WO2019017472A1 - Guide information display device, crane, and guide information generation method - Google Patents

Guide information display device, crane, and guide information generation method Download PDF

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Publication number
WO2019017472A1
WO2019017472A1 PCT/JP2018/027280 JP2018027280W WO2019017472A1 WO 2019017472 A1 WO2019017472 A1 WO 2019017472A1 JP 2018027280 W JP2018027280 W JP 2018027280W WO 2019017472 A1 WO2019017472 A1 WO 2019017472A1
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WO
WIPO (PCT)
Prior art keywords
data
guide information
camera
data processing
processing unit
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Application number
PCT/JP2018/027280
Other languages
French (fr)
Japanese (ja)
Inventor
孝幸 小阪
巖 石川
諭 窪田
田中　成典
中村　健二
雄平 山本
匡哉 中原
Original Assignee
株式会社タダノ
学校法人 関西大学
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Application filed by 株式会社タダノ, 学校法人 関西大学 filed Critical 株式会社タダノ
Publication of WO2019017472A1 publication Critical patent/WO2019017472A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

Definitions

  • the present invention relates to a guide information display device for assisting a crane operation by an operator, a crane including the same, and a technique of generating guide information.
  • Patent Document 1 an imaging unit attached near the tip of a boom, a display unit for displaying an image captured by the imaging unit, a crane controller for controlling the attitude of a mobile crane, and other mobile cranes are mutually used.
  • a mobile crane including a communication unit for transmitting and receiving information to the imager, and an image controller for displaying information of other mobile cranes received from other mobile cranes superimposed on an image of the display unit
  • An apparatus is disclosed.
  • the image controller is configured to display, as information of another mobile crane, a movement limit line of a load of another mobile crane superimposed on the image of the display unit.
  • the image controller calculates the maximum working radius centered on the turning center of the boom based on the load load and the outrigger overhang amount acquired by the crane controller.
  • the image controller obtains coordinates of a range being imaged with the turning center as the origin based on the zoom magnification of the imaging unit (movie camera), the tilt angle, the pan angle, and the height position.
  • the height of the imaging unit is calculated based on the boom length and the elevation angle acquired by the crane controller.
  • the image controller converts the movement limit line, which is a curve indicating the area of the maximum work radius, into the absolute coordinate system to which the image captured by the imaging unit belongs, and superimposes the image on the image.
  • the height of the imaging unit is determined by the crane length and the elevation angle acquired as crane information.
  • the ground surface around the suspended load is
  • the present invention has been made in view of such current problems, and has a guide information display device capable of displaying guide information that accurately represents the flow line of a suspended load, and a crane including the guide information display device It is an object of the present invention to provide a method of generating guide information capable of generating guide information that accurately represents the flow line of a suspended load.
  • the guide information display device includes at least the suspended load and the ground surface from above the suspended load suspended by the wire suspended from the boom and moved according to the operation of the boom.
  • a data acquisition unit including a camera for capturing an image of an area, a laser scanner for acquiring point cloud data from above the suspended load in the area, a data display unit for displaying an image of the camera, And a data processing unit that generates guide information to be displayed superimposed on the image of the camera based on point cloud data acquired by a laser scanner, the data processing unit including the point cloud data acquired by the laser scanner While estimating the reference height of the ground surface based on the above, calculating the imaging range of the camera based on the reference height of the ground surface, and based on the imaging range of the camera And generates the guide information representing a flow line of the suspended load.
  • the guide information display device having such a configuration, it is possible to display guide information that accurately represents the flow line of the hanging load.
  • the data processing unit moves the swing direction of the load based on the position of the swing center of the boom based on the imaging range of the camera as the guide information.
  • Generating work radius line information representing the flow line of According to the guide information display device having such a configuration, it is possible to display work radius line information that accurately represents the flow line of the suspended load.
  • the data processing unit may set the boom based on the turning center of the boom and the position of the data acquisition unit as the guide information based on the imaging range of the camera. It is characterized in that axis information representing a flow line of the hanging load in the axial direction of the boom is generated. According to the guide information display device having such a configuration, it is possible to display axis line information that accurately represents the flow line of the load.
  • the data processing unit outputs the guide information by a broken line, and the length and interval of the broken line are calculated based on the reference height of the ground surface. It is characterized in that it is set according to the photographing range of According to the guide information display apparatus having such a configuration, the operator can easily grasp the sense of distance to the object to be measured.
  • the data processing unit divides the area into a grid in plan view, and generates a plurality of small areas having the same shape and the same area, In the small area, point data having a maximum distance in the vertical direction from the laser center position of the laser scanner is extracted, and in the small area, the distances of the other point data from the point data having the maximum distance are separated While calculating the quantity, the point data whose distance separation distance is equal to or less than a predetermined threshold is extracted as point data constituting the ground surface, and the ground in the small area is based on the point data constituting the ground surface It is characterized in that the reference height of the surface is estimated. According to the guide information display device having such a configuration, it is possible to display guide information that accurately represents the flow line of the hanging load.
  • a crane according to the present invention is characterized by including a guide information display device. According to the crane of such a configuration, it is possible to display guide information that accurately represents the flow line of the suspended load.
  • the hanging load and the ground surface are suspended from above the hanging load which is suspended by the wire suspended from the boom by the camera and moved according to the operation of the boom.
  • the lifting load based on the shooting range of the camera as the guide information is based on the position of the swing center of the boom. It is characterized in that work radius line information representing a flow line in the turning direction is generated. According to the method of generating guide information of such a configuration, it is possible to generate guide information that accurately represents the flow line of the load.
  • a pivot center of the boom and a position of the camera are referenced. It is characterized in that axis information representing a flow line in the axial direction of the boom of the load is generated. According to the method of generating guide information of such a configuration, it is possible to generate guide information that accurately represents the flow line of the load.
  • the data processing means outputs the guide information as a broken line, and the length and interval of the broken line are set according to the photographing range of the camera.
  • An information display process is further provided. According to the method of generating guide information of such a configuration, the operator can easily grasp the sense of distance to the object to be measured.
  • guide information display device the crane, and the method of generating guide information according to the present invention, guide information that accurately represents the flow line of the suspended load can be displayed.
  • the schematic diagram which shows the whole structure of the crane which concerns on one Embodiment of this invention.
  • BRIEF DESCRIPTION OF THE DRAWINGS The schematic diagram which shows the whole structure of the guide information display apparatus which concerns on one Embodiment of this invention.
  • field angle of a camera (A) Z axial direction view schematic diagram, (B) X axial direction view schematic diagram.
  • FIG. 7A is a schematic view showing a data acquisition unit;
  • FIG. 7A is a view looking up in the Y-axis direction;
  • FIG. 8A is a diagram showing a display state of guide information,
  • FIG. 8A is a diagram showing a data display unit displaying an image M, and
  • FIG. 8B is a diagram showing a data display unit showing an image M and guide information GD superimposed.
  • a schematic diagram showing another configuration of the guide information display device (A) when the data processing unit, data display unit, and data input unit are constituted by a tablet PC, (B) data display unit, data input unit by touch panel display device If configured
  • the schematic diagram which shows the relationship between a suspended load area
  • FIG. 7 is a flowchart showing the flow of data processing by the data processing unit.
  • the figure which shows the point-group data acquired by the data acquisition part (A) The figure which plotted the point-group data on a XYZ coordinate system, (B) The figure which divided the point-group data plotted on a XYZ coordinate system into several groups.
  • Flow chart of the ground surface estimation method Explanatory drawing of the calculation method of the reference
  • FIG. 7 is a flow diagram of a method of combining planes present in different groups.
  • Explanatory drawing of the coupling method of the plane which exists in a different group Explanatory drawing of the clustering process of the same area
  • another same area cluster including all planar clusters whose elevation value difference is equal to or greater than a threshold is set.
  • the crane 1 is an example of a crane provided with a guide information display device according to an embodiment of the present invention, and is a mobile crane that can move to a desired location.
  • the crane 1 includes a traveling vehicle 10 and a crane device 20.
  • the traveling vehicle 10 transports the crane device 20, has a plurality of (four in the present embodiment) wheels 11, and travels using an engine (not shown) as a power source.
  • An outrigger 12 is provided at each of four corners of the traveling vehicle 10.
  • the outrigger 12 is composed of an overhang beam 12a that can be extended hydraulically on both sides in the width direction of the traveling vehicle 10, and a hydraulic jack cylinder 12b that can extend in a direction perpendicular to the ground.
  • the traveling vehicle 10 can bring the crane 1 into a workable state by grounding the jack cylinder 12b, and by increasing the extension length of the overhang beam 12a, the workable range of the crane 1 (work Radius) can be extended.
  • the crane device 20 lifts the load W by a wire rope, and the swivel base 21, the telescopic boom 22, the main hook block 23, the sub hook block 24, the relief cylinder 25, the main winch 26, the main wire rope 27, the sub winch A sub wire rope 29 and a cabin 30 are provided.
  • the swivel base 21 is configured to be able to pivot the crane apparatus 20, and is provided on the frame of the traveling vehicle 10 via an annular bearing.
  • the annular bearing is disposed such that the center of rotation thereof is perpendicular to the installation surface of the traveling vehicle 10.
  • the swivel base 21 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as a rotation center.
  • the swivel base 21 is rotated by a hydraulic swivel motor (not shown).
  • the telescopic boom 22 supports the wire rope in a state in which the load W can be lifted.
  • the telescopic boom 22 includes a plurality of base boom members 22a, second boom members 22b, third boom members 22c, force boom members 22d, fifth boom members 22e, and top boom members 22f. Each boom member is inserted in the order of the size of the cross-sectional area in a nested manner.
  • the telescopic boom 22 is configured to be telescopic in the axial direction by moving each boom member with a telescopic cylinder (not shown).
  • the telescopic boom 22 is provided so that the base end of the base boom member 22 a can swing on the swivel base 21.
  • the telescopic boom 22 is configured to be horizontally rotatable and swingable on the frame of the traveling vehicle 10.
  • the main hook block 23 is for hooking and suspending the hanging load W, and a plurality of hook sheaves around which the main wire rope 27 is wound and a main hook 32 for hanging the hanging load W are provided.
  • the crane apparatus 20 further includes a sub hook block 24 for hooking and suspending the suspended load W in addition to the main hook block 23, and the sub hook block 24 is provided with a sub hook 33 for suspending the suspended load W. It is done.
  • the relief cylinder 25 raises and lowers the telescopic boom 22 and holds the telescopic boom 22 in a posture.
  • the relief cylinder 25 is composed of a hydraulic cylinder consisting of a cylinder portion and a rod portion.
  • the main winch 26 is for carrying in (rolling up) and unwinding (rolling down) the main wire rope 27, and in the present embodiment, is constituted by a hydraulic winch.
  • the main winch 26 is configured such that the main drum on which the main wire rope 27 is wound is rotated by the main hydraulic motor.
  • the main winch 26 feeds the main wire rope 27 wound around the main drum by supplying the hydraulic fluid so that the main hydraulic motor rotates in one direction, and the main hydraulic motor rotates in the other direction.
  • the main wire rope 27 is wound around the main drum and fed in by supplying the hydraulic oil.
  • sub winch 28 is for carrying in and delivering the sub wire rope 29, and in the present embodiment, is constituted by a hydraulic winch.
  • the cabin 30 covers a driver's seat 31 on which the operator is seated, and is provided on the side of the telescopic boom 22 in the swivel base 21.
  • the crane 1 configured as described above can move the crane device 20 to an arbitrary position by causing the traveling vehicle 10 to travel, and causes the telescopic boom 22 to rise to an arbitrary elevation angle by the elevation cylinder 25.
  • the telescopic boom 22 can be extended to any telescopic boom length.
  • the crane 1 also includes a controller 34 that controls the operation of the swivel base 21, the telescopic boom 22, the relief cylinder 25 and the like (that is, the operation of the crane 1).
  • the controller 34 can externally output information concerning the operation state of the swivel base 21, the telescopic boom 22, the hoisting cylinder 25, etc., information concerning the performance unique to the crane 1, the weight of the suspended load W, etc. .
  • an XYZ coordinate system as shown in FIG. 1 is defined with reference to the axial direction of the fulcrum of the telescopic boom 22 (the same applies to the following description).
  • the X-axis direction (also referred to as a lateral direction) is a horizontal direction parallel to the axial direction of the fulcrum of the telescopic boom 22.
  • the Y-axis direction (also referred to as the elevation direction) is the vertical direction.
  • the Z-axis direction (also referred to as the depth direction) is a horizontal direction perpendicular to the axial direction of the fulcrum of the telescopic boom 22. That is, the XYZ coordinate system is defined as a local coordinate system based on the telescopic boom 22, as shown in FIG.
  • the crane 1 is provided with a guide information display device 50 as shown in FIG.
  • the guide information display device 50 is an example of the guide information display device according to the present invention, and in order to enable the work by the crane 1 as shown in FIG. 1 to be performed efficiently and safely, the hanging load W It is a device for displaying information (hereinafter referred to as guide information) of an area including the following (hereinafter referred to as a hanging load area WA) as a video and presenting it to the operator.
  • guide information information of an area including the following (hereinafter referred to as a hanging load area WA) as a video and presenting it to the operator.
  • the “hanging load area WA” here is set as an area including the hanging load W in the Y-axis direction view in the working area SA of the crane 1, as shown in FIGS. 2 and 4. This is an area for which “guide information” is to be generated.
  • the “suspended load area WA” is set as an area including immediately below the top boom member 22 f of the telescopic boom 22 in the crane 1, and the suspended load W, the ground surface F, and the feature C existing in the suspended load area WA are guides It becomes a measurement object by the information display device 50.
  • the “suspended load area WA” is displaced in response to the turning operation, the raising and lowering operation, and the extension and contraction operation of the extension boom 22.
  • the “guide information” referred to here is the operator about the quality of the telescopic boom 22 such as the length, the turning position, the ups and downs angle, the amount of unwinding of the wire rope when the operator transports the load W by the crane 1
  • Image information of the suspended load area WA information pertaining to the shapes of the suspended load W and the feature C, height information of the suspended load W, height information of the feature C, and of the suspended load W It contains information related to flow lines.
  • the guide information display device 50 is configured by a data acquisition unit 60, a data processing unit 70, a data display unit 80, and a data input unit 90.
  • the data acquisition unit 60 is a part for acquiring data necessary for generating guide information in the suspended load area WA, and as shown in FIG. 3, the camera 61, the laser scanner 62, and the inertial measurement device (IMU) 63 Have.
  • IMU inertial measurement device
  • the data acquisition unit 60 is attached to the top boom member 22 f located at the tip of the telescopic boom 22 of the crane 1, and directly below the boom tip located directly above the load W It is placed in a state where it can catch the situation.
  • “directly above” the suspended load W includes the position vertically above the suspended load W and the position of a certain range (for example, the range of the upper surface of the suspended load W) based on that position. It is a concept.
  • the data acquisition unit 60 is attached to the top boom member 22f at the tip of the telescopic boom 22 via a gimbal 67 (see FIG. 1), and when the telescopic boom 22 performs a hoisting operation, a turning operation, and an telescopic operation.
  • the attitude of the data acquisition unit 60 (the attitude in the Y-axis direction) can be maintained substantially constant.
  • the camera 61 and the laser scanner 62 can always be directed to the load W.
  • the data acquisition unit 60 can always acquire data from the suspended load W and the ground surface F (that is, the suspended load area WA) existing therebelow by the camera 61 and the laser scanner 62.
  • the feature C exists in the suspended load area WA
  • data of the feature C can be acquired by the camera 61 and the laser scanner 62.
  • the camera 61 is a digital video camera for capturing an image of the suspended load area WA, and has a function of outputting the captured image to the outside in real time.
