JP2019133588A - Image display device - Google Patents

Abstract

To easily grasp the state in a work space.SOLUTION: An image display device comprises a distance measurement unit for three-dimensionally measuring distance to an object in a work space, a two-dimensional information derivation unit for deriving a three-dimensional position of a measurement point from the three-dimensional distance to the measurement point measured by the distance measurement unit and compressing the three-dimensional position of the measurement point in a vertical direction, so as to derive two-dimensional information, and a display control unit for displaying two-dimensional images 160, 162 and 164 of coloring patterns based on the two-dimensional information, on a display unit. Therefore, the situation in surrounded space such as a chamber of a ship can be easily grasped.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to an image display apparatus that displays an image used when grasping a state of a work space.

  In a work facility that collects objects from within the work space, it is difficult or impossible for the operator to directly observe the state of the work object, such as the state of the object and the distance to the wall surface that forms the work space. There are many. An example of such work equipment is unloader equipment. In the unloader facility, a technique (for example, Patent Document 1) has been developed that uses a laser sensor to detect and visualize the shaking of the ship in order to make the operator know the inclination of the interior as a work space.

JP 2013-116777 A

  With the technique described in Patent Document 1, as described above, the operator can grasp the inclination of the work space (inside the warehouse). However, even if the inclination of the work space can be grasped, it is difficult to grasp the state in the work space such as the state of the object and the distance to the wall surface.

  The present disclosure has been made in view of such a problem, and an object thereof is to provide an image display device capable of easily grasping the state of a work space.

  In order to solve the above problem, an image display device according to an aspect of the present disclosure includes a distance measurement unit that measures a distance to a measurement point in a work space in three dimensions, and a measurement point measured by the distance measurement unit. A two-dimensional information deriving unit for deriving the three-dimensional position of the measurement point from the three-dimensional distance and decomposing the three-dimensional position of the measurement point in the vertical direction to derive the two-dimensional information; and an image based on the two-dimensional information And a display control unit for displaying on the display unit.

  The display control unit may display the display unit with a coloring pattern corresponding to the number of measurement points for each predetermined range in the horizontal direction.

  Further, the two-dimensional information deriving unit may correct the number of measurement points measured by the distance measurement unit so that the measurement density is constant regardless of the distance to the measurement point.

  Further, the distance measuring unit may measure the reflection intensity or reflectance at the measurement point, and the display control unit may display the display unit with a coloring pattern corresponding to the reflection intensity or reflectance.

  The display control unit may display the display unit with a different coloring pattern for each number of measurement points in the horizontal direction and for each reflection intensity or reflectance.

  The distance measuring unit may be a laser sensor.

  The distance measuring unit may measure the inside of the ship.

  An image display device according to an aspect of the present disclosure includes a laser sensor disposed in the work space, a receiving unit that receives data of a three-dimensional point group on the surface of the work space, which is measured by the laser sensor, A cell placement unit that places virtual cells on a horizontal plane of the workspace, a tilt calculation unit that calculates the strength of the tilt of the surface of the workspace with respect to the horizontal plane, based on the data of the three-dimensional point group received by the receiver, and a virtual The target cell includes a color arrangement unit that performs color arrangement based on the calculated gradient strength, and a display unit that displays virtual cells arranged in the color arrangement unit.

  In addition, an interpolation processing unit for interpolating increase / decrease in the density of the point cloud according to the distance between the laser sensor and the measurement target is provided for the data of the three-dimensional point group received by the receiving unit, and the inclination calculating unit is an interpolation processing unit. The strength of the inclination with respect to the horizontal plane may be calculated based on the data of the processed three-dimensional point group.

  Further, the inclination calculation unit may project the three-dimensional point group onto the virtual cell in the vertical direction, and calculate the strength of the inclination with respect to the horizontal plane based on the number of points projected onto the virtual cell.

  It is possible to easily grasp the situation in the space surrounded by the walls.

