional information in the vicinity of the descending position P of the conveyed object L acquired using the stereo camera 17b. The three-dimensional object 24 refers to an obstacle including a gantry or sleepers on which the transported object L is placed. In the present embodiment, the three-dimensional object 24 is configured by a sleeper on which the conveyed object L is placed. The control device 39 extracts a feature point to be determined as the three-dimensional object 24 from the three-dimensional information in the vicinity of the lowered position P of the conveyed object L, and determines whether or not the feature point belongs to the three-dimensional object 24. Then, the detection of the three-dimensional object 24 is determined. When it is determined that the three-dimensional object 24 is present, the control device 39 notifies the operator of the crane 1.

  As illustrated in FIG. 5B, when the control device 39 detects the three-dimensional object 24, the three-dimensional object 24 is included in the conveyed object L in the image or the three-dimensional information captured by the stereo camera 17 a displayed on the monitor 22. When it is hidden, the hidden part of the three-dimensional object 24 is transmitted and displayed (light ink part in FIG. 5B).

  As described above, in the image or three-dimensional information captured by the stereo camera 17a displayed on the monitor 22, the portion of the three-dimensional object 24 that is hidden is transmitted and displayed so that the operator of the crane 1 can carry the conveyed object L. The position of the three-dimensional object 24 can be grasped, and the work L can be safely suspended while viewing the monitor 22.

  As shown in FIG. 6, the position of the worker W (in this embodiment, the position of the slinging worker) can be displayed on the 3D map or on the images taken by the stereo cameras 17a and 17b. The control device 39 sets the position coordinates measured by the GNSS device 20b carried by the worker W as the position information of the worker W, and the mark 25 is displayed at the position coordinates measured by the GNSS device 20b. Note that the 3D model of the worker W may be displayed at the position coordinates measured by the GNSS device 20b. As described above, the operator of the crane 1 can easily grasp the position of the worker W by marking the position of the worker W on the 3D map or on the images taken by the stereo cameras 17a and 17b. Safe lifting and unloading operations can be performed.

  DESCRIPTION OF SYMBOLS 1: Crane, 8: Telescopic boom, 17a * 17b: Stereo camera, 19a * 19b: Communication part, 20a * 20b: GNSS apparatus, 21b: Direction sensor, 22: Monitor, 24: Three-dimensional object, 39 * 39b: Control apparatus , D1: distance, L: transported object, P: descending position, W: worker

Claims (4)

A crane that acquires 3D information using 3D information acquisition means on the crane side,
The three-dimensional information acquired by the three-dimensional information acquisition means on the worker side carried by the worker is configured to be able to communicate with the control device on the crane side,
The crane which synthesize | combines the three-dimensional information acquired by the said three-dimensional information acquisition means by the said crane side, and the said operator's three-dimensional information acquisition means, and displays it on a display apparatus. During the transfer work of the transfer object,
2. The crane according to claim 1, wherein an attitude of the transported object is detected based on the 3D information of the transported object acquired by the 3D information acquiring unit on the crane side and the 3D information acquiring unit on the operator side. .   Based on the three-dimensional information of the lowered position of the transported object and the three-dimensional information of the transported object acquired by the three-dimensional information acquiring means on the operator side, the distance in the vertical direction of the lowered position and the transported object is measured. The crane according to claim 2.   The crane according to any one of claims 1 to 3, wherein position information of the worker is displayed on the display device.

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