  • the camera 61 has an angle of view (horizontal angle of view ⁇ h and vertical angle of view ⁇ v) as shown in FIGS. 5 (A) and 5 (B).
  • the camera 61 has the number of pixels, the frame rate, and the image transmission rate in consideration of the amount of data necessary for generating appropriate guide information.
  • the laser scanner 62 irradiates a laser to the object to be measured, and receives light reflected from the object to be measured by the laser, thereby acquiring information on the reflection point, and It is an apparatus for acquiring point cloud data.
  • the objects to be measured by the laser scanner 62 are a load W, a feature C, and a ground surface F.
  • a first GNSS receiver 65 for acquiring a measurement time is connected to the laser scanner 62.
  • the laser scanner 62 acquires planar three-dimensional point cloud data in real time.
  • the laser scanner 62 is provided with a total of 16 laser transmitting / receiving sensors, and it is possible to simultaneously irradiate 16 lasers to the measurement object to acquire point cloud data of the measurement object It is possible.
  • the 16 laser transmitting / receiving sensors of the laser scanner 62 are disposed with different irradiation angles by 2 ° in the Z-axis direction, and irradiate the laser with a spread of 30 ° as a whole to the object to be measured. It is configured to be possible.
  • each laser transmission / reception sensor of the laser scanner 62 is configured to be capable of rotating 360 degrees (all directions) around the Z axis.
  • a locus drawn by a laser irradiated toward the suspended load area WA is referred to as a laser side line.
  • the laser side line is parallel to the X-axis direction, and the laser scanner 62 simultaneously draws 16 laser side lines.
  • the laser scanner 62 is disposed such that the laser side line is parallel to the X-axis direction. Further, in the laser scanner 62, a reference axis for changing the irradiation angle of the laser is parallel to the Z-axis direction.
  • an inertial measurement unit (hereinafter referred to as IMU) 63 is a device for acquiring posture data of the camera 61 and the laser scanner 62 at the time of data acquisition.
  • the IMU 63 can measure the attitude angle in real time, and has measurement accuracy that can be used to correct point cloud data acquired by the laser scanner 62.
  • a second GNSS receiver 66 for obtaining measurement time is connected to the IMU 63.
  • the data acquisition part 60 is a sensor unit which fixed the camera 61, the laser scanner 62, and inertial measurement device (IMU) 63 with respect to the frame body 64, and was comprised integrally.
  • the frame body 64 is a substantially rectangular parallelepiped object configured by combining five plate members.
  • the frame body 64 constitutes a rectangular parallelepiped side surface portion of four plate members, and the remaining one plate member constitutes an upper surface portion of the rectangular parallelepiped member and has an opening at the lower side.
  • the camera 61 and the laser scanner 62 are attached to the inner side of the side surface of the frame 64, and the IMU 63 is attached to the upper surface of the frame 64.
  • the image pickup device center position of the camera 61 and the laser center position of the laser scanner 62 are separated by a distance ⁇ zh in the Z-axis direction when viewed in the Y-axis direction.
  • the laser center position is the rotation center of the laser in the laser scanner 62 and is located on the Z axis.
  • the image pickup device center position of the camera 61 and the laser center position of the laser scanner 62 are separated by a distance ⁇ yv in the Y axis direction when viewed in the X axis direction.
  • one of a pair of facing side surfaces of the four side surfaces of the frame body 64 is perpendicular to the Z axis, and the other of the facing pair of side surfaces is perpendicular to the X axis Will be placed in
  • the data acquisition unit 60 is disposed in a posture in which the upper surface portion of the frame body 64 is perpendicular to the Y axis.
  • the guide information display device 50 converts coordinate values between the XYZ coordinate system and the camera space coordinate system in order to superimpose guide information GD to be described later on the image M captured by the camera 61 and display the guide information GD on the data display unit 80. Do the processing.
  • a three-dimensional camera space coordinate system Xc ⁇ Yc ⁇ Zc is defined in the video space of the camera 61.
  • the distance in the X-axis direction from the vertical line extended from the lens center of the camera 61 to the point (x, y) is dh, and the maximum screen width in the horizontal direction of the camera 61 is wh.
  • the point (x, y) has a position in the X axis direction from the screen center as x.
  • the Xc coordinates of the point (x, y) in the camera space are expressed by the following Equations (1) and (2).
  • the horizontal difference between the position of the imaging device of the camera 61 and the center of the laser is ⁇ zh (see FIG.
  • the horizontal width of the camera image is wh
  • the horizontal angle of view of the camera 61 is ⁇ h
  • the temporary variable is tmp1.
  • tmp1 (y ⁇ zh) ⁇ tan ( ⁇ ⁇ ⁇ h / 360) (1)
  • Xc wh / 2-wh ⁇ x / (2 ⁇ tmp 1) (2)
  • the Zc coordinates of the point (y, z) in the XYZ coordinate system into Zc coordinates in the camera space coordinate system will be described.
  • the distance in the Z-axis direction from the point (y, z) to the laser center is dv
  • the maximum screen width in the horizontal direction of the camera 61 is wv.
  • the point (y, z) has a position in the Z-axis direction from the screen center as z.
  • the Zc coordinates of the point (y, z) in the camera space are expressed by the following equations (3) and (4).
  • the difference in the vertical direction between the image pickup element of the camera 61 and the position of the laser center of the laser scanner 62 is ⁇ yv (see FIG. 7B)
  • the vertical width of the camera image is wv
  • the vertical image of the camera 61 The angle is ⁇ v
  • the temporary variable is tmp2.
  • tmp2 Y ⁇ tan ( ⁇ ⁇ ⁇ v / 360)
  • Zc wv / 2 + wv ⁇ (Z ⁇ yv) / (2 ⁇ tmp 2) (4)
  • the guide information display device 50 converts the coordinates of point group data acquired by the laser scanner 62 or the like in the XYZ coordinate system into the camera space coordinate system using the above equations (1) to (4).
  • the guide information GD is aligned and displayed on the image M taken at step.
  • an apparatus capable of measuring the three-dimensional shape of the object to be measured is selected from the maximum reach height (for example, about 100 m) in consideration of the maximum reach height of the telescopic boom 22.
  • an apparatus having predetermined performance for each specification such as measurement speed, number of measurement points, measurement accuracy, etc. in consideration of data amount and data accuracy necessary to generate appropriate guide information select.
  • the case of using the laser scanner 62 provided with a total of 16 laser transmitting and receiving sensors is illustrated, but in the guide information display apparatus according to the present invention, the number of laser transmitting and receiving sensors constituting the laser scanner is used. It is not limited by. That is, in the guide information display apparatus according to the present invention, a laser scanner having an optimum specification is appropriately selected according to the maximum reach height of the boom (jib) of the crane and the like.
  • the data acquired by the data acquisition unit 60 in the hanging load area WA includes the hanging load W, the ground surface F below the hanging load W, and an image obtained by photographing the feature C existing around the hanging load W by the camera 61 Contains data. Further, the data acquired in the suspended load area WA by the data acquiring unit 60 includes the suspended load W, the ground surface F, and point cloud data acquired by scanning the feature C with the laser scanner 62.
  • the ground surface F mentioned here widely includes the surfaces to be the transfer source and the transfer destination of the hanging load W, and includes not only the ground surface but also the floor surface and roof surface of the roof of the building.
  • the data processing unit 70 is a part for processing the data acquired by the data acquisition unit 60 to generate guide information GD to be presented to the operator, and in the present embodiment, predetermined data It is configured by a general-purpose personal computer in which a processing program is installed. Further, the data processing unit 70 is electrically connected to the controller 34 of the crane 1, and “crane information” output from the controller 34 is input to the data processing unit 70.
  • the data display unit 80 is a part for displaying guide information GD to be presented to the operator, and includes a display device connected to the data processing unit 70. As shown in FIG. 8A, the data display unit 80 displays the video M of the suspended load area WA taken by the camera 61 in real time.
  • a guide frame GD1 representing the external shape of the hanging load W and the feature C in the Y-axis direction view
  • height information GD2 of the lower surface of the hanging load W ground
  • the height information GD3 of the upper surface of the object C, the work radius line information GD4 indicating the flow line of the hanging load W, and the axis information GD5 indicating the axial direction of the telescopic boom 22 are included.
  • the guide information GD generated by the data processing unit 70 and the video M are superimposed and displayed.
  • the data input unit 90 is a part for inputting setting values and the like to the data processing unit 70, and is configured by a touch panel, a mouse, a keyboard device, and the like.
  • the data processing unit 70, the data display unit 80, and the data input unit 90 are implemented by a tablet-type general purpose personal computer (hereinafter also referred to as a tablet PC). It is preferable to construct integrally.
  • the data display unit 80 and the data input unit 90 are integrated by a touch panel display device, and the touch panel display device performs data processing as a general purpose PC.
  • the unit 70 may be connected.
  • the data display unit 80 and the data input unit 90 are disposed in a position in front of the driver's seat 31 in the cabin 30 at a position where the operator can easily view.
  • the data processing unit 70 is preferably arranged in the vicinity of the data acquisition unit 60.
  • the data processing unit 70, the data display unit 80, and the data input unit 90 are integrally configured by a tablet PC, the data processing unit 70 may be disposed in the cabin 30. Transmission of data between the data acquisition unit 60 and the data processing unit 70 is preferably performed by a wired LAN.
  • the data transmission between the data acquisition unit 60 and the data processing unit 70 may adopt a wireless LAN or may adopt power line communication.
  • the data processing unit 70, the data display unit 80, and the data input unit 90 are implemented by a tablet-type general purpose personal computer (hereinafter also referred to as a tablet PC). It is preferable to construct integrally.
  • the data display unit 80 and the data input unit 90 are integrated by a touch panel display device, and the touch panel display device performs data processing as a general purpose PC.
  • the unit 70 may be connected.
  • the camera 61 continuously shoots the suspended load area WA, and acquires the image M of the suspended load area WA.
  • point cloud data P point cloud data acquired by the laser scanner 62
  • the point cloud data P is a set of point data p
  • the point data p represents a point located on the ground surface F, the suspended load W, and the upper surface of the feature C existing in the suspended load area WA.
  • the distance a from the measurement object (for example, the ground object C) to the laser scanner 62 and the irradiation angle b of the laser scanner 62 when the point data p is acquired. Information is included.
  • the first GNSS receiver 65 is connected to the laser scanner 62, and while acquiring point cloud data P, the first GNSS receiver 65 receives time information from a plurality of positioning satellites Do. Then, the data processing unit 70 adds information related to the acquisition time of the point data p to the point data p. That is, the information related to the point data p includes the acquisition time tp in addition to the distance a and the irradiation angle b.
  • the point cloud data P is acquired by the laser scanner 62, and at the same time, the attitude data Q of the laser scanner 62 is acquired by the IMU 63 at a predetermined cycle.
  • the posture data Q includes information on the angle and acceleration with respect to each axial direction of the X, Y, and Z axes of the laser scanner 62.
  • the acquisition cycle of the posture data Q by the IMU 63 is shorter than the acquisition cycle of the point cloud data P by the laser scanner 62.
  • the posture data Q is a set of individual posture data q measured for each measurement cycle.
  • a second GNSS receiver 66 is connected to the IMU 63 to acquire attitude data Q, and at the same time, the second GNSS receiver 66 receives time information from a plurality of positioning satellites.
  • the data processing unit 70 assigns an acquisition time tq to the individual posture data q as information related to the acquisition time of the individual posture data q. That is, the information concerning the individual posture data q includes the acquisition time tq.
  • the data processing unit 70 first, "frame extraction processing” is performed (STEP-101).
  • the point cloud data P for one frame is cut out and output from the stream data of the point cloud data P.
  • the point group data P for one frame is a set of point data p acquired while the irradiation direction of the laser by the laser scanner 62 makes one rotation around the Z axis.
  • “synchronization processing of point cloud data and posture data” is performed (STEP-102).
  • the data processing unit 70 synchronizes the point data p included in the point cloud data P for one frame with the attitude data Q acquired by the IMU 63. Specifically, in each point data p, the acquisition time tq of the individual posture data q closest to the acquisition time tp of the point data p is searched, and the individual posture data q at the acquisition time tq is Synchronize by matching to.
  • the data processing unit 70 outputs point data p synchronized with the individual posture data q. Then, as shown in FIG. 11, the data processing unit 70 calculates the distance h from the laser center position of the laser scanner 62 to the point data p based on the distance a and the irradiation angle b.
  • the “distance h” is the distance from the laser center position of the laser scanner 62 to the horizontal plane where the point data p exists, that is, the distance in the vertical direction from the laser center position of the laser scanner 62 to the point data p. is there.
  • the data processing unit 70 performs correction using the individual posture data q corresponding to the point data p.
  • the error caused by the attitude of the laser scanner 62 can be eliminated, and the distance h of the point data p can be calculated more accurately.
  • the data acquisition unit 60 is provided with the IMU 63 for acquiring the attitude data Q of the laser scanner 62, and the data processing unit 70 is based on the attitude data Q of the laser scanner 62 acquired by the IMU 63.
  • the point cloud data P is corrected.
  • FIG. 13A shows point cloud data P (a set of point data p) viewed from the Z-axis direction.
  • ground surface estimation processing is performed next (STEP-103).
  • the data processing unit 70 performs processing to estimate the reference height H0 of the ground surface F present in the suspended load area WA.
  • the data processing unit 70 first acquires point cloud data P for one frame.
  • the point cloud data P is acquired from above the suspended load W and the feature C which are measurement objects, in the suspended load area WA including the suspended load W and the feature C and the ground surface F.
  • the data processing unit 70 divides the suspended load area WA into a plurality of small areas S in a grid shape in plan view (view in the Y-axis direction) (area division process : STEP-201).
  • the data processing unit 70 divides the laser side line at equal intervals by a dividing line parallel to the Z-axis direction, and divides it into small regions S having the same shape and the same area based on the divided laser side line doing.
  • the data processing unit 70 divides the laser side line into ten parts to divide them into 160 small areas S.
  • the data processing unit 70 extracts point data p having the largest distance h (the distance h is the maximum distance hmax) in each small area S (maximum point data extraction step: STEP-202). Point data p which is the maximum distance hmax is estimated to be point data p existing at the lowest position. Then, as shown in FIG. 14 and FIG. 15 (A), the data processing unit 70 calculates the separation amount D of the distance h of the other point data to the point data p which is the maximum distance hmax (a separation amount calculation step: STEP-203).
  • the data processing unit 70 configures the ground surface F with point data p having a separation amount D within a predetermined threshold r1 (in this embodiment, a separation amount D within 7 cm) based on the maximum distance hmax. It extracts as point data (ground surface point data extraction process: STEP-204).
  • the data processing unit 70 estimates the reference height H0 of the ground surface F of each small area S based on the distance h of the extracted point data p in each small area S (small area ground surface estimation step: STEP -205).
  • the data processing unit 70 sets the average value of the distances h of the extracted point data p as the reference height H0 of the ground surface F in the small area S. With such a configuration, the data processing unit 70 can estimate the reference height H0 of the ground surface F in any small region S.
  • the data processing unit 70 estimates the reference height H0 of the ground surface F of the suspended load area WA based on the reference height H0 of the ground surface F in each small area S (area ground surface estimation step: STEP-206). In the present embodiment, the data processing unit 70 further averages the reference height H0 (average value of the distance h) of the ground surface F in each small region S in all the small regions S as the ground surface of the suspended load region WA. The reference height H0 of F is used. With such a configuration, the data processing unit 70 can estimate the reference height H0 of the ground surface F of the suspended load area WA. Then, the data processing unit 70 calculates the elevation value H of the point data p from the distance h and the reference height H0. As shown in FIG. 10, the altitude value H is the height from the reference height H0 of the point data p.