It is a figure explaining unloader equipment. It is a figure explaining the structure of an image display apparatus. Fig.3 (a) is a figure explaining an example of the measuring point in a store | warehouse | chamber. FIG.3 (b) is a figure explaining the measurement point of the vertical cross section in a store | warehouse | chamber. FIG. 3C illustrates the two-dimensional information. FIG. 3D is a diagram illustrating a coloring pattern of a two-dimensional image displayed on the display unit 2. FIG. 4A is a diagram illustrating a two-dimensional image when the cargo is hardly carried out. FIG. 4B is a diagram showing a two-dimensional image in the case where about half of the load is unloaded. FIG. 4C is a diagram showing a two-dimensional image when the cargo is almost carried out. Fig.5 (a) is a figure explaining the measurement point of the vertical cross section in a store | warehouse | chamber. FIG. 5B illustrates the two-dimensional information. FIG. 5C is a diagram illustrating a coloring pattern of a two-dimensional image displayed on the display unit 142.

  Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiment are merely examples for facilitating understanding, and do not limit the present disclosure unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present disclosure are not illustrated. To do.

<First Embodiment>
In the present disclosure, a case where the present invention is applied to an unloader facility will be described as an example of an application destination. FIG. 1 is a diagram illustrating the unloader facility 100. As shown in FIG. 1, an unloader facility 100 that is an example of a working device includes a traveling body 102, a revolving body 104, a boom 106, a tip frame 108, a transport device 110, a boom conveyor 112, an operation chamber 114, and a control device 116. It consists of

  The traveling body 102 can travel in the front-rear direction in the figure on a pair of rails 2 laid along the quay 1. The traveling body 102 is provided with a movement position measuring unit 102a. The movement position measurement unit 102a is, for example, a rotary encoder. The movement position measurement unit 102a measures the position of the traveling body 102 on the plane with respect to a predetermined origin based on the number of rotations of the wheels of the traveling body 102. Then, the movement position measurement unit 102 a outputs traveling body position information indicating the measured position to the control device 116.

  The swivel body 104 is provided above the traveling body 102 so as to be rotatable around a vertical axis. The boom 106 is provided on the upper part of the revolving structure 104 so that the inclination angle can be changed. The tip frame 108 is provided at the tip of the boom 106.

  The turning body 104 is provided with a turning angle measuring unit 104a and an inclination angle measuring unit 106a. The turning angle measuring unit 104a and the inclination angle measuring unit 106a are, for example, rotary encoders. The turning angle measuring unit 104 a measures the turning angle of the turning body 104 with respect to the traveling body 102. Then, the turning angle measurement unit 104a outputs turning angle information indicating the measured turning angle to the control device 116. The tilt angle measurement unit 106 a measures the tilt angle of the boom 106 with respect to the swing body 104. Then, the tilt angle measurement unit 106 a outputs tilt angle information indicating the tilt angle to the control device 116.

  The transport device 110 is attached to the front end frame 108. The transport device 110 includes an elevator unit 110a and a bucket unit 110b. The elevator part 110a extends in the vertical direction. The bucket part 110b is provided at the lower end of the elevator part 110a. A plurality of buckets are continuously connected to the bucket unit 110b. The transfer device 110 is inserted into the interior 14 as a work space from the hatch 12 provided on the upper part of the ship 10.

  The boom conveyor 112 is provided below the boom 106. The transport device 110 collects the cargo 20 such as coal, which is an object to be collected, loaded in the warehouse 14 by the bucket of the bucket unit 110b. The load 20 collected by the bucket unit 110b is carried out to the outside via the boom conveyor 112.

  The operation chamber 114 is provided in the distal end frame 108. The operator gets into the operation room 114 and performs the operation. It is difficult or impossible for the operator to directly view the interior 14 of the ship 10. A control device 116 is provided in the operation chamber 114.

  A plurality of opening measurement units 120 are provided below the distal end frame 108. The aperture measurement unit 120 is a laser sensor, for example. The aperture measurement unit 120 emits laser light toward the ship 10 at predetermined angles within a range set in advance in the horizontal direction and the vertical direction, and receives laser light (reflected light) reflected by the ship 10. . The opening measurement unit 120 derives the distance to the position where the laser beam is irradiated on the ship 10 based on the time until the reflected light is received. Then, the aperture measurement unit 120 outputs aperture position information indicating the irradiation angle of the laser light and the derived distance to the control device 116.

  The bucket unit 110b is provided with a plurality of distance measuring units 122 apart from each other in order to eliminate the area that cannot be measured in the interior 14 and increase the number of measurement points. The distance measuring unit 122 is a laser sensor, for example. The distance measuring unit 122 is an object to be measured such as the inside 14 or the load 20 that irradiates the inside 14 with laser light at predetermined angles within a range set in advance in the horizontal direction and the vertical direction. The reflected laser light (reflected light) is received. The distance measuring unit 122 derives the distance to the position (measurement point) where the laser light is reflected in the interior 14 based on the time until the reflected light is received. Then, the distance measurement unit 122 outputs to the control device 116 distance information indicating the irradiation angle of the laser light and the derived distance.

  The bucket unit 110b is provided with a plurality of IMUs (Inertial Measurement Units) 124 spaced apart in the horizontal direction. The IMU 124 detects the angle and acceleration of three axes that can specify the attitude of the IMU 124 itself, that is, the mounting location of the IMU 124. Then, the IMU 124 outputs IMU information indicating the detected angle and acceleration to the control device 116.

  FIG. 2 is a diagram for explaining the configuration of the image display apparatus 200. As shown in FIG. 2, the control device 116 is connected to a movement position measurement unit 102a, a turning angle measurement unit 104a, an inclination angle measurement unit 106a, an opening measurement unit 120, a distance measurement unit 122, and an IMU 124. The image display device 200 includes a distance measuring unit 122, an IMU 124, a two-dimensional information deriving unit 152, and a display control unit 154.

  The control device 116 includes a central control unit 140 and a display unit 142. The central control unit 140 is composed of a semiconductor integrated circuit including a CPU (central processing unit). The central control unit 140 reads programs, parameters, and the like for operating the CPU itself from the ROM. The central control unit 140 manages and controls the entire unloader facility 100 in cooperation with a RAM as a work area and other electronic circuits. In the present embodiment, the central control unit 140 functions as the drive control unit 150, the two-dimensional information deriving unit 152, and the display control unit 154. The two-dimensional information deriving unit 152 functions as a receiving unit 152a, a three-dimensional position deriving unit 152b, an interpolation processing unit 152c, a cell arranging unit 152d, and a slope calculating unit 152e. The display control unit 154 functions as a color arrangement unit 154a and a display processing unit 154b.

  The drive control unit 150 drives and controls the traveling body 102, the revolving body 104, the boom 106, the transport device 110, the boom conveyor 112, and the like according to the operation of the operator. Specifically, the drive control unit 150, based on each information output from the movement position measurement unit 102a, the turning angle measurement unit 104a, and the inclination angle measurement unit 106a, according to the movement operation of the operator, the traveling body 102. The revolving body 104 and the boom 106 are driven and controlled. Further, the drive control unit 150 drives and controls the transport device 110 and the boom conveyor 112 according to the transport operation of the operator.

  The receiving unit 152a acquires distance information from the distance measuring unit 122, for example, every 0.1 second (at 10 Hz). Here, the receiving unit 152a collectively acquires the distance information of the plurality of measurement points derived by each distance measuring unit 122 as a group of distance information (three-dimensional point group data). Also, the receiving unit 152a acquires IMU information from the IMU 124, for example, every 0.1 second (at 10 Hz).

  Then, the three-dimensional position deriving unit 152b derives the three-dimensional position of the bucket unit 110b by integrating acceleration in the IMU information acquired from the IMU 124. Further, the three-dimensional position deriving unit 152b derives the three-dimensional position and orientation of each distance measuring unit 122 based on the derived three-dimensional position of the bucket unit 110b and the position of the distance measuring unit 122 in the bucket unit 110b. .

  Then, the three-dimensional position deriving unit 152b receives the laser light in the interior 14 based on the derived three-dimensional position and orientation of each distance measuring unit 122 and the distance information (measurement result) acquired from the distance measuring unit 122. The three-dimensional position of the reflected measurement point is derived.