  • the data processing unit 70 determines that the difference between the reference height H0 of the ground surface F in one small area S and the reference height H0 of the ground surface F in the suspended load area WA is larger than a predetermined threshold.
  • the point data p which does not constitute the ground surface F is determined to be extracted, and instead of the reference height H0 of the ground surface F in one small area S, the difference among the small areas S adjacent to the one small area S
  • the reference height H0 of the ground surface F in the suspended load area WA may be corrected using the reference height H0 of the ground surface F of the small area S where the value of L falls below a predetermined threshold.
  • the data processing unit 70 when it is estimated that point data p which does not constitute the ground surface F is extracted by such a configuration, a small area adjacent to one small area S instead of one small area S
  • the reference height H0 of the ground surface F of the suspended load area WA can be more accurately estimated by using the reference height H0 of the ground surface F of the small area S in which the difference is less than the predetermined threshold among the regions S. .
  • the reference height H0 of the ground surface F in the suspended load area WA in (STEP-206) it is estimated that point data p that does not constitute the ground surface F is extracted from all the small areas S. You may exclude the small area
  • the data processing unit 70 can exclude the small area S estimated to be incapable of extracting point data constituting the ground surface F. Therefore, the reference height H0 in the suspended load area WA can be accurately estimated.
  • the separation amount calculating step of calculating the separation amount D of the distance h of the other point data p to the point data p having the largest distance h, and in the small area S, the distance D of the distance h is
  • the reference height H0 of the ground surface F of the small area S is estimated based on the ground surface point data extraction process of extracting the point data p within the predetermined threshold value r1 and the point data p extracted in the ground surface point data extraction process.
  • Small territory It includes a ground surface estimating step, and a region ground surface estimating step of estimating the reference high
  • the guide information display device 50 is configured to generate the guide information GD based on the reference height H0 of the ground surface F acquired accurately by the above processing. For this reason, in the guide information display device 50, the height information of the suspended load W and the height information of the feature C can be accurately calculated based on the reference height H0 of the ground surface F.
  • the data processing unit 70 may be configured to automatically determine and designate the specific position on the video.
  • the ground surface F to be a reference can be determined by designating the position of the ground surface in the data display unit 80 and the data input unit 90.
  • the operator designates a clear position on the image displayed on the data display unit 80 as the ground surface.
  • the data processing unit 70 generates a reference circle of a predetermined radius centered on the designated position (point), as shown in FIG.
  • the data processing unit 70 detects an overlap with the point data p on the laser side line, and selects a plurality of point data p included in the reference circle.
  • the data processing unit 70 first extracts point data p having the largest distance h (the distance h is the maximum distance hmax) from the plurality of selected point data p. . Then, the data processing unit 70 calculates the separation amount D of the distance h of the other point data to the point data p which is the maximum distance hmax.
  • the data processing unit 70 configures the ground surface F as point data p whose distance D is within the predetermined threshold r1 (in this embodiment, distance D is within 7 cm) with reference to the maximum distance hmax. Extract as data.
  • the data processing unit 70 estimates the reference height H0 of the ground surface F based on the distance h of the extracted point data p. In the present embodiment, the data processing unit 70 adopts the average value of the distances h of the extracted point data p as the reference height H0 of the ground surface F.
  • “Plane estimation processing” is performed (STEP-104).
  • the data processing unit 70 estimates the upper surfaces of the suspended load W and the feature C, which are measurement objects, present in the suspended load area WA by the upper surface estimation method described below.
  • the point cloud data P for one frame is plotted on the suspended load area WA indicated by the XYZ coordinate system, as shown in FIG. 13A.
  • the point cloud data P in such a suspended load area WA is schematically represented as shown in the upper diagram of FIG.
  • the data processing unit 70 divides the point cloud data P acquired in the hanging load area WA as shown in the upper view of FIG. 17 into layers in the Y-axis direction with a predetermined thickness d as shown in the middle of FIG.
  • the point cloud data P is distributed to a plurality of groups (see FIG. 13B).
  • the data processing unit 70 assigns individual group IDs (here, IDs: 001 to 006) to the divided groups, and associates each point data p with the group ID.
  • the data processing unit 70 estimates a plane by using a plurality of point data p included in the group.
  • the “plane” referred to here is a plane which exists upward in the load W and the feature C, that is, the “upper surface” of the load W and the feature C.
  • the data processing unit 70 selects two point data p ⁇ p from a plurality of point data p ⁇ p... Included in the same group, as shown in FIGS. (2 point selection process: STEP-301). Then, the data processing unit 70 calculates the distance L1 between two points of the selected two point data p ⁇ p as shown in FIG. 18 and the lower diagram of FIG. 19 (inter-point distance calculation step: STEP-302).
  • the data processing unit 70 selects two points (two shown by dotted lines). One point data p ⁇ p) is considered to be on the same plane (two-point plane considering process: STEP-304). Then, the data processing unit 70 calculates the center of gravity G1 of each point (here, two selected points) considered to be on the same plane, as shown in FIGS. 18 and 20 (lower center calculation step: STEP-305). If it is determined as "no" in (STEP-303), the process returns to (STEP-301) to reselect two new points.
  • the data processing unit 70 searches for point data p that is a nearby point with respect to the calculated center of gravity G1, as shown in FIG. 18 and the upper diagram in FIG. 21 (nearest point searching step: STEP-306).
  • the “nearby point” referred to here is a point at which the distance between points with respect to the center of gravity G1 is equal to or less than the threshold value r2.
  • the data processing unit 70 finds point data p that is a nearby point (STEP-307), the point data p that is the nearby point is the two points selected earlier. It is considered that it is on the same plane as the data p ⁇ p (near point plane considering step: STEP-308).
  • the data processing unit 70 returns to (STEP-305) as shown in FIGS. 18 and 22 and the respective points regarded as being on the same plane (here, three points indicated by dotted lines).
  • a new center of gravity G2 is calculated from the point data p ⁇ p ⁇ p).
  • the data processing unit 70 proceeds to (STEP-306), and further searches for point data p which is a nearby point with respect to the gravity center G2. Then, as shown in FIG. 18 and the lower diagram of FIG. 22, if the data processing unit 70 further finds point data p that is a nearby point (STEP-307), the point data p that is a nearby point is also selected each point previously. And the point data p on the same plane as (step-308). Then, the data processing unit 70 searches for nearby points while calculating a new centroid, and repeats the processing from (STEP-305) to (STEP-308) in order until the point data p which is a nearby point is not detected. Do.
  • the data processing unit 70 determines “no” in (STEP-307) and determines that the point is considered to be on the same plane if a new neighboring point is not found.
  • Cluster a subset (cluster) of data p to estimate a plane (STEP-309).
  • clustering divides point group data P, which is a set of point data p, into clusters so that point data p included in each cluster has a common feature of being on the same plane. It is a process.
  • the data processing unit 70 divides the point cloud data P into point data p considered to be on the same plane, and sets a plane cluster CL1 (see the lower diagram in FIG. 17).
  • each point data p belonging to the plane cluster CL1 it is possible to define a plane (that is, the “upper surface” of the hanging load W and the feature C).
  • a plurality of plane clusters CL1 may exist in a group to which the same group ID is assigned.
  • the data processing unit 70 estimates the "width" of the plane from the maximum value and the minimum value of the X coordinate of the point data p belonging to the plane cluster CL1, and the "depth” of the plane from the maximum value and the minimum value of the Z coordinate. Estimate The data processing unit 70 thus defines the plane formed by the plane cluster CL1.
  • the plane defined here may be a polygon other than a rectangle.
  • the top surfaces of the suspended load W and the ground object C can be estimated based on only the point cloud data P corresponding to the top surface acquired by the laser scanner 62. Therefore, in the upper surface estimation method described in the present embodiment, it is possible to estimate the upper surfaces of the hanging load W and the ground object C in a short time based on the point cloud data P acquired by the laser scanner 62. It is possible to estimate the upper surface of the load W and the feature C in real time.
  • the top surfaces of the suspended load W and the feature C can be estimated without using a statistical method, and compared with the case where the statistical method is used, the suspended load W and the feature C It is possible to reduce the amount of calculation required to estimate the upper surface of. Therefore, in the upper surface estimation method described in the present embodiment, it is possible to estimate the upper surfaces of the suspended load W and the ground object C in a shorter time based on the point cloud data P acquired by the laser scanner 62.
  • the data acquisition unit 60 is provided on the top boom member 22 f of the telescopic boom 22 in the crane 1, and the laser scanner 62 is used to Although the case of acquiring point cloud data P pertaining to the hanging load W, the ground object C, and the ground surface F from the vertically upper side is illustrated, the upper surface estimation method of the measurement object according to the present invention It is not limited as what is applied when making what exists around a suspended load into a measuring object.
  • a laser scanner is provided at the boom tip portion or the drone of a work vehicle (for example, work vehicle etc.) provided with a boom, and exists vertically from below
  • the present invention can be widely applied to the case of acquiring point cloud data of a measurement object and estimating the upper surface of the measurement object based on the acquired point cloud data.
  • the data processing unit 70 combines the estimated planar clusters CL1 (upper surface).
  • the data processing unit 70 selects two plane clusters CL1 and CL1 to which different group IDs are assigned among the estimated plane clusters CL1, as shown in FIGS.
  • the difference dH of the altitude value H is calculated (STEP-401: altitude value difference calculating step).
  • the data processing unit 70 searches for a combination in which the difference dH is within the threshold value r3 (STEP-402).
  • the altitude value H of the plane cluster CL1 mentioned here is an average value of the altitude values H of the point data p belonging to the plane cluster CL1.
  • the data processing unit 70 determines the combination of those planar clusters CL1 ⁇ .
  • the overlap dW in the X-axis direction is detected for CL1 (STEP-403: overlap detection step).
  • overlap refers to the overlap degree and separation degree in the X-axis direction of the plane defined by the plane cluster CL1, and as shown in FIGS. 24 and 25, the overlap amount dW1 of “width” is detected. In the case (dW1> 0) or when the separation amount dW2 is equal to or less than the predetermined threshold value r4 (0 ⁇ dW2 ⁇ r4), “overlap” is detected.
  • the data processing unit 70 repeats the above processing until the combination of planar clusters CL1 and CL1 satisfying the condition disappears (STEP-406), and a plane existing across a plurality of groups is displayed. presume.
  • the data processing unit 70 outputs the plane (that is, plane cluster CL1) coupled by the above coupling process.
  • the plane defined by the plane cluster CL1 is a plane facing upward in the load W and the feature C, that is, the upper surface of the load W and the feature C.
  • Such a plane estimation method can estimate a plane without using a normal vector of the point cloud data P. For this reason, there is a feature that the amount of calculation can be reduced compared to the case of estimating a plane using a normal vector of the point cloud data P.
  • the hanging load W or the ground can be obtained without acquiring point data p of the side surface of the hanging load W or the feature C. The three-dimensional shape of the object C can be grasped.
  • clustering processing of the same area is performed (STEP-105).
  • clustering divides point cloud data P, which is a set of data, into clusters so that point data p included in each cluster has a common feature of being in the “same area”. It is a process.
  • the generated plane cluster CL1 (plane) is clustered from different viewpoints of whether or not it exists in the “same area” regardless of whether or not it configures the same plane. It is a process.
  • the data processing unit 70 includes a plane cluster CL1 including point data p whose elevation value H is the maximum value Hh, and a plane cluster not coupled to the plane cluster CL1. Extract CL1. Then, the data processing unit 70 calculates the difference ⁇ H of the altitude values H of the extracted planar clusters CL1, and if the difference ⁇ H is equal to or less than a predetermined threshold, the process proceeds to the next determination.
  • the data processing unit 70 confirms overlap in the Y-axis direction for two plane clusters CL1 and CL1 whose difference ⁇ H is less than or equal to a predetermined threshold.
  • the data processing unit 70 “same area” as shown in the lower diagram of FIG.
  • These planar clusters CL1 and CL1 form the same area cluster CL2.
  • the data processing unit 70 further searches the plane cluster CL1 including the point data p having the maximum value Hh of the elevation value H and the plane cluster CL1 not coupled to the plane cluster CL1, and the plane cluster CL1 is not coupled. If is extracted, the judgment based on the difference ⁇ H and the confirmation of the overlap in the Y-axis direction are performed, and if there is a plane cluster CL1 meeting the above condition, it is further added to the same area cluster CL2.
  • the data processing unit 70 repeats such processing until the unjoined planar cluster CL1 is not found with respect to the planar cluster CL1 including the point data p having the maximum value Hh of the elevation value H.
  • the data processing unit 70 forms the same area cluster CL2 by the above processing.
  • the point data p belonging to the same area cluster CL2 formed in this way is treated as having one shape in shape in the display of the guide information GD described later, so as to surround the same area cluster CL2.
  • the guide frame GD1 is displayed.
  • Such “clustering process of the same area” is preferably hierarchical clustering using a tree structure based on elevation values as shown in FIGS. 27 (A) and 27 (B).
  • the data processing unit 70 creates a tree structure using the elevation value H for each feature C in the “clustering process of the same area”.
  • the hierarchical clustering using the tree structure is performed on the feature C of the first example shown in FIG. 27 (A)
  • the feature C of the second example shown in FIG. 27 (B) An example of hierarchical clustering using a tree structure is illustrated.
  • the data processing unit 70 sets a plane cluster CL1 having the smallest average value of the elevation values H as a "root”. In addition, if there is a plane cluster CL1 having an overlap in the Y-axis direction view with respect to the plane cluster CL1 configuring the “root”, the data processing unit 70 extends the “branch” from the “root” At the tip of the branch, a planar cluster CL1 having the overlap is added. Then, the data processing unit 70 sets the plane cluster CL1 having the largest average value of the elevation values H as a “child”.
  • the data processing unit 70 acquires the tree structure of the feature C created in the “clustering process of the same area”. Then, the data processing unit 70 acquires point data p included in each plane cluster CL1 configuring the tree structure. Next, as shown in the upper diagram of FIG. 28, the data processing unit 70 obtains point data p on the laser side line located farthest in the Z-axis direction from the point data p of the “child” plane cluster CL1. Do. Then, the data processing unit 70 creates a rectangle having a width in the X-axis direction which is separated in the Z-axis direction by a half of the distance to the adjacent laser side line and can surround each point data p. .
  • the data processing unit 70 includes all point data p on the corresponding laser side line as shown in the lower part of FIG. Transform the rectangle to create an outline. Then, the data processing unit 70 searches for the point data p on the adjacent laser side line until the point data p on the target laser side line disappears, and repeats the above processing. Finally, the data processing unit 70 creates an outline that externally wraps all planar clusters CL1 included in the selected tree structure.
  • the data processing unit 70 outputs only the outline that meets the conditions as the guide frame GD1 out of the generated outlines.
  • the conditions to be output as the guide frame GD1 for example, as shown in FIG. 29A, it is possible to select the conditions for displaying only the outline of the feature C, which is a large frame. When this condition is selected, one guide frame GD1 surrounding the entire feature C is displayed for the feature C on the data display unit 80.
  • the difference (difference .DELTA.H) of the elevation value H with respect to the "root" is Among the outlines (small frames) which are equal to or greater than the threshold value, it is possible to select a condition for displaying the outline relating to the plane cluster CL1 having the highest elevation value H in each branch.
  • the data display unit 80 displays a first guide frame GD1 surrounding the entire feature C and a second guide frame included inside the first guide frame GD1.
  • the guide frame GD1 is displayed, and more detailed guide information GD in which the three-dimensional shape of the feature C is considered is displayed.