  FIG. 3A is a diagram for explaining an example of measurement points in the warehouse 14. FIG. 3B is a diagram for explaining the measurement points of the vertical cross section in the interior 14. FIG. 3C illustrates the two-dimensional information. FIG. 3D is a diagram for explaining a coloring pattern of a two-dimensional image displayed on the display unit 142. FIG. 3A schematically illustrates a case where the wall surface 16 of the interior 14 extends in the vertical direction and the bottom surface 18 of the interior 14 extends in the horizontal direction. Further, in FIG. 3A, for convenience of explanation, only measurement points on a predetermined vertical section in the interior 14 are illustrated by black circles. FIG. 3B is a cross-sectional view illustrating the measurement points in FIG.

  As shown in FIGS. 3A and 3B, the laser light emitted from the distance measuring unit 122 is reflected by any one of the wall surface 16, the bottom surface 18, and the load 20 of the interior 14. .

  The wall surface 16 is formed along a generally vertical direction. Therefore, the measurement points based on the laser light reflected by the wall surface 16 are arranged in the vertical direction. On the other hand, the bottom surface 18 and the load 20 are inclined or orthogonal to the vertical direction. For this reason, the measurement points based on the laser beam reflected by the bottom surface 18 and the load 20 are rarely arranged in the vertical direction, and are arranged in the horizontal direction or in the inclined direction intersecting the vertical direction and the horizontal direction.

  Here, in the measurement by the distance measuring unit 122, since the laser beam is irradiated at every predetermined angle, the density of the measurement points (measurement density) is determined depending on the distance from the distance measuring unit 122 to the object (the wall surface 16, the bottom surface 18, and the load 20). ) Is different. When the distance from the distance measuring unit 122 to the object is relatively close, the measurement density increases. On the other hand, when the distance from the distance measurement unit 122 to the object is relatively long, the measurement density is low. Therefore, the interpolation processing unit 152c increases or decreases the density of the point cloud according to the distance between the distance measurement unit 122 and the object distance by using a correction method that makes the measurement density constant regardless of the distance from the distance measurement unit 122 to the object. Correct (interpolate) (number of measurement points).

  As a correction method, a space including all measurement points measured by the distance measuring unit 122 is divided into cubic voxels, and the three-dimensional positions of the measurement points included in each voxel are averaged, and the representative of the voxel is represented. A voxel grid filter having a three-dimensional position is applied. Note that the length of one side of the voxel is preferably adjusted according to an object to be measured such as an obstacle or a work vehicle in the interior 14. For example, the length of one side of the voxel is set to 0.1 to 0.5 times the representative dimension with the length of the object to be measured as the representative dimension.

  The interpolation processing unit 152c derives a three-dimensional position of each voxel using a voxel grid filter. As a result, the measurement point is 1 or 0 in each voxel, so that the measurement density can be made constant regardless of the distance from the distance measurement unit 122 to the object, and the processing load is reduced by reducing the number of measurement points. Can be reduced.

  Then, as shown in FIG. 3A, the cell placement unit 152d removes the information in the vertical direction from the three-dimensional position of the measurement point corrected using the correction method, thereby moving the measurement point in the vertical direction. Convert to compressed (projected) two-dimensional information. Then, as illustrated in FIG. 3C, the inclination calculation unit 152e samples the number of measurement points for each square range (predetermined range) set in advance in the horizontal direction. That is, the cell placement unit 152d places virtual cells divided by squares on a horizontal surface (horizontal plane). Then, the inclination calculation unit 152e measures the number of voxels whose measurement points included in the quadrangular column are one for a quadrangular column that includes the virtual cell as a bottom surface and includes the voxel and extends in the vertical direction.

  Further, the number of voxels with one measurement point included in the virtual cell is approximately proportional to the surface area of the load 20. That is, when the load 20 forms an inclined surface, the number of measurement points projected on the virtual cells divided by the square increases as compared with the case where the load 20 forms a horizontal plane. That is, the inclination calculating unit 152e calculates an amount (inclination intensity) corresponding to the inclination of the load 20 inclination. Thus, as the angle formed with the horizontal plane is closer to 90 degrees, the number of measurement points projected on the virtual cell increases when the measurement points are compressed (projected) in the vertical direction.