  • the difference (difference ⁇ H) of the elevation value H with respect to the “root” is It is possible to select a condition for displaying all the outlines (small frames) which are equal to or larger than the threshold. Even when this condition is selected, the data display unit 80 displays the first guide frame GD1 surrounding the entire feature C and the second guide frame GD1 included therein, and the ground More detailed guide information GD in which the three-dimensional shape of the object C is considered is displayed.
  • Such display conditions can also be performed by adjusting the threshold value of the difference ⁇ H.
  • the operator can appropriately select the display conditions of the guide frame GD1 so that the display of the guide information GD can be more easily viewed.
  • the guide frame GD1 representing the feature C in more detail in consideration of the three-dimensional shape of the feature C is generated by generating the guide frame GD1 based on the same area cluster CL2. It is possible to generate. Further, in the guide information display device 50, it is possible to generate a guide frame GD1 which collectively encloses the planar cluster CL1 present in the same area. That is, according to the guide information display device 50, it is possible to present more detailed and easy-to-view guide information GD.
  • synchronization processing of point cloud data and camera image is performed (STEP-106).
  • the point cloud data P acquired in the XYZ coordinate system is converted into coordinate values in the camera space coordinate system and synchronized with the image M captured by the camera 61 ( Alignment) and output to the data display unit 80.
  • “guide display processing” is performed next (STEP-107).
  • the data processing unit 70 generates guide information GD based on the generated information of the same area cluster CL 2, and outputs the guide information GD to the data display unit 80.
  • "crane information” output from the controller 34 of the crane 1 is used.
  • the “crane information” used here includes information on the length of the telescopic boom 22, the elevation angle, the working radius of the crane 1, the weight of the hanging load W, and the like.
  • the guide information GD can be generated by accurately grasping the three-dimensional shape of.
  • Such a configuration is suitable for the purpose of grasping the shapes of the hanging load W and the ground object C in real time because the amount of data computation can be small, and the data processing unit 70 with a simple hardware configuration can be used .
  • the data display unit 80 displays the guide information GD.
  • the guide information GD displayed by the data display unit 80 includes information relating to the designated position of the ground surface F by the operator as shown in FIG. 8 (B).
  • the hanging load W can be designated.
  • the plane (upper surface) present at the designated position is set as representing the upper surface of the hanging load W.
  • the guide frame GD1 according to the hanging load W and the guide frame GD1 according to the feature C be displayed by changing the line color, the line thickness, and the like.
  • the information which concerns on the ground surface F and the designated position of the hanging load W is displayed by the marker represented with figures, such as a circle.
  • the guide information GD displayed by the data display unit 80 includes the guide frame GD1 generated by the data processing unit 70.
  • the data processing unit 70 outputs the guide frame GD1 based on the set same area cluster CL2.
  • the data processing unit 70 can provide a margin for reliably avoiding a collision as the guide frame GD1 of the hanging load W, and a frame offset outward from the outline of the hanging load W by a predetermined distance.
  • the line can be output as a guide frame GD1.
  • Such a guide frame GD1 is a frame display in which the upper surface (planar cluster CL1) estimated in the hanging load W and the feature C is surrounded by line segments.
  • the guide information GD displayed by the data display unit 80 includes height information GD2 from the reference height H0 to the lower surface of the hanging load W and height information GD3 from the reference height H0 to the upper surface of the feature C. include.
  • the height information GD2 of the hanging load W be configured to be provided with an independent area at an easily viewable position on the screen of the data display unit 80 and to be displayed in the area.
  • the height information GD2 of the hanging load W and the height information GD3 of the feature C are not mistaken.
  • the data processing unit 70 calculates the height information GD2 by subtracting the height of the suspended load W from the upper surface height of the plane cluster CL1 estimated to be the upper surface of the suspended load W.
  • the operator inputs information related to the suspended load W (hereinafter referred to as “suspended load information”) to the data processing unit 70 in advance.
  • the operator inputs the "hanging load information” from the data input unit 90.
  • the data processing part 70 acquires the height of the hanging load W using "hanging load information.”
  • the height information GD3 of the feature C is displayed inside the guide frame GD1 surrounding the feature C.
  • the guide frame GD1 is configured to be displayed so as to partially overlap the guide frame GD1.
  • the correspondence between the feature C and the height information GD3 is clarified by such a configuration.
  • the data processing unit 70 changes the line color of the guide frame GD1 in accordance with the elevation value H of the flat cluster CL1 corresponding to the guide frame GD1.
  • the guide information display device 50 with such a configuration, when the operator looks at the guide frame GD1, the rough elevation value (height) of the hanging load W or the feature C can be perceived sensuously. For this reason, in the guide information display device 50, the heights of the hanging load W and the feature C can be more accurately presented.
  • the data processing unit 70 changes the font color of the height information GD2 in accordance with the elevation value H of the plane cluster CL1 corresponding to the guide frame GD1.
  • the operator can perceptually perceive rough elevation values (heights) of the suspended load W and the feature C by looking at the height information GD2. For this reason, in the guide information display device 50, the heights of the hanging load W and the feature C can be more accurately presented.
  • the display of the guide information GD performed by the guide information display device 50 includes flow line information of the hanging load W.
  • the movement line information of the hanging load W includes work radius line information GD4 of the crane 1 and axis information GD5 of the telescopic boom 22 of the crane 1.
  • the "flow line information of the hanging load W" may be replaced with "flow line information of the main hook 32", and the work radius line information GD4 and the axis line information GD5 may be "flow line of the main hook 32". It can also be used as information.
  • the work radius line information GD4 is an indicator of the flow line of the suspended load W when the telescopic boom 22 is turned, and the suspended load W moves along an arc shown as the work radius line information GD4.
  • the axis information GD5 is an indicator of the flow line of the suspended load W when the telescopic boom 22 is moved up and down and extends and retracts, and the suspended load W moves along a straight line indicated as the axis information GD5.
  • the working radius R of the crane 1 is the horizontal distance from the turning center of the telescopic boom 22 in the crane 1 to the vertical line passing through the center of the main hook 32 (in this embodiment, the lens center of the camera 61).
  • an XYZ coordinate system as shown in FIG. 32 is defined with reference to the origin O1 of the camera coordinate system (the lens center of the camera 61).
  • the X-axis direction is a horizontal direction parallel to the axial direction of the fulcrum of the telescopic boom 22.
  • the Y-axis direction is the vertical direction.
  • the Z-axis direction is a horizontal direction perpendicular to the axial direction of the fulcrum of the telescopic boom 22.
  • the turning center of the telescopic boom 22 expressed with the origin O1 of the camera coordinate system as a reference is O2 (x1, y1, z1)
  • the working radius R can be calculated by the following equations (5) and (6).
  • the temporary variable is tmp3.
  • the data processing unit 70 may use the working radius R input as “crane information” from the crane 1 in addition to the case where the working radius R is calculated based on the above formulas (5) and (6).
  • the data processing unit 70 acquires an image M photographed by the camera 61 (photographing step: STEP-501).
  • the image M of the camera 61 is suspended at least from the load W and the ground surface F from above the load W lifted by the crane 1 provided with the telescopic boom 22 capable of turning, raising and lowering and telescopic movement. It is acquired in the load area WA.
  • the data processing unit 70 acquires point cloud data P for one frame (point cloud data acquisition step: STEP-502).
  • the point cloud data P is acquired from above the suspended load W in the suspended load area WA including at least the suspended load W and the ground surface F.
  • the data processing unit 70 performs an arbitrary small area S (for example, a predetermined small area S intersecting the perpendicular extending from the lens center of the camera 61) or the small area S by the ground surface estimation process described above (see FIGS. 14 to 16) or The reference height H0 of the ground surface F of the suspended load area WA is estimated (ground surface estimation step: STEP-503).
  • an arbitrary small area S for example, a predetermined small area S intersecting the perpendicular extending from the lens center of the camera 61
  • the reference height H0 of the ground surface F of the suspended load area WA is estimated (ground surface estimation step: STEP-503).
  • the data processing unit 70 based on the reference height H0 of the ground surface F, as shown in the upper view of FIG. 30, the upper view of FIG. 31, and FIG. Calculate wv (shooting range calculation step: STEP-504).
  • the data processing unit 70 calculates the turning center of the crane 1 with respect to the imaging range of the camera 61 from the origin O1 and the working radius R of the camera coordinate system as shown in the middle of FIG. Then, as shown in FIG. 30 lower view and FIG. 33, the data processing unit 70 generates work radius line information GD4 which is the guide information GD from the swing center point O2 of the crane 1 and the work radius R (flow line information generation process : STEP-505).
  • the data processing unit 70 passes through the points O1 and O2 based on the origin O1 of the camera coordinate system and the turning center point O2 of the telescopic boom 22. From the above, the axial direction of the telescopic boom 22 is calculated to generate axis information GD5 which is guide information GD.
  • axis information GD5 which is guide information GD.
  • either of the work radius line information GD4 and the axis line information GD5 may be generated first by the data processing unit 70. Further, in (STEP-405), only one of the work radius line information GD4 and the axis line information GD5 may be generated.
  • the data processing unit 70 outputs the work radius line information GD4 to the data display unit 80 as shown in FIG. 30B and FIG. 33, and the work radius line information GD4 is superimposed on the image M in the data display unit 80.
  • display flow line information display process: STEP-506).
  • the data processing unit 70 outputs the axis line information GD5 to the data display unit 80 as shown in FIG. 31 lower view and FIG. Is superimposed and displayed.
  • the axial line information GD5 is displayed along the Z-axis direction.
  • the work radius line information GD4 and the axis line information GD5 may be simultaneously displayed on the data display unit 80 as shown in FIG.
  • the data processing unit 70 outputs a line for displaying the work radius line information GD4 and the axis line information GD5 by a broken line as shown in the lower side of FIG. 30 and the lower side of FIG.
  • the length and the interval are set according to the height (the imaging range) of the data acquisition unit 60 calculated based on the reference height H0 of the ground surface F.
  • the length of a broken line and a length (hereinafter referred to as a reference length) as an indication of the interval are set.
  • the work radius information GD4 and the axis line information GD5 are determined according to the height (the size of the imaging range) of the data acquisition unit 60 calculated based on the reference height H0 of the ground surface F.
  • the length and interval of the broken line are changed, and on the scale at that time, it is displayed as the length and interval corresponding to 1 m on the ground surface F. That is, as the height of the data acquisition unit 60 increases, the length and interval of the broken line on the display shorten, and as the height of the data acquisition unit 60 decreases, the length and interval of the broken line on the display increase.
  • the operator can display the ground surface F from the guide information GD by displaying the lengths and intervals of the broken lines of the work radius line information GD4 and the axis line information GD5 in the reference lengths.
  • the sense of distance to the object to be measured can be easily grasped.
  • the reference height H0 of the ground surface F around the suspended load W is calculated using the ground surface estimation processing, and the imaging range of the camera 61 is calculated based on the reference height H0 of the ground surface F.
  • the method of calculating the imaging range is not limited to this.
  • the imaging range of the camera 61 may be calculated based on the height of the camera 61 with respect to the installation surface of the crane 1 calculated from “crane information”. Further, as long as the camera 61 has a zoom function, the imaging range of the camera 61 may be calculated in consideration of the zoom magnification.
  • the guide information display apparatus is suspended by the main wire rope 27 suspended from the telescopic boom 22 and is moved from above the suspended load W moved according to the operation of the telescopic boom 22
  • the data acquisition unit 60 including the laser scanner 62 to acquire the data display unit 80 that displays the image M of the camera 61, and the point cloud data P acquired by the laser scanner 62
  • the data processing unit 70 generates the guide information GD to be displayed in an overlapping manner, and the data processing unit 70 determines the reference height H of the ground surface F based on the point cloud data P acquired by the laser scanner 62.
  • the display of the guide information GD performed by the guide information display device 50 includes an alarm display for preventing contact between the load W and the feature C.
  • the horizontal distance when projecting the hanging load W and the feature C on a horizontal plane is equal to or less than a predetermined threshold (for example, 1 m), and the distance in the vertical direction is a predetermined threshold (for example, 1 m) If it is the following, it is determined that there is a risk of contact.
  • the data processing unit 70 guides the guide frame GD1 of the feature C and the guide frame GD1 of the feature C in such a manner as to emphasize the guide frame GD1 and height information GD2 of the feature C which may come into contact with the load W. Output height information GD2.
  • the data processing unit 70 outputs the guide frame GD1 of the feature C and the height information GD2 in a mode in which the guide frame GD1 and the height information GD2 of the feature C blink.
  • the data processing unit 70 outputs the guide frame GD1 and the height information GD2 of the feature C as an alarm display, and displays them on the data display unit 80, whereby the operator's attention can be urged. .
  • the exclusion area JA is set between the suspended load W and the top boom member 22f. Then, the data processing unit 70 is configured to exclude point data p acquired in the excluded area JA from the data processing target.
  • the main wire rope 27 passes through the exclusion area JA.
  • the guide information display device 50 is configured to present more accurate and easy-to-see guide information GD by not including the main wire rope 27 in the generation target (measurement object) of the guide information GD.
  • the excluded area JA should be set at a position separated by a predetermined distance from the upper surface of the suspended load W in consideration of not affecting the generation of the guide frame GD1 of the suspended load W. Is preferred.
  • a guide frame GD1 indicating the shape of the suspended load W and the feature C existing around the suspended load W and the height for the operator of the crane 1 is shown.
  • the guide information GD including the height information GD2 and GD3 can be accurately presented.
  • the operator can use the guide information GD presented by the guide information display device 50. Based on the work by the crane 1 can be performed efficiently and safely.
  • the present invention is applicable to a guide information display device, a crane and a method of generating guide information.

Abstract

The present invention provides guide information which accurately represents the path of movement of a hoisting load. A guide information display device is equipped with: a data acquisition unit provided with a camera which captures an image of a region containing at least a hoisting load and the ground surface from above the hoisting load which moves according to the operation of a boom and is hanging from a wire hanging from the boom, and also provided with a laser scanner for acquiring a data point group from above the hoisting load in said region; a data display unit for displaying the camera image; and a data processing unit for generating guide information to be displayed in an overlapping manner on the camera image, on the basis of the data point group acquired by the laser scanner. Therein, the data processing unit estimates the standard height of the ground surface on the basis of the data point group acquired by the laser scanner, calculates the camera imaging range on the basis of the standard height of the ground surface, and generates guide information expressing the path of movement of the hoisting load on the basis of the camera imaging range.

Description

ガイド情報表示装置、クレーンおよびガイド情報の生成方法Guide information display device, crane and method of generating guide information
　本発明は、オペレータによるクレーン作業を補助するガイド情報表示装置、これを備えたクレーン、およびガイド情報の生成方法の技術に関する。 The present invention relates to a guide information display device for assisting a crane operation by an operator, a crane including the same, and a technique of generating guide information.
　特許文献１には、ブームの先端近傍に取り付けられる撮像部と、撮像部によって撮像された画像を表示する表示部と、移動式クレーンの姿勢を制御するクレーンコントローラと、他の移動式クレーンと相互に情報を送受信するための通信部と、他の移動式クレーンから受信した他の移動式クレーンの情報を、表示部の画像に重ねて表示するための画像コントローラと、を備える移動式クレーンの表示装置が開示されている。 In Patent Document 1, an imaging unit attached near the tip of a boom, a display unit for displaying an image captured by the imaging unit, a crane controller for controlling the attitude of a mobile crane, and other mobile cranes are mutually used. Of a mobile crane including a communication unit for transmitting and receiving information to the imager, and an image controller for displaying information of other mobile cranes received from other mobile cranes superimposed on an image of the display unit An apparatus is disclosed.
　画像コントローラは、他の移動式クレーンの情報として、他の移動式クレーンの吊荷の移動限界線を、表示部の画像に重ねて表示するように構成される。画像コントローラは、クレーンコントローラが取得する吊荷荷重とアウトリガ張出量とに基づいて、ブームの旋回中心を中心とした最大作業半径を演算する。画像コントローラは、撮像部（ムービーカメラ）のズーム倍率、チルト角やパン角、高さ位置に基づいて、旋回中心を原点にして撮像されている範囲の座標を求める。撮像部の高さは、クレーンコントローラが取得するブーム長さおよび起伏角度に基づいて演算される。そして、画像コントローラは、最大作業半径の領域を示す曲線である移動限界線を、撮影部が撮像する画像が属する絶対座標系に変換して、画像に重ねて表示する。 The image controller is configured to display, as information of another mobile crane, a movement limit line of a load of another mobile crane superimposed on the image of the display unit. The image controller calculates the maximum working radius centered on the turning center of the boom based on the load load and the outrigger overhang amount acquired by the crane controller. The image controller obtains coordinates of a range being imaged with the turning center as the origin based on the zoom magnification of the imaging unit (movie camera), the tilt angle, the pan angle, and the height position. The height of the imaging unit is calculated based on the boom length and the elevation angle acquired by the crane controller. Then, the image controller converts the movement limit line, which is a curve indicating the area of the maximum work radius, into the absolute coordinate system to which the image captured by the imaging unit belongs, and superimposes the image on the image.
特開２０１６－１９０７１９号公報JP, 2016-190719, A
　特許文献１に記載の移動式クレーンの表示装置では、撮像部の高さは、クレーン情報として取得されるクレーン長さおよび起伏角により求められているが、例えば、吊荷周辺の地表面が、ブームを有する作業機の設置面に比べて隆起又は沈下していると、撮像部から地表面までの距離を算定する際に、物体周辺の地表面の隆起量もしくは沈下量を考慮することができないため、撮像部の高さを正確に算定することができなかった。そのため、吊荷の動線情報（現在の作業半径での動線情報）を正確に表示することができない場合があった。 In the display device of the mobile crane described in Patent Document 1, the height of the imaging unit is determined by the crane length and the elevation angle acquired as crane information. For example, the ground surface around the suspended load is When calculating the distance from the imaging unit to the ground surface, it is not possible to consider the amount of elevation or settlement on the ground surface around the object if it is raised or lowered compared to the installation surface of the work machine having a boom Therefore, the height of the imaging unit could not be accurately calculated. Therefore, there were cases where it was not possible to correctly display the flow line information of the suspended load (flow line information at the current working radius).
　本発明は、斯かる現状の課題に鑑みてなされたものであり、吊荷の動線を正確に表したガイド情報を表示することができるガイド情報表示装置およびガイド情報表示装置を備えたクレーンと、吊荷の動線を正確に表したガイド情報を生成することができるガイド情報の生成方法を提供することを目的とする。 The present invention has been made in view of such current problems, and has a guide information display device capable of displaying guide information that accurately represents the flow line of a suspended load, and a crane including the guide information display device It is an object of the present invention to provide a method of generating guide information capable of generating guide information that accurately represents the flow line of a suspended load.
　本発明の解決しようとする課題は以上の如くであり、次にこの課題を解決するための手段を説明する。 The problem to be solved by the present invention is as described above, and next, means for solving the problem will be described.
　即ち、本発明に係るガイド情報表示装置は、ブームから垂下されるワイヤによって吊り下げられ、前記ブームの動作に応じて移動される吊荷の上方から、前記吊荷と地表面と、を少なくとも含む領域の映像を撮影するカメラと、前記領域において、前記吊荷の上方から点群データを取得するレーザスキャナと、を備えたデータ取得部と、前記カメラの映像を表示するデータ表示部と、前記レーザスキャナで取得した点群データに基づいて、前記カメラの映像に重畳して表示するガイド情報を生成するデータ処理部と、を備え、前記データ処理部は、前記レーザスキャナで取得した点群データに基づいて前記地表面の基準高を推定するとともに、前記地表面の基準高に基づいて前記カメラの撮影範囲を算出し、前記カメラの撮影範囲に基づいて、前記吊荷の動線を表す前記ガイド情報を生成することを特徴とする。
　このような構成のガイド情報表示装置によれば、吊荷の動線を正確に表したガイド情報を表示することができる。 That is, the guide information display device according to the present invention includes at least the suspended load and the ground surface from above the suspended load suspended by the wire suspended from the boom and moved according to the operation of the boom. A data acquisition unit including a camera for capturing an image of an area, a laser scanner for acquiring point cloud data from above the suspended load in the area, a data display unit for displaying an image of the camera, And a data processing unit that generates guide information to be displayed superimposed on the image of the camera based on point cloud data acquired by a laser scanner, the data processing unit including the point cloud data acquired by the laser scanner While estimating the reference height of the ground surface based on the above, calculating the imaging range of the camera based on the reference height of the ground surface, and based on the imaging range of the camera And generates the guide information representing a flow line of the suspended load.
According to the guide information display device having such a configuration, it is possible to display guide information that accurately represents the flow line of the hanging load.
　また、本発明に係るガイド情報表示装置は、前記データ処理部は、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心の位置を基準とした前記吊荷の旋回方向への動線を表す作業半径線情報を生成することを特徴とする。
　このような構成のガイド情報表示装置によれば、吊荷の動線を正確に表した作業半径線情報を表示することができる。 Further, in the guide information display device according to the present invention, the data processing unit moves the swing direction of the load based on the position of the swing center of the boom based on the imaging range of the camera as the guide information. Generating work radius line information representing the flow line of
According to the guide information display device having such a configuration, it is possible to display work radius line information that accurately represents the flow line of the suspended load.
　また、本発明に係るガイド情報表示装置は、前記データ処理部は、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心と前記データ取得部の位置とを基準とした前記吊荷の前記ブームの軸線方向への動線を表す軸線情報を生成することを特徴とする。
　このような構成のガイド情報表示装置によれば、吊荷の動線を正確に表した軸線情報を表示することができる。 Further, in the guide information display device according to the present invention, the data processing unit may set the boom based on the turning center of the boom and the position of the data acquisition unit as the guide information based on the imaging range of the camera. It is characterized in that axis information representing a flow line of the hanging load in the axial direction of the boom is generated.
According to the guide information display device having such a configuration, it is possible to display axis line information that accurately represents the flow line of the load.
　また、本発明に係るガイド情報表示装置において、前記データ処理部は、前記ガイド情報を破線によって出力し、かつ、該破線の長さおよび間隔を前記地表面の基準高に基づいて算出した前記カメラの撮影範囲に応じて設定することを特徴とする。
　このような構成のガイド情報表示装置によれば、オペレータは測定対象物に対する距離感を容易に把握することができる。 Further, in the guide information display device according to the present invention, the data processing unit outputs the guide information by a broken line, and the length and interval of the broken line are calculated based on the reference height of the ground surface. It is characterized in that it is set according to the photographing range of
According to the guide information display apparatus having such a configuration, the operator can easily grasp the sense of distance to the object to be measured.
　また、本発明に係るガイド情報表示装置において、前記データ処理部は、前記領域を、平面視において格子状に分割し、同一形状で、かつ、同一面積を有する複数の小領域を生成し、前記小領域において、前記レーザスキャナのレーザ中心位置からの鉛直方向の距離が最大である点データを抽出し、前記小領域において、前記距離が最大である点データに対する他の点データの前記距離の離れ量を算出するとともに、前記距離の離れ量が所定の閾値以下である点データを、地表面を構成する点データとして抽出し、前記地表面を構成する点データに基づいて前記小領域における前記地表面の基準高を推定することを特徴とする。
　このような構成のガイド情報表示装置によれば、吊荷の動線を正確に表したガイド情報を表示することができる。 Further, in the guide information display device according to the present invention, the data processing unit divides the area into a grid in plan view, and generates a plurality of small areas having the same shape and the same area, In the small area, point data having a maximum distance in the vertical direction from the laser center position of the laser scanner is extracted, and in the small area, the distances of the other point data from the point data having the maximum distance are separated While calculating the quantity, the point data whose distance separation distance is equal to or less than a predetermined threshold is extracted as point data constituting the ground surface, and the ground in the small area is based on the point data constituting the ground surface It is characterized in that the reference height of the surface is estimated.
According to the guide information display device having such a configuration, it is possible to display guide information that accurately represents the flow line of the hanging load.
　また、本発明に係るクレーンは、ガイド情報表示装置を備えることを特徴とする。
　このような構成のクレーンによれば、吊荷の動線を正確に表したガイド情報を表示することができる。 A crane according to the present invention is characterized by including a guide information display device.
According to the crane of such a configuration, it is possible to display guide information that accurately represents the flow line of the suspended load.
　また、本発明に係るガイド情報の生成方法は、カメラによって、ブームから垂下されるワイヤによって吊り下げられ、前記ブームの動作に応じて移動される吊荷の上方から、前記吊荷と地表面と、を少なくとも含む領域を撮影する撮影工程と、レーザスキャナによって、前記吊荷の上方から、前記領域において点群データを取得する点群データ取得工程と、前記レーザスキャナで取得した点群データに基づいて、前記カメラの映像に重畳して表示するガイド情報を生成するデータ処理手段によって、前記点群データに基づいて前記地表面の基準高を推定する地表面推定工程と、前記地表面の基準高に基づいて前記カメラの撮影範囲を算出する撮影範囲算出工程と、前記カメラの撮影範囲に基づいて、前記吊荷の動線を表す前記ガイド情報を生成する動線情報生成工程と、を備えることを特徴とする。
　このような構成のガイド情報の生成方法によれば、吊荷の動線を正確に表したガイド情報を生成することができる。 Further, according to the method of generating guide information according to the present invention, the hanging load and the ground surface are suspended from above the hanging load which is suspended by the wire suspended from the boom by the camera and moved according to the operation of the boom. And a point cloud data acquisition step of acquiring point cloud data in the area from above the suspended load by the laser scanner, and a point cloud data acquired by the laser scanner. A ground surface estimation step of estimating a reference height of the ground surface based on the point cloud data by data processing means for generating guide information to be displayed superimposed on the image of the camera; and a reference height of the ground surface A shooting range calculation step of calculating a shooting range of the camera based on the above, and the guide information representing the flow line of the hanging load based on the shooting range of the camera; A flow line information generating step of, characterized in that it comprises a.
According to the method of generating guide information of such a configuration, it is possible to generate guide information that accurately represents the flow line of the load.
　また、本発明に係るガイド情報の生成方法は、前記動線情報生成工程において、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心の位置を基準とした前記吊荷の旋回方向への動線を表す作業半径線情報を生成することを特徴とする。
　このような構成のガイド情報の生成方法によれば、吊荷の動線を正確に表したガイド情報を生成することができる。 Further, in the method of generating guide information according to the present invention, in the flow line information generation step, the lifting load based on the shooting range of the camera as the guide information is based on the position of the swing center of the boom. It is characterized in that work radius line information representing a flow line in the turning direction is generated.
According to the method of generating guide information of such a configuration, it is possible to generate guide information that accurately represents the flow line of the load.
　また、本発明に係るガイド情報の生成方法は、前記動線情報生成工程において、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心と前記カメラの位置とを基準とした前記吊荷の前記ブームの軸線方向への動線を表す軸線情報を生成することを特徴とする。
　このような構成のガイド情報の生成方法によれば、吊荷の動線を正確に表したガイド情報を生成することができる。 Further, in the method of generating guide information according to the present invention, in the flow line information generation step, based on a photographing range of the camera as the guide information, a pivot center of the boom and a position of the camera are referenced. It is characterized in that axis information representing a flow line in the axial direction of the boom of the load is generated.
According to the method of generating guide information of such a configuration, it is possible to generate guide information that accurately represents the flow line of the load.
　また、本発明に係るガイド情報の生成方法は、前記データ処理手段によって、前記ガイド情報を破線によって出力し、かつ、該破線の長さおよび間隔を前記カメラの撮影範囲に応じて設定する動線情報表示工程を、さらに備えることを特徴とする。
　このような構成のガイド情報の生成方法によれば、オペレータは測定対象物に対する距離感を容易に把握することができる。 Further, in the method of generating guide information according to the present invention, the data processing means outputs the guide information as a broken line, and the length and interval of the broken line are set according to the photographing range of the camera. An information display process is further provided.
According to the method of generating guide information of such a configuration, the operator can easily grasp the sense of distance to the object to be measured.
　本発明の効果として、以下に示すような効果を奏する。 The effects of the present invention are as follows.
　本発明に係るガイド情報表示装置、クレーンおよびガイド情報の生成方法によれば、吊荷の動線を正確に表したガイド情報を表示することができる。 According to the guide information display device, the crane, and the method of generating guide information according to the present invention, guide information that accurately represents the flow line of the suspended load can be displayed.