  As shown in FIG. 3C, many measurement points are sampled in the square range corresponding to the wall surface 16. Further, a small number of measurement points are sampled in a square range corresponding to the load 20.

  Then, the color arrangement unit 154a determines a coloring pattern (color arrangement) for each range based on the sampling result. Specifically, according to the number of measurement points, a coloring pattern is set such that a dark pattern becomes a light pattern from a range where the number of measurement points is large to a range where the number of measurement points is small. Then, as shown in FIG. 3D, the color arrangement unit 154a determines a shading coloring pattern corresponding to the number of measurement points for each range.

  Therefore, the range corresponding to the wall surface 16 is a dark pattern (black), and the range corresponding to the load 20 is a thin pattern (white or gray).

  Then, the display processing unit 154b displays on the display unit 142 an image (two-dimensional image) indicated by the coloring pattern that determines each range. Further, the display processing unit 154b derives the external shape of the transport device 110 provided in advance based on the position of the transport device 110 derived from the IMU information, and the image of the transport device 110 with the derived external shape is a two-dimensional image. Is superimposed on the screen. The display processing unit 154b updates and displays the two-dimensional image every time the sampling result is derived, that is, every 0.1 second.

  FIG. 4A is a diagram showing a two-dimensional image when the load 20 is hardly carried out. FIG. 4B is a diagram illustrating a two-dimensional image when the load 20 is unloaded about half. FIG. 4C is a diagram illustrating a two-dimensional image when the load 20 is almost carried out. 4A to 4C, a two-dimensional image is shown in the upper figure, and a vertical sectional view of the interior 14 is shown in the lower figure. 4 (a) to 4 (c), the lower diagram is a cross-section in the middle of the upper diagram, that is, a plane passing through the center of a series of cells at the fifth level from the top. It becomes a figure. Further, it is assumed that the load 20 is rotationally symmetric around a vertical line passing through the center of the cell in the fifth row and the fifth row.

  As shown in FIG. 4A, the normal distance measuring unit 122 is inserted into the interior 14 (work space) from the vertical direction and activated. In this situation, the load 20 is hardly carried out, the surface shape of the load 20 is substantially horizontal, and the wall surface 16 and the bottom surface 18 are hardly exposed. Further, the distance between the distance measuring unit 122 and the load 20 is short. Therefore, most of the laser light emitted from the distance measuring unit 122 is reflected by the load 20. The laser beam is hardly reflected at the wall surface 16 and the bottom surface 18. That is, the wall surface 16 and the bottom surface 18 are not in the irradiation angle range of the distance measuring unit 122.

  Therefore, as shown in FIG. 4A, the two-dimensional image 160 is mostly displayed in a thin pattern (white or gray). Here, the unknown range where the laser beam does not reach is also displayed in white. In these portions, the distance measurement unit 122 moves in the horizontal direction, so that the state of the interior 14 (work space) is grasped, and coloring corresponding to the measurement result is performed. In actual operation, it may be possible to display a boundary between a cell corresponding to an unknown area whose state has not been grasped and a cell corresponding to a known area where measurement has been performed with a bold line.

  As shown in FIG. 4 (b), when the load 20 is unloaded about half, the load 20 is formed in a mortar shape with a depressed center in the interior 14. Therefore, the portion corresponding to the mortar-shaped portion is colored according to the magnitude of the inclination. Moreover, the distance measurement part 122 is moving to the horizontal direction in the process in which the shape of the load 20 in the store | warehouse | chamber 14 changes. In addition, the height of the load 20 itself is lowered. Therefore, the state near the wall surface 16, which was unknown at the time of FIG. 4A, is also found and colored. The laser light emitted from the distance measuring unit 122 is reflected by the wall surface 16 and the load 20. A plurality of measurement points by the laser beam reflected by the wall surface 16 are arranged in the vertical direction. The surface of the load 20 has a large inclination, and a plurality of measurement points (voxels) are arranged in the inclination direction. Therefore, the two-dimensional image 162 in which the measurement points are compressed in the vertical direction is displayed in a pattern (black or a color close to black) whose outer peripheral portion corresponding to the wall surface 16 is dark. However, the portions corresponding to the four corners in FIG. 4B are regions where the irradiated laser light has not yet reached and is unknown. On the other hand, the measurement points by the laser light reflected by the load 20 are arranged in the tilt direction as described above. Therefore, the inner side of the two-dimensional image 162 is colored corresponding to the magnitude of the inclination, and is displayed in a thin pattern (gray or a color close to white).