本発明の一実施形態に係るクレーンの全体構成を示す模式図。The schematic diagram which shows the whole structure of the crane which concerns on one Embodiment of this invention. 吊荷領域を説明する平面模式図。The plane schematic diagram explaining a suspended load area. 本発明の一実施形態に係るガイド情報表示装置の全体構成を示す模式図。BRIEF DESCRIPTION OF THE DRAWINGS The schematic diagram which shows the whole structure of the guide information display apparatus which concerns on one Embodiment of this invention. 吊荷領域を説明する側面模式図。The side schematic diagram explaining a suspended load area. カメラ空間座標系およびカメラの画角の説明図、（Ａ）Ｚ軸方向視模式図、（Ｂ）Ｘ軸方向視模式図。Explanatory drawing of a camera space coordinate system and the view | field angle of a camera, (A) Z axial direction view schematic diagram, (B) X axial direction view schematic diagram. レーザスキャナによるレーザの照射状況の説明図、（Ａ）Ｘ軸方向視模式図、（Ｂ）Ｙ軸方向視模式図。Explanatory drawing of the irradiation condition of the laser by a laser scanner, (A) X axial direction view schematic diagram, (B) Y axial direction view schematic diagram. データ取得部を示す模式図、（Ａ）Ｙ軸方向視見上げ図、（Ｂ）図７（Ａ）におけるＡ－Ａ断面図。FIG. 7A is a schematic view showing a data acquisition unit; FIG. 7A is a view looking up in the Y-axis direction; FIG. ガイド情報の表示状態を示す図、（Ａ）映像Ｍを表示したデータ表示部を示す図、（Ｂ）映像Ｍとガイド情報ＧＤを重畳表示したデータ表示部を示す図。FIG. 8A is a diagram showing a display state of guide information, FIG. 8A is a diagram showing a data display unit displaying an image M, and FIG. 8B is a diagram showing a data display unit showing an image M and guide information GD superimposed. ガイド情報表示装置の別構成を示す模式図、（Ａ）データ処理部、データ表示部、データ入力部をタブレットＰＣで構成した場合、（Ｂ）データ表示部、データ入力部をタッチパネル式ディスプレイ装置で構成した場合。A schematic diagram showing another configuration of the guide information display device, (A) when the data processing unit, data display unit, and data input unit are constituted by a tablet PC, (B) data display unit, data input unit by touch panel display device If configured 吊荷領域とレーザ側線の関係を示す模式図。The schematic diagram which shows the relationship between a suspended load area | region and a laser side line. レーザスキャナによるレーザの照射状況を説明するＺ軸方向視模式図。The Z-axis direction view schematic diagram explaining the irradiation condition of the laser by a laser scanner. データ処理部によるデータ処理の流れを示すフロー図。FIG. 7 is a flowchart showing the flow of data processing by the data processing unit. データ取得部によって取得した点群データを示す図、（Ａ）点群データをＸＹＺ座標系にプロットした図、（Ｂ）ＸＹＺ座標系にプロットした点群データを複数のグループに分けた図。The figure which shows the point-group data acquired by the data acquisition part, (A) The figure which plotted the point-group data on a XYZ coordinate system, (B) The figure which divided the point-group data plotted on a XYZ coordinate system into several groups. 地表面推定方法のフロー図。Flow chart of the ground surface estimation method. 地表面の指定時における基準高の算出方法の説明図、（Ａ）基準高の算出方法を示す図、（Ｂ）吊荷領域の分割状況を示す模式図。Explanatory drawing of the calculation method of the reference | standard height at the time of designation | designated of the ground surface, (A) The figure which shows the calculation method of reference | standard height, (B) The schematic diagram which shows the division condition of a hanging load area. オペレータによる地表面の指定状況を示す模式図。The schematic diagram which shows the designation | designated condition of the ground surface by an operator. 平面クラスタの生成方法の説明図。Explanatory drawing of the production | generation method of a planar cluster. 平面の推定手順を示すフロー図。The flowchart which shows the presumed procedure of a plane. 平面の推定手順（ＳＴＥＰ－３０１～３０２）の説明図。Explanatory drawing of the presumed procedure (STEP-301-302) of a plane. 平面の推定手順（ＳＴＥＰ－３０３～３０５）の説明図。Explanatory drawing of the presumed procedure (STEP-303-305) of a plane. 平面の推定手順（ＳＴＥＰ－３０６～３０８）の説明図。Explanatory drawing of the presumed procedure (STEP-306-308) of a plane. 平面の推定手順（ＳＴＥＰ－３０６～３０８（２回目））の説明図。Explanatory drawing of the presumed procedure (STEP-306-308 (2nd time)) of a plane. 平面の推定手順（上面の推定状況）の説明図。Explanatory drawing of the presumed procedure (the presumed condition of an upper surface) of a plane. 異なるグループに存在する平面の結合方法のフロー図。FIG. 7 is a flow diagram of a method of combining planes present in different groups. 異なるグループに存在する平面の結合方法の説明図。Explanatory drawing of the coupling method of the plane which exists in a different group. 同一領域のクラスタリング処理の説明図。Explanatory drawing of the clustering process of the same area | region. 階層的クラスタリングの説明図、（Ａ）第一の例の地物の場合、（Ｂ）第二の例の地物の場合。An explanatory view of hierarchical clustering, (A) in the case of the feature of the first example, (B) in the case of the feature of the second example. ガイド枠の生成手順の説明図。Explanatory drawing of the production | generation procedure of a guide frame. 階層的クラスタリングにおける同一領域クラスタの設定例を示す図、（Ａ）全体を囲む同一領域クラスタとする場合、（Ｂ）標高値が最も高い平面クラスタを別の同一領域クラスタとして設定する場合、（Ｃ）標高値の差分が閾値以上である平面クラスタを全て含む別の同一領域クラスタを設定する場合。A diagram showing an example of setting the same area cluster in hierarchical clustering, (A) in the case of the same area cluster surrounding the whole, (B) in the case of setting a plane cluster having the highest elevation value as another same area cluster ) When another same area cluster including all planar clusters whose elevation value difference is equal to or greater than a threshold is set. 作業半径線情報の生成手順の説明図。Explanatory drawing of the production | generation procedure of work radius line information. 軸線情報の生成手順の説明図。Explanatory drawing of the production | generation procedure of axis line information. 作業半径を示すクレーンの側面模式図。The side surface schematic diagram of the crane which shows a working radius. 吊荷の動線情報であるガイド情報の生成方法のフロー図。The flowchart of the production | generation method of the guide information which is flow line information of a suspended load. データ表示部における警報表示を示す模式図。The schematic diagram which shows the alarm display in a data display part. 除外領域の設定状況の説明図。Explanatory drawing of the setting condition of an exclusion zone.
　次に、発明の実施の形態を説明する。
　図１に示す如く、クレーン１は、本発明の一実施形態に係るガイド情報表示装置を備えたクレーンの一例であり、所望の場所に移動可能な移動式クレーンである。
　クレーン１は、走行車両１０、クレーン装置２０を備えている。 Next, an embodiment of the invention will be described.
As shown in FIG. 1, the crane 1 is an example of a crane provided with a guide information display device according to an embodiment of the present invention, and is a mobile crane that can move to a desired location.
The crane 1 includes a traveling vehicle 10 and a crane device 20.
　走行車両１０は、クレーン装置２０を搬送するものであり、複数（本実施形態では４個）の車輪１１を有し、エンジン（図示せず）を動力源として走行する。
　走行車両１０の四方角部には、アウトリガ１２が設けられている。アウトリガ１２は、走行車両１０の幅方向両側に油圧によって延伸可能な張り出しビーム１２ａと地面に垂直な方向に延伸可能な油圧式のジャッキシリンダ１２ｂとから構成されている。そして、走行車両１０は、ジャッキシリンダ１２ｂを接地させることにより、クレーン１を作業可能な状態とすることができ、張り出しビーム１２ａの延伸長さを大きくすることにより、クレーン１の作業可能範囲（作業半径）を広げることができる。 The traveling vehicle 10 transports the crane device 20, has a plurality of (four in the present embodiment) wheels 11, and travels using an engine (not shown) as a power source.
An outrigger 12 is provided at each of four corners of the traveling vehicle 10. The outrigger 12 is composed of an overhang beam 12a that can be extended hydraulically on both sides in the width direction of the traveling vehicle 10, and a hydraulic jack cylinder 12b that can extend in a direction perpendicular to the ground. The traveling vehicle 10 can bring the crane 1 into a workable state by grounding the jack cylinder 12b, and by increasing the extension length of the overhang beam 12a, the workable range of the crane 1 (work Radius) can be extended.
　クレーン装置２０は、吊荷Ｗをワイヤロープによって吊り上げるものであり、旋回台２１、伸縮ブーム２２、メインフックブロック２３、サブフックブロック２４、起伏シリンダ２５、メインウインチ２６、メインワイヤロープ２７、サブウインチ２８、サブワイヤロープ２９、キャビン３０を備えている。 The crane device 20 lifts the load W by a wire rope, and the swivel base 21, the telescopic boom 22, the main hook block 23, the sub hook block 24, the relief cylinder 25, the main winch 26, the main wire rope 27, the sub winch A sub wire rope 29 and a cabin 30 are provided.
　旋回台２１は、クレーン装置２０を旋回可能に構成するものであり、円環状の軸受を介して走行車両１０のフレーム上に設けられる。円環状の軸受は、その回転中心が走行車両１０の設置面に対して垂直になるように配置されている。旋回台２１は、円環状の軸受の中心を回転中心として一方向と他方向とに回転自在に構成されている。また、旋回台２１は、油圧式の旋回モータ（図示せず）によって回転される。 The swivel base 21 is configured to be able to pivot the crane apparatus 20, and is provided on the frame of the traveling vehicle 10 via an annular bearing. The annular bearing is disposed such that the center of rotation thereof is perpendicular to the installation surface of the traveling vehicle 10. The swivel base 21 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as a rotation center. In addition, the swivel base 21 is rotated by a hydraulic swivel motor (not shown).
　伸縮ブーム２２は、吊荷Ｗを吊り上げ可能な状態にワイヤロープを支持するものである。伸縮ブーム２２は、複数のブーム部材であるベースブーム部材２２ａ、セカンドブーム部材２２ｂ、サードブーム部材２２ｃ、フォースブーム部材２２ｄ、フィフスブーム部材２２ｅ、トップブーム部材２２ｆから構成されている。各ブーム部材は、断面積の大きさの順に入れ子式に挿入されている。伸縮ブーム２２は、各ブーム部材を図示しない伸縮シリンダで移動させることで軸方向に伸縮自在に構成されている。伸縮ブーム２２は、ベースブーム部材２２ａの基端が旋回台２１上に揺動可能に設けられている。これにより、伸縮ブーム２２は、走行車両１０のフレーム上で水平回転可能かつ揺動自在に構成されている。 The telescopic boom 22 supports the wire rope in a state in which the load W can be lifted. The telescopic boom 22 includes a plurality of base boom members 22a, second boom members 22b, third boom members 22c, force boom members 22d, fifth boom members 22e, and top boom members 22f. Each boom member is inserted in the order of the size of the cross-sectional area in a nested manner. The telescopic boom 22 is configured to be telescopic in the axial direction by moving each boom member with a telescopic cylinder (not shown). The telescopic boom 22 is provided so that the base end of the base boom member 22 a can swing on the swivel base 21. Thus, the telescopic boom 22 is configured to be horizontally rotatable and swingable on the frame of the traveling vehicle 10.
　メインフックブロック２３は、吊荷Ｗを引掛けて吊り下げるためのものであり、メインワイヤロープ２７が巻き掛けられる複数のフックシーブと、吊荷Ｗを吊るメインフック３２とが設けられている。
　クレーン装置２０は、メインフックブロック２３の他に、吊荷Ｗを引掛けて吊り下げるためのサブフックブロック２４をさらに備えており、サブフックブロック２４には、吊荷Ｗを吊るサブフック３３が設けられている。 The main hook block 23 is for hooking and suspending the hanging load W, and a plurality of hook sheaves around which the main wire rope 27 is wound and a main hook 32 for hanging the hanging load W are provided.
The crane apparatus 20 further includes a sub hook block 24 for hooking and suspending the suspended load W in addition to the main hook block 23, and the sub hook block 24 is provided with a sub hook 33 for suspending the suspended load W. It is done.
　起伏シリンダ２５は、伸縮ブーム２２を起立および倒伏させ、伸縮ブーム２２の姿勢を保持するものである。起伏シリンダ２５はシリンダ部とロッド部とからなる油圧シリンダから構成されている。 The relief cylinder 25 raises and lowers the telescopic boom 22 and holds the telescopic boom 22 in a posture. The relief cylinder 25 is composed of a hydraulic cylinder consisting of a cylinder portion and a rod portion.
　メインウインチ２６は、メインワイヤロープ２７の繰り入れ（巻き上げ）および繰り出し（巻き下げ）を行うものであり、本実施形態では油圧ウインチによって構成している。
　メインウインチ２６は、メインワイヤロープ２７が巻きつけられるメインドラムがメイン用油圧モータによって回転されるように構成されている。メインウインチ２６は、メイン用油圧モータが一方向へ回転するように作動油が供給されることでメインドラムに巻きつけられているメインワイヤロープ２７を繰り出し、メイン用油圧モータが他方向へ回転するように作動油が供給されることでメインワイヤロープ２７をメインドラムに巻きつけて繰り入れるように構成されている。 The main winch 26 is for carrying in (rolling up) and unwinding (rolling down) the main wire rope 27, and in the present embodiment, is constituted by a hydraulic winch.
The main winch 26 is configured such that the main drum on which the main wire rope 27 is wound is rotated by the main hydraulic motor. The main winch 26 feeds the main wire rope 27 wound around the main drum by supplying the hydraulic fluid so that the main hydraulic motor rotates in one direction, and the main hydraulic motor rotates in the other direction. As described above, the main wire rope 27 is wound around the main drum and fed in by supplying the hydraulic oil.
　また、サブウインチ２８は、サブワイヤロープ２９の繰り入れおよび繰り出しを行うものであり、本実施形態では、油圧ウインチによって構成している。 Further, the sub winch 28 is for carrying in and delivering the sub wire rope 29, and in the present embodiment, is constituted by a hydraulic winch.
　キャビン３０は、オペレータが着座する運転座席３１を覆うものであり、旋回台２１における伸縮ブーム２２の側方に設けられている。 The cabin 30 covers a driver's seat 31 on which the operator is seated, and is provided on the side of the telescopic boom 22 in the swivel base 21.
　このように構成されるクレーン１は、走行車両１０を走行させることで、任意の位置にクレーン装置２０を移動させることができ、また、起伏シリンダ２５で伸縮ブーム２２を任意の起伏角度に起立させることで、伸縮ブーム２２を任意の伸縮ブーム長さに延伸させることができる。 The crane 1 configured as described above can move the crane device 20 to an arbitrary position by causing the traveling vehicle 10 to travel, and causes the telescopic boom 22 to rise to an arbitrary elevation angle by the elevation cylinder 25. Thus, the telescopic boom 22 can be extended to any telescopic boom length.
　また、クレーン１は、旋回台２１、伸縮ブーム２２、起伏シリンダ２５等の動作（即ち、クレーン１の動作）を制御するコントローラ３４を備えている。コントローラ３４は、旋回台２１、伸縮ブーム２２、起伏シリンダ２５等の動作状態に係る情報や、クレーン１固有の性能に係る情報、および吊荷Ｗの重量等を外部に出力することが可能である。 The crane 1 also includes a controller 34 that controls the operation of the swivel base 21, the telescopic boom 22, the relief cylinder 25 and the like (that is, the operation of the crane 1). The controller 34 can externally output information concerning the operation state of the swivel base 21, the telescopic boom 22, the hoisting cylinder 25, etc., information concerning the performance unique to the crane 1, the weight of the suspended load W, etc. .
　尚、本説明では、伸縮ブーム２２の起伏支点の軸方向を基準として、図１に示すようなＸＹＺ座標系を規定している（以下の説明においても同様）。
　Ｘ軸方向（側線方向とも呼ぶ）は、伸縮ブーム２２の起伏支点の軸方向に対して平行な水平方向である。また、Ｙ軸方向（標高方向とも呼ぶ）は、鉛直方向である。さらに、Ｚ軸方向（奥行方向とも呼ぶ）は、伸縮ブーム２２の起伏支点の軸方向に対して垂直な水平方向である。即ち、ＸＹＺ座標系は、図２に示すように、伸縮ブーム２２を基準としたローカル座標系として規定している。 In the present description, an XYZ coordinate system as shown in FIG. 1 is defined with reference to the axial direction of the fulcrum of the telescopic boom 22 (the same applies to the following description).
The X-axis direction (also referred to as a lateral direction) is a horizontal direction parallel to the axial direction of the fulcrum of the telescopic boom 22. Also, the Y-axis direction (also referred to as the elevation direction) is the vertical direction. Furthermore, the Z-axis direction (also referred to as the depth direction) is a horizontal direction perpendicular to the axial direction of the fulcrum of the telescopic boom 22. That is, the XYZ coordinate system is defined as a local coordinate system based on the telescopic boom 22, as shown in FIG.
　次に、本発明の一実施形態に係るガイド情報表示装置について、説明する。
　クレーン１は、図３に示すようなガイド情報表示装置５０を備えている。
　ガイド情報表示装置５０は、本発明に係るガイド情報表示装置の一例であり、図１に示すようなクレーン１による作業を効率よく、かつ、安全に行うことを可能にするために、吊荷Ｗを含む領域（以下、吊荷領域ＷＡと言う）の情報（以下、ガイド情報と言う）を映像で表示し、オペレータに提示するための装置である。 Next, a guide information display apparatus according to an embodiment of the present invention will be described.
The crane 1 is provided with a guide information display device 50 as shown in FIG.
The guide information display device 50 is an example of the guide information display device according to the present invention, and in order to enable the work by the crane 1 as shown in FIG. 1 to be performed efficiently and safely, the hanging load W It is a device for displaying information (hereinafter referred to as guide information) of an area including the following (hereinafter referred to as a hanging load area WA) as a video and presenting it to the operator.
　ここでいう「吊荷領域ＷＡ」とは、図２および図４に示すように、クレーン１の作業領域ＳＡ内で、Ｙ軸方向視において吊荷Ｗを含む領域として設定されるものであり、「ガイド情報」を生成する対象となる領域である。
　「吊荷領域ＷＡ」は、クレーン１における伸縮ブーム２２のトップブーム部材２２ｆの直下を含む領域として設定され、吊荷領域ＷＡ内に存在する吊荷Ｗ、地表面Ｆ、地物Ｃが、ガイド情報表示装置５０による測定対象物となる。「吊荷領域ＷＡ」は、伸縮ブーム２２の旋回動作、起伏動作、伸縮動作に応じて変位する。 The “hanging load area WA” here is set as an area including the hanging load W in the Y-axis direction view in the working area SA of the crane 1, as shown in FIGS. 2 and 4. This is an area for which “guide information” is to be generated.