  As shown in FIG. 4C, when the load 20 is almost carried out, the load 20 remains in only the four corners in the interior 14 and the bottom surface 18 is exposed. Therefore, the laser light emitted from the distance measuring unit 122 is reflected by the wall surface 16, the bottom surface 18, and the load 20. And the measurement point of the vertical direction by the laser beam reflected by the wall surface 16 increases similarly to the above-mentioned compared with FIG.4 (b). Therefore, compared to the two-dimensional image 162, the two-dimensional image 164 has an increased range of a dark pattern (black or a color close to black) corresponding to the wall surface 16. In addition, the laser beam is reflected by the load 20 at the four corners of the interior 14. The load 20 near the wall surface 16 has an inclination of almost the same size as the mortar-shaped portion of FIG. Therefore, the four corners of the two-dimensional image 164 are colored with the same darkness as the mortar-shaped portion in FIG. 4B (the intermediate density is not as dark as the wall surface 16 but is darker than the portion corresponding to the bottom surface 18). Displayed in a pattern). On the other hand, in the central portion, the laser beam is reflected by the bottom surface 18 extending in the horizontal direction. Therefore, the central portion of the two-dimensional image 164 is displayed with a light color pattern (white or a color close to white). In addition, the image 166 of the conveyance apparatus 110 is superimposed and displayed in the two-dimensional image 160-164 in FIG. 4 (a)-FIG.4 (c).

  Note that the display processing unit 154b can also display an image indicating the shape of the hatch 12 of the ship 10 based on the opening position information output by the opening measuring unit 120.

  Thus, the image display apparatus 200 displays the state of the interior 14 as a colored two-dimensional image. Thereby, the image display apparatus 200 can make the operator easily grasp the state of the interior 14. Thereby, the operator can easily grasp the distance to the wall surface 16 of the interior 14 and the position of the load 20.

  In particular, it is useful in an environment where the opening is narrowed by the hatch 12 and the inside is difficult to see, such as the inside 14 of the ship 10. Moreover, since the shape of the inside 14 of the ship 10 changes with ship types, model matching is difficult and is especially useful.

<Second Embodiment>
The display control unit 154 in the first embodiment displays a two-dimensional image with a coloring pattern according to the number of measurement points. In addition to the number of measurement points, the display control unit 154 in the second embodiment displays a two-dimensional image with a coloring pattern corresponding to the reflection intensity or reflectance of the measurement points.

  The distance measurement unit 122 measures the intensity (reflection intensity) of reflected light at each measurement point in addition to the distance to the position (measurement point) irradiated with the laser beam, and adds the measured reflection intensity to the distance information. . Instead of the reflection intensity, the ratio of the reflection intensity to the intensity of the irradiated laser light may be derived as the reflectance and added to the distance information.

  FIG. 5A is a diagram for explaining the measurement points of the vertical section in the interior 14. FIG. 5B illustrates the two-dimensional information. FIG. 5C is a diagram illustrating a coloring pattern of a two-dimensional image displayed on the display unit 142. FIG. 5A shows an enlarged sectional view in the vertical direction at a predetermined position in the interior 14. In FIG. 5A, the position (measurement point) where the laser beam is reflected is indicated by a white circle and a black circle.