The “suspended load area WA” is set as an area including immediately below the top boom member 22 f of the telescopic boom 22 in the crane 1, and the suspended load W, the ground surface F, and the feature C existing in the suspended load area WA are guides It becomes a measurement object by the information display device 50. The “suspended load area WA” is displaced in response to the turning operation, the raising and lowering operation, and the extension and contraction operation of the extension boom 22.
　また、ここで言う「ガイド情報」は、オペレータがクレーン１によって吊荷Ｗを搬送するときに、伸縮ブーム２２の長さ・旋回位置・起伏角度、ワイヤロープの巻き出し量等の良否について、オペレータの判断を補助する情報であり、吊荷領域ＷＡの映像情報、吊荷Ｗおよび地物Ｃの形状に係る情報、吊荷Ｗの高さ情報、地物Ｃの高さ情報、吊荷Ｗの動線に係る情報等が含まれる。 In addition, the “guide information” referred to here is the operator about the quality of the telescopic boom 22 such as the length, the turning position, the ups and downs angle, the amount of unwinding of the wire rope when the operator transports the load W by the crane 1 Image information of the suspended load area WA, information pertaining to the shapes of the suspended load W and the feature C, height information of the suspended load W, height information of the feature C, and of the suspended load W It contains information related to flow lines.
　図３および図４に示す如く、ガイド情報表示装置５０は、データ取得部６０と、データ処理部７０と、データ表示部８０と、データ入力部９０によって、構成されている。 As shown in FIGS. 3 and 4, the guide information display device 50 is configured by a data acquisition unit 60, a data processing unit 70, a data display unit 80, and a data input unit 90.
　データ取得部６０は、吊荷領域ＷＡにおけるガイド情報を生成するために必要なデータを取得する部位であり、図３に示すように、カメラ６１、レーザスキャナ６２、慣性計測装置（ＩＭＵ）６３を備えている。 The data acquisition unit 60 is a part for acquiring data necessary for generating guide information in the suspended load area WA, and as shown in FIG. 3, the camera 61, the laser scanner 62, and the inertial measurement device (IMU) 63 Have.
　図４に示すように、データ取得部６０は、クレーン１の伸縮ブーム２２の先端に位置しているトップブーム部材２２ｆに付設されており、吊荷Ｗの真上に位置するブーム先端から真下の状況を捉えることができる状態で配置されている。尚、ここでいう吊荷Ｗの「真上」は、吊荷Ｗの鉛直上方の位置と、その位置を基準とした一定範囲（例えば、吊荷Ｗの上面の範囲）の位置と、を含む概念である。 As shown in FIG. 4, the data acquisition unit 60 is attached to the top boom member 22 f located at the tip of the telescopic boom 22 of the crane 1, and directly below the boom tip located directly above the load W It is placed in a state where it can catch the situation. Here, “directly above” the suspended load W includes the position vertically above the suspended load W and the position of a certain range (for example, the range of the upper surface of the suspended load W) based on that position. It is a concept.
　データ取得部６０は、伸縮ブーム２２の先端部のトップブーム部材２２ｆに対してジンバル６７（図１参照）を介して付設されており、伸縮ブーム２２が起伏動作、旋回動作、伸縮動作をしたときに、データ取得部６０の姿勢（Ｙ軸方向に向けた姿勢）を略一定に保持することができるように構成されている。これにより、カメラ６１とレーザスキャナ６２を常に吊荷Ｗに向けておくことができる。このため、データ取得部６０は、カメラ６１とレーザスキャナ６２によって、吊荷Ｗとその下方に存在する地表面Ｆ（即ち、吊荷領域ＷＡ）から、常にデータを取得することができる。また、吊荷領域ＷＡに地物Ｃが存在する場合には、カメラ６１とレーザスキャナ６２によって、地物Ｃのデータを取得することができる。 The data acquisition unit 60 is attached to the top boom member 22f at the tip of the telescopic boom 22 via a gimbal 67 (see FIG. 1), and when the telescopic boom 22 performs a hoisting operation, a turning operation, and an telescopic operation. In addition, the attitude of the data acquisition unit 60 (the attitude in the Y-axis direction) can be maintained substantially constant. Thus, the camera 61 and the laser scanner 62 can always be directed to the load W. For this reason, the data acquisition unit 60 can always acquire data from the suspended load W and the ground surface F (that is, the suspended load area WA) existing therebelow by the camera 61 and the laser scanner 62. Further, when the feature C exists in the suspended load area WA, data of the feature C can be acquired by the camera 61 and the laser scanner 62.
　図５（Ａ）（Ｂ）に示すように、カメラ６１は、吊荷領域ＷＡの映像を撮影するためのデジタルビデオカメラであり、撮影した映像をリアルタイムで外部に出力する機能を有している。カメラ６１は、図５（Ａ）（Ｂ）に示すような画角（水平画角θｈおよび垂直画角θｖ）を有している。また、カメラ６１は、適切なガイド情報の生成に必要なデータ量を考慮した画素数、フレームレート、画像伝送レートを有している。 As shown in FIGS. 5A and 5B, the camera 61 is a digital video camera for capturing an image of the suspended load area WA, and has a function of outputting the captured image to the outside in real time. . The camera 61 has an angle of view (horizontal angle of view θh and vertical angle of view θv) as shown in FIGS. 5 (A) and 5 (B). In addition, the camera 61 has the number of pixels, the frame rate, and the image transmission rate in consideration of the amount of data necessary for generating appropriate guide information.
　図３に示すように、レーザスキャナ６２は、測定対象物にレーザを照射し、そのレーザの測定対象物における反射光を受光することによって、その反射点に係る情報を取得し、測定対象物の点群データを取得する装置である。レーザスキャナ６２の測定対象物は、吊荷Ｗ、地物Ｃ、地表面Ｆである。また、レーザスキャナ６２には、測定時刻を取得するための第一ＧＮＳＳ受信機６５が接続されている。
　ガイド情報表示装置５０では、レーザスキャナ６２によって、リアルタイムに平面的な三次元点群データを取得する。 As shown in FIG. 3, the laser scanner 62 irradiates a laser to the object to be measured, and receives light reflected from the object to be measured by the laser, thereby acquiring information on the reflection point, and It is an apparatus for acquiring point cloud data. The objects to be measured by the laser scanner 62 are a load W, a feature C, and a ground surface F. In addition, a first GNSS receiver 65 for acquiring a measurement time is connected to the laser scanner 62.
In the guide information display device 50, the laser scanner 62 acquires planar three-dimensional point cloud data in real time.
　図６に示すように、レーザスキャナ６２は、合計１６個のレーザ送受信センサを備えており、同時に１６本のレーザを測定対象物に照射して、測定対象物の点群データを取得することができるものである。レーザスキャナ６２の１６個の各レーザ送受信センサは、Ｚ軸方向において２°ずつ照射角度を異ならせて配置されており、測定対象物に対して、全体で３０°の拡がりを持ってレーザを照射可能に構成されている。また、レーザスキャナ６２の各レーザ送受信センサは、Ｚ軸回りに３６０°（全方位）回転可能に構成されている。尚、以下の説明では、吊荷領域ＷＡに向けて照射されるレーザが描く軌跡をレーザ側線と呼ぶ。レーザ側線は、Ｘ軸方向に対して平行であり、レーザスキャナ６２では、１６本のレーザ側線が同時に描かれる。 As shown in FIG. 6, the laser scanner 62 is provided with a total of 16 laser transmitting / receiving sensors, and it is possible to simultaneously irradiate 16 lasers to the measurement object to acquire point cloud data of the measurement object It is possible. The 16 laser transmitting / receiving sensors of the laser scanner 62 are disposed with different irradiation angles by 2 ° in the Z-axis direction, and irradiate the laser with a spread of 30 ° as a whole to the object to be measured. It is configured to be possible. Further, each laser transmission / reception sensor of the laser scanner 62 is configured to be capable of rotating 360 degrees (all directions) around the Z axis. In the following description, a locus drawn by a laser irradiated toward the suspended load area WA is referred to as a laser side line. The laser side line is parallel to the X-axis direction, and the laser scanner 62 simultaneously draws 16 laser side lines.
　そして、レーザスキャナ６２は、レーザ側線がＸ軸方向に対して平行となるように配置されている。また、レーザスキャナ６２は、レーザの照射角度を変更する基準軸が、Ｚ軸方向に対して平行とされている。 The laser scanner 62 is disposed such that the laser side line is parallel to the X-axis direction. Further, in the laser scanner 62, a reference axis for changing the irradiation angle of the laser is parallel to the Z-axis direction.
　図３に示すように、慣性計測装置（Ｉｎｅｒｔｉａｌ　Ｍｅａｓｕｒｅｍｅｎｔ　Ｕｎｉｔ、以下ＩＭＵと呼ぶ）６３は、データ取得時におけるカメラ６１とレーザスキャナ６２の姿勢データを取得するための装置である。ＩＭＵ６３は、リアルタイムで姿勢角を測定することが可能であり、レーザスキャナ６２によって取得した点群データの補正に利用可能な測定精度を有している。また、ＩＭＵ６３には、測定時刻を取得するための第二ＧＮＳＳ受信機６６が接続されている。 As shown in FIG. 3, an inertial measurement unit (hereinafter referred to as IMU) 63 is a device for acquiring posture data of the camera 61 and the laser scanner 62 at the time of data acquisition. The IMU 63 can measure the attitude angle in real time, and has measurement accuracy that can be used to correct point cloud data acquired by the laser scanner 62. In addition, a second GNSS receiver 66 for obtaining measurement time is connected to the IMU 63.
　図７（Ａ）（Ｂ）に示すように、データ取得部６０はカメラ６１、レーザスキャナ６２、慣性計測装置（ＩＭＵ）６３をフレーム体６４に対して固定し、一体に構成したセンサユニットである。
　フレーム体６４は、５枚の板材を組み合わせて構成された略直方体状の物体である。フレーム体６４は、４枚の板材で直方体の四方の側面部を構成するとともに、残り１枚の板材で、直方体の上面部を構成し、下方に開口部を有する形状に構成されている。データ取得部６０では、カメラ６１とレーザスキャナ６２を、フレーム体６４の側面部内側に付設し、ＩＭＵ６３を、フレーム体６４の上面部に付設している。図７（Ａ）に示すように、カメラ６１の撮像素子中心位置とレーザスキャナ６２のレーザ中心位置は、Ｙ軸方向視において、Ｚ軸方向に距離Δｚｈで離間している。尚、レーザ中心位置とは、レーザスキャナ６２におけるレーザの回転中心であり、Ｚ軸上に位置している。
　また、図７（Ｂ）に示すように、カメラ６１の撮像素子中心位置とレーザスキャナ６２のレーザ中心位置は、Ｘ軸方向視において、Ｙ軸方向に距離Δｙｖで離間している。
　データ取得部６０は、フレーム体６４の四方の側面部のうち、対面する一対の側面部の一方がＺ軸に対して垂直となり、対面する一対の側面部の他方がＸ軸に対して垂直となる姿勢で配置される。また、データ取得部６０は、フレーム体６４の上面部が、Ｙ軸に対して垂直となる姿勢で配置される。 As shown to FIG. 7 (A) (B), the data acquisition part 60 is a sensor unit which fixed the camera 61, the laser scanner 62, and inertial measurement device (IMU) 63 with respect to the frame body 64, and was comprised integrally. .
The frame body 64 is a substantially rectangular parallelepiped object configured by combining five plate members. The frame body 64 constitutes a rectangular parallelepiped side surface portion of four plate members, and the remaining one plate member constitutes an upper surface portion of the rectangular parallelepiped member and has an opening at the lower side. In the data acquisition unit 60, the camera 61 and the laser scanner 62 are attached to the inner side of the side surface of the frame 64, and the IMU 63 is attached to the upper surface of the frame 64. As shown in FIG. 7A, the image pickup device center position of the camera 61 and the laser center position of the laser scanner 62 are separated by a distance Δzh in the Z-axis direction when viewed in the Y-axis direction. The laser center position is the rotation center of the laser in the laser scanner 62 and is located on the Z axis.
Further, as shown in FIG. 7B, the image pickup device center position of the camera 61 and the laser center position of the laser scanner 62 are separated by a distance Δyv in the Y axis direction when viewed in the X axis direction.
In the data acquisition unit 60, one of a pair of facing side surfaces of the four side surfaces of the frame body 64 is perpendicular to the Z axis, and the other of the facing pair of side surfaces is perpendicular to the X axis Will be placed in In addition, the data acquisition unit 60 is disposed in a posture in which the upper surface portion of the frame body 64 is perpendicular to the Y axis.
　次に、ＸＹＺ座標系における点（ｘ，ｙ）のＸ座標を、カメラ空間座標系におけるＸｃ座標に変換する方法について、説明する。 Next, a method of converting the X coordinate of point (x, y) in the XYZ coordinate system into the Xc coordinate in the camera space coordinate system will be described.
　ガイド情報表示装置５０では、カメラ６１で撮影した映像Ｍ上に後述するガイド情報ＧＤを重畳してデータ表示部８０に表示するために、ＸＹＺ座標系とカメラ空間座標系の間で座標値の変換処理を行う。ガイド情報表示装置５０では、カメラ６１の映像空間において、三次元のカメラ空間座標系Ｘｃ・Ｙｃ・Ｚｃを規定している。 The guide information display device 50 converts coordinate values between the XYZ coordinate system and the camera space coordinate system in order to superimpose guide information GD to be described later on the image M captured by the camera 61 and display the guide information GD on the data display unit 80. Do the processing. In the guide information display device 50, a three-dimensional camera space coordinate system Xc · Yc · Zc is defined in the video space of the camera 61.
　図５（Ａ）に示すように、カメラ６１のレンズ中心から延ばした垂線から点（ｘ，ｙ）までのＸ軸方向の距離をｄｈ、カメラ６１の水平方向の最大画面幅をｗｈとする。また、点（ｘ，ｙ）は、画面中心からＸ軸方向の位置をｘとしている。このとき、カメラ空間における点（ｘ，ｙ）のＸｃ座標は、以下の数式（１）（２）で表される。
　尚、以下の数式では、カメラ６１の撮像素子とレーザ中心の位置の水平方向の差分をΔｚｈとし（図７（Ａ）参照）、カメラ画像の横幅をｗｈ、カメラ６１の水平画角をθｈ、一時変数をｔｍｐ１としている。
　　ｔｍｐ１＝（ｙ－Δｚｈ）×ｔａｎ（π×θｈ／３６０）・・・（１）
　　Ｘｃ＝ｗｈ／２－ｗｈ×ｘ／（２×ｔｍｐ１）・・・（２） As shown in FIG. 5A, the distance in the X-axis direction from the vertical line extended from the lens center of the camera 61 to the point (x, y) is dh, and the maximum screen width in the horizontal direction of the camera 61 is wh. In addition, the point (x, y) has a position in the X axis direction from the screen center as x. At this time, the Xc coordinates of the point (x, y) in the camera space are expressed by the following Equations (1) and (2).