  As shown in FIG. 5A, the laser light emitted from the distance measuring unit 122 is reflected by any one of the wall surface 16, the bottom surface 18, and the load 20 in the interior 14. Here, the wall surface 16 and the bottom surface 18 are made of metal. Therefore, as shown by black circles in FIG. 5A, the reflection intensity (reflectance) of the laser light reflected by the wall surface 16 and the bottom surface 18 of the interior 14 is relatively high. On the other hand, the load 20 is, for example, coal. Therefore, as shown by white circles in FIG. 3, the reflection intensity (reflectance) of the laser light reflected by the load 20 is relatively low.

  Therefore, when the two-dimensional information deriving unit 152 converts the three-dimensional position into the two-dimensional information compressed in the vertical direction, the reflection intensity (reflectance) at each measurement point is classified into two categories with a preset threshold value. To do. Note that the threshold value is set to a value that can distinguish the reflection intensity (reflectance) when reflected by a metal (wall surface) and the reflection intensity (reflectance) when reflected by coal (target object). In addition, since the reflection intensity of the laser light is attenuated at an attenuation rate according to the distance, if the attenuation rate is known, the influence of the attenuation of the reflection intensity due to the distance is virtually ignored by multiplying the reflection intensity by the attenuation rate. You may do it.

  Then, the two-dimensional information deriving unit 152 samples the number of measurement points for each square range preset in the horizontal direction. As a result, as shown in FIG. 5B, measurement points classified by the reflection intensity (reflectance) are sampled in each range. In the square range corresponding to the wall surface 16, a large number of measurement points in a section with high reflection intensity are sampled. In addition, the square range corresponding to the bottom surface 18 is sampled with a small number of measurement points in the section with high reflection intensity. In addition, the square range corresponding to the load 20 is sampled with a small number of measurement points in the section having low reflection intensity.

  Then, the color arrangement unit 154a determines, in each range, a segment having a large number among the measurement points classified into two categories as the category of the range. Then, the color arrangement unit 154a determines a coloring pattern based on the determined division and the number of measurement points in each range. Specifically, a coloring pattern is set such that the color is different for each of the two sections, and the pattern changes from a dark pattern to a thin pattern from a range with a large number of measurement points to a range with a small number of measurement points. For example, in the range of the section with high reflection intensity (reflectance), a coloring pattern is set in which the shade varies from black to white according to the number of measurement points (shown in gray scale in FIG. 5C), and the reflection intensity. In the range of the section having a low (reflectance), a coloring pattern having different shades from red to white is set according to the number of measurement points (indicated by hatching density in FIG. 5C).

  Then, as shown in FIG. 5C, the color arrangement unit 154a determines a coloring pattern corresponding to the determined division and the number of measurement points for each range. Then, the display processing unit 154b displays on the display unit 142 an image (two-dimensional image) indicated by the coloring pattern that determines each range.

  Therefore, the range corresponding to the wall surface 16 is a dark pattern (black), and the range corresponding to the bottom surface 18 is a thin pattern (white or gray). Further, the range corresponding to the load 20 is a shading coloring pattern from red to white according to the state of the load 20.

  In this way, the display control unit 154 displays the two-dimensional image in a pattern according to the distance to the object and the reflection intensity (reflectance) measured by the distance measurement unit 122, thereby further improving the interior 14 This makes it possible for the operator to grasp the state of

  As mentioned above, although embodiment was described referring an accompanying drawing, it cannot be overemphasized that this indication is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims and that they naturally fall within the technical scope.

  For example, in the above embodiment, the interior 14 has been described as an example of the work space. However, it is not limited to the inside 14 of the ship 10 as long as the state in the work space is displayed as a two-dimensional image.

  Moreover, in the said embodiment, coal was mentioned as an example and demonstrated as a target object (load 20). However, the load 20 is not limited to coal.

  In the above embodiment, the distance measuring unit 122 has been described by taking a laser sensor as an example. However, the distance measuring unit 122 is not limited to a laser sensor, and may be a millimeter wave sensor, an infrared sensor, or the like. Further, these sensors may be used in combination. In particular, a millimeter wave sensor can accurately measure the distance to an object even in a dusty environment, and a laser sensor can measure the reflection intensity. Compounding is preferred.

  Moreover, in the said embodiment, the case where a voxel grid filter was applied as a method of correct | amending the density of a measurement point was demonstrated. However, the method for correcting the density of measurement points is not limited to this.

For example, the density of measurement points decreases in inverse proportion to the square of the distance. Therefore, when an arbitrary representative dimension L0 is used and the measured distance L is used, (L / L0) ² may be corrected as the number of points of each measurement point.

  Further, in the case of a two-dimensional point group, the measurement points may be interpolated with a function curve such as linear interpolation or NURBS (Non-Uniform Rational B-Spline). In the case of a three-dimensional point group, plane interpolation may be performed using a point group coupling method such as Delaunay method, or interpolation may be performed using a function curved surface such as NURBS.

  In the above embodiment, the position of the bucket unit 110b, that is, the position of the distance measurement unit 122 is derived based on the IMU information derived by the IMU 124. However, IMU information is not essential. Further, the position of the distance measuring unit 122 may be derived based on GNSS (Global Navigation Satellite System), each information of the movement position measuring unit 102a, the turning angle measuring unit 104a, and the inclination angle measuring unit 106a. .

  In the above embodiment, the unloader facility 100 has been described as an example. However, the present invention can be applied not only to the unloader facility 100 but also to remotely operated work facilities.

  The present disclosure can be used for an image display device that displays an image used when grasping a state of a work space.

DESCRIPTION OF SYMBOLS 100 Unloader equipment 122 Distance measurement part 142 Display part 152 Two-dimensional information derivation part 152a Reception part 152c Interpolation processing part 152d Cell arrangement part 152e Inclination calculation part 154 Display control part 154a Color arrangement part 200 Image display apparatus

Claims (10)

A distance measurement unit that measures the distance to the measurement point in the work space in three dimensions;
The three-dimensional position of the measurement point is derived from the three-dimensional distance to the measurement point measured by the distance measurement unit, and the two-dimensional information is derived by compressing the three-dimensional position of the measurement point in the vertical direction. A two-dimensional information derivation unit;
A display control unit that displays an image based on the two-dimensional information on a display unit;
An image display device comprising: The display control unit
The image display apparatus according to claim 1, wherein the display unit displays a coloring pattern corresponding to the number of measurement points for each predetermined range in the horizontal direction. The two-dimensional information deriving unit
The image display device according to claim 1, wherein the number of the measurement points measured by the distance measurement unit is corrected so that a measurement density is constant regardless of the distance to the measurement points. The distance measuring unit is
Measure the reflection intensity or reflectance at the measurement point,
The display control unit
The image display device according to claim 3, wherein the display unit displays the color pattern according to the reflection intensity or the reflectance. The display control unit
5. The image display device according to claim 4, wherein the number of the measurement points in the horizontal direction and the reflection intensity or the reflectance are displayed on the display unit with different coloring patterns.   The image display device according to claim 1, wherein the distance measuring unit is a laser sensor.   The image display device according to claim 1, wherein the distance measuring unit measures the inside of a ship. A laser sensor arranged in the work space;
A receiver that receives data of a three-dimensional point group on the surface of the work space, which is measured by the laser sensor;
A cell placement unit for placing virtual cells on a horizontal plane of the work space;
Based on the data of the three-dimensional point group received by the receiving unit, an inclination calculating unit that calculates the strength of the inclination of the surface of the work space with respect to the horizontal plane;
A color arrangement unit that performs color arrangement on the virtual cell based on the calculated strength of the inclination,
A display unit for displaying virtual cells color-coded in the color scheme unit;
An image display device comprising: An interpolation processing unit that interpolates increase / decrease in the density of the point cloud with the distance between the laser sensor and the measurement target for the data of the three-dimensional point group received by the receiving unit;
The inclination calculation unit
The image display device according to claim 8, wherein the strength of the inclination with respect to the horizontal plane is calculated based on data of a three-dimensional point group processed by the interpolation processing unit. The inclination calculation unit
The image display device according to claim 8 or 9, wherein the three-dimensional point group is projected onto the virtual cell in the vertical direction, and the strength of the inclination with respect to the horizontal plane is calculated based on the number of points projected onto the virtual cell. .