In the following equation, the horizontal difference between the position of the imaging device of the camera 61 and the center of the laser is Δzh (see FIG. 7A), the horizontal width of the camera image is wh, and the horizontal angle of view of the camera 61 is θh, The temporary variable is tmp1.
tmp1 = (y−Δzh) × tan (π × θh / 360) (1)
Xc = wh / 2-wh × x / (2 × tmp 1) (2)
　次に、ＸＹＺ座標系における点（ｙ，ｚ）のＺ座標を、カメラ空間座標系におけるＺｃ座標に変換する方法について、説明する。
　図５（Ｂ）に示すように、点（ｙ，ｚ）からレーザ中心までのＺ軸方向の距離をｄｖ、カメラ６１の水平方向の最大画面幅をｗｖとしている。また、点（ｙ，ｚ）は、画面中心からＺ軸方向の位置をｚとしている。このとき、カメラ空間における点（ｙ，ｚ）のＺｃ座標は、以下の数式（３）（４）で表される。
　尚、以下の数式では、カメラ６１の撮像素子とレーザスキャナ６２のレーザ中心の位置の垂直方向の差分をΔｙｖ（図７（Ｂ）参照）、カメラ画像の縦幅をｗｖ、カメラ６１の垂直画角をθｖ、一時変数をｔｍｐ２としている。
　　ｔｍｐ２＝Ｙ×ｔａｎ（π×θｖ／３６０）・・・（３）
　　Ｚｃ＝ｗｖ／２＋ｗｖ×（Ｚ－Δｙｖ）／（２×ｔｍｐ２）・・・（４） Next, a method of converting the Z coordinates of the point (y, z) in the XYZ coordinate system into Zc coordinates in the camera space coordinate system will be described.
As shown in FIG. 5B, the distance in the Z-axis direction from the point (y, z) to the laser center is dv, and the maximum screen width in the horizontal direction of the camera 61 is wv. In addition, the point (y, z) has a position in the Z-axis direction from the screen center as z. At this time, the Zc coordinates of the point (y, z) in the camera space are expressed by the following equations (3) and (4).
In the following formula, the difference in the vertical direction between the image pickup element of the camera 61 and the position of the laser center of the laser scanner 62 is Δyv (see FIG. 7B), the vertical width of the camera image is wv, and the vertical image of the camera 61 The angle is θv, and the temporary variable is tmp2.
tmp2 = Y × tan (π × θv / 360) (3)
Zc = wv / 2 + wv × (Z−Δyv) / (2 × tmp 2) (4)
　ガイド情報表示装置５０では、上記数式（１）～（４）を用いて、ＸＹＺ座標系においてレーザスキャナ６２等によって取得した点群データの座標を、カメラ空間座標系に変換することによって、カメラ６１で撮影した映像Ｍ上にガイド情報ＧＤを位置合わせして表示する。 The guide information display device 50 converts the coordinates of point group data acquired by the laser scanner 62 or the like in the XYZ coordinate system into the camera space coordinate system using the above equations (1) to (4). The guide information GD is aligned and displayed on the image M taken at step.
　尚、レーザスキャナ６２としては、伸縮ブーム２２の最高到達高さを考慮して、その最高到達高さ（例えば、約１００ｍ）から測定対象物の三次元形状を測定可能な機器を選択する。また、レーザスキャナ６２としては、適切なガイド情報を生成するために必要なデータ量およびデータ精度を考慮して、測定スピード、測定ポイント数、測定精度等の各仕様について所定の性能を有する機器を選択する。 As the laser scanner 62, an apparatus capable of measuring the three-dimensional shape of the object to be measured is selected from the maximum reach height (for example, about 100 m) in consideration of the maximum reach height of the telescopic boom 22. In addition, as the laser scanner 62, an apparatus having predetermined performance for each specification such as measurement speed, number of measurement points, measurement accuracy, etc. in consideration of data amount and data accuracy necessary to generate appropriate guide information select.
　尚、本実施形態では、合計１６個のレーザ送受信センサを備えたレーザスキャナ６２を用いる場合を例示しているが、本発明に係るガイド情報表示装置は、レーザスキャナを構成するレーザ送受信センサの個数によっては限定されない。即ち、本発明に係るガイド情報表示装置では、クレーンのブーム（ジブ）の最高到達高さ等に応じて、最適な仕様のレーザスキャナを適宜選択する。 In the present embodiment, the case of using the laser scanner 62 provided with a total of 16 laser transmitting and receiving sensors is illustrated, but in the guide information display apparatus according to the present invention, the number of laser transmitting and receiving sensors constituting the laser scanner is used. It is not limited by. That is, in the guide information display apparatus according to the present invention, a laser scanner having an optimum specification is appropriately selected according to the maximum reach height of the boom (jib) of the crane and the like.
　データ取得部６０によって吊荷領域ＷＡにおいて取得するデータには、吊荷Ｗと、吊荷Ｗの下方の地表面Ｆと、吊荷Ｗの周囲に存在する地物Ｃをカメラ６１によって撮影した映像データが含まれる。また、データ取得部６０によって吊荷領域ＷＡにおいて取得するデータには、吊荷Ｗと、地表面Ｆと、地物Ｃをレーザスキャナ６２によってスキャンして取得した点群データが含まれる。尚、ここでいう地表面Ｆには、吊荷Ｗの搬送元および搬送先となる面を広く含み、地上面のみならず、建物屋上の床面や屋根面等も含まれる。 The data acquired by the data acquisition unit 60 in the hanging load area WA includes the hanging load W, the ground surface F below the hanging load W, and an image obtained by photographing the feature C existing around the hanging load W by the camera 61 Contains data. Further, the data acquired in the suspended load area WA by the data acquiring unit 60 includes the suspended load W, the ground surface F, and point cloud data acquired by scanning the feature C with the laser scanner 62. The ground surface F mentioned here widely includes the surfaces to be the transfer source and the transfer destination of the hanging load W, and includes not only the ground surface but also the floor surface and roof surface of the roof of the building.
　図３に示すように、データ処理部７０は、データ取得部６０で取得したデータを処理して、オペレータに提示するガイド情報ＧＤを生成するための部位であり、本実施形態では、所定のデータ処理プログラムがインストールされた汎用のパーソナルコンピュータによって構成している。
　また、データ処理部７０は、クレーン１のコントローラ３４と電気的に接続されており、コントローラ３４から出力される「クレーン情報」が、データ処理部７０に入力される。 As shown in FIG. 3, the data processing unit 70 is a part for processing the data acquired by the data acquisition unit 60 to generate guide information GD to be presented to the operator, and in the present embodiment, predetermined data It is configured by a general-purpose personal computer in which a processing program is installed.
Further, the data processing unit 70 is electrically connected to the controller 34 of the crane 1, and “crane information” output from the controller 34 is input to the data processing unit 70.
　データ表示部８０は、オペレータに提示するガイド情報ＧＤを表示するための部位であり、データ処理部７０に接続されたディスプレイ装置により構成される。
　データ表示部８０には、図８（Ａ）に示すように、カメラ６１によって撮影した吊荷領域ＷＡの映像Ｍをリアルタイムに表示する。 The data display unit 80 is a part for displaying guide information GD to be presented to the operator, and includes a display device connected to the data processing unit 70.
As shown in FIG. 8A, the data display unit 80 displays the video M of the suspended load area WA taken by the camera 61 in real time.
　ガイド情報ＧＤには、図８（Ｂ）に示すように、吊荷Ｗ・地物ＣのＹ軸方向視における外形形状を表すガイド枠ＧＤ１や、吊荷Ｗの下面の高さ情報ＧＤ２、地物Ｃの上面の高さ情報ＧＤ３、吊荷Ｗの動線を示す作業半径線情報ＧＤ４、伸縮ブーム２２の軸線方向を示す軸線情報ＧＤ５等が含まれる。
　そして、データ表示部８０には、データ処理部７０で生成したガイド情報ＧＤと映像Ｍが重畳して表示される。 In the guide information GD, as shown in FIG. 8B, a guide frame GD1 representing the external shape of the hanging load W and the feature C in the Y-axis direction view, height information GD2 of the lower surface of the hanging load W, ground The height information GD3 of the upper surface of the object C, the work radius line information GD4 indicating the flow line of the hanging load W, and the axis information GD5 indicating the axial direction of the telescopic boom 22 are included.
Then, on the data display unit 80, the guide information GD generated by the data processing unit 70 and the video M are superimposed and displayed.
　図３に示す如く、データ入力部９０は、データ処理部７０に対して、設定値等を入力するための部位であり、タッチパネル、マウス、キーボード装置等により構成される。 As shown in FIG. 3, the data input unit 90 is a part for inputting setting values and the like to the data processing unit 70, and is configured by a touch panel, a mouse, a keyboard device, and the like.
　尚、ガイド情報表示装置５０は、図９（Ａ）に示すように、データ処理部７０とデータ表示部８０とデータ入力部９０をタブレット型の汎用パーソナルコンピュータ（以下、タブレットＰＣとも呼ぶ）によって、一体的に構成することが好ましい。また、ガイド情報表示装置５０は、図９（Ｂ）に示すように、データ表示部８０とデータ入力部９０をタッチパネル式ディスプレイ装置によって一体で構成し、当該タッチパネル式ディスプレイ装置に汎用ＰＣたるデータ処理部７０を接続する構成としてもよい。 In the guide information display device 50, as shown in FIG. 9A, the data processing unit 70, the data display unit 80, and the data input unit 90 are implemented by a tablet-type general purpose personal computer (hereinafter also referred to as a tablet PC). It is preferable to construct integrally. Further, as shown in FIG. 9B, in the guide information display device 50, the data display unit 80 and the data input unit 90 are integrated by a touch panel display device, and the touch panel display device performs data processing as a general purpose PC. The unit 70 may be connected.
　図４に示すように、データ表示部８０とデータ入力部９０は、キャビン３０内の運転座席３１の前方のオペレータが見やすい位置に配置する。データ処理部７０は、データ取得部６０の近傍に配置することが好ましい。尚、データ処理部７０とデータ表示部８０とデータ入力部９０をタブレットＰＣによって一体的に構成した場合には、データ処理部７０をキャビン３０内に配置する構成としてもよい。
　データ取得部６０とデータ処理部７０間のデータの伝送は、有線ＬＡＮによることが好ましい。尚、データ取得部６０とデータ処理部７０間のデータの伝送は、無線ＬＡＮを採用してもよく、あるいは、電力線通信を採用してもよい。 As shown in FIG. 4, the data display unit 80 and the data input unit 90 are disposed in a position in front of the driver's seat 31 in the cabin 30 at a position where the operator can easily view. The data processing unit 70 is preferably arranged in the vicinity of the data acquisition unit 60. When the data processing unit 70, the data display unit 80, and the data input unit 90 are integrally configured by a tablet PC, the data processing unit 70 may be disposed in the cabin 30.
Transmission of data between the data acquisition unit 60 and the data processing unit 70 is preferably performed by a wired LAN. The data transmission between the data acquisition unit 60 and the data processing unit 70 may adopt a wireless LAN or may adopt power line communication.
　尚、ガイド情報表示装置５０は、図９（Ａ）に示すように、データ処理部７０とデータ表示部８０とデータ入力部９０をタブレット型の汎用パーソナルコンピュータ（以下、タブレットＰＣとも呼ぶ）によって、一体的に構成することが好ましい。また、ガイド情報表示装置５０は、図９（Ｂ）に示すように、データ表示部８０とデータ入力部９０をタッチパネル式ディスプレイ装置によって一体で構成し、当該タッチパネル式ディスプレイ装置に汎用ＰＣたるデータ処理部７０を接続する構成としてもよい。 In the guide information display device 50, as shown in FIG. 9A, the data processing unit 70, the data display unit 80, and the data input unit 90 are implemented by a tablet-type general purpose personal computer (hereinafter also referred to as a tablet PC). It is preferable to construct integrally. Further, as shown in FIG. 9B, in the guide information display device 50, the data display unit 80 and the data input unit 90 are integrated by a touch panel display device, and the touch panel display device performs data processing as a general purpose PC. The unit 70 may be connected.
　ここで、データ取得部６０によるデータの取得状況を説明する。
　データ取得部６０では、カメラ６１によって、吊荷領域ＷＡを連続的に撮影し、吊荷領域ＷＡの映像Ｍを取得する。 Here, an acquisition situation of data by the data acquisition unit 60 will be described.
In the data acquisition unit 60, the camera 61 continuously shoots the suspended load area WA, and acquires the image M of the suspended load area WA.
　図１０に示すように、データ取得部６０では、レーザスキャナ６２によって、吊荷領域ＷＡを連続的にスキャンし、吊荷領域ＷＡにおける測定対象物の点群データを取得する。以下では、レーザスキャナ６２によって取得する点群データを、点群データＰと呼ぶ。点群データＰは、点データｐの集合であり、点データｐは、吊荷領域ＷＡに存在する地表面Ｆ、吊荷Ｗ、地物Ｃの上面に位置する点を表している。そして、点データｐには、図１１に示すように、測定対象物（例えば地物Ｃ）からレーザスキャナ６２までの距離ａと、その点データｐを取得したときのレーザスキャナ６２の照射角度ｂの情報が含まれている。 As shown in FIG. 10, in the data acquisition unit 60, the hanging load area WA is continuously scanned by the laser scanner 62, and point cloud data of the measurement object in the hanging load area WA is acquired. Hereinafter, point cloud data acquired by the laser scanner 62 is referred to as point cloud data P. The point cloud data P is a set of point data p, and the point data p represents a point located on the ground surface F, the suspended load W, and the upper surface of the feature C existing in the suspended load area WA. Then, as shown in FIG. 11, in the point data p, the distance a from the measurement object (for example, the ground object C) to the laser scanner 62 and the irradiation angle b of the laser scanner 62 when the point data p is acquired. Information is included.
　図３に示すように、レーザスキャナ６２には、第一ＧＮＳＳ受信機６５を接続しており、点群データＰを取得すると同時に、第一ＧＮＳＳ受信機６５によって複数の測位衛星から時間情報を受信する。そして、データ処理部７０は、点データｐに対して、該点データｐの取得時間に係る情報を付与する。即ち、点データｐに係る情報には、距離ａ、照射角度ｂの他、取得時間ｔｐが含まれている。 As shown in FIG. 3, the first GNSS receiver 65 is connected to the laser scanner 62, and while acquiring point cloud data P, the first GNSS receiver 65 receives time information from a plurality of positioning satellites Do. Then, the data processing unit 70 adds information related to the acquisition time of the point data p to the point data p. That is, the information related to the point data p includes the acquisition time tp in addition to the distance a and the irradiation angle b.
　また、データ取得部６０では、レーザスキャナ６２によって、点群データＰを取得すると同時に、ＩＭＵ６３によって、所定の周期でレーザスキャナ６２の姿勢データＱを取得する。姿勢データＱには、レーザスキャナ６２のＸ・Ｙ・Ｚ軸の各軸方向に対する角度と加速度に係る情報が含まれる。尚、ＩＭＵ６３による姿勢データＱの取得周期は、レーザスキャナ６２による点群データＰの取得周期よりも短くする。姿勢データＱは、測定周期ごとに測定される個別姿勢データｑの集合である。 Further, in the data acquisition unit 60, the point cloud data P is acquired by the laser scanner 62, and at the same time, the attitude data Q of the laser scanner 62 is acquired by the IMU 63 at a predetermined cycle. The posture data Q includes information on the angle and acceleration with respect to each axial direction of the X, Y, and Z axes of the laser scanner 62. The acquisition cycle of the posture data Q by the IMU 63 is shorter than the acquisition cycle of the point cloud data P by the laser scanner 62. The posture data Q is a set of individual posture data q measured for each measurement cycle.
　ＩＭＵ６３には、第二ＧＮＳＳ受信機６６を接続しており、姿勢データＱを取得すると同時に、第二ＧＮＳＳ受信機６６によって、複数の測位衛星から時間情報を受信する。データ処理部７０は、個別姿勢データｑに対して、該個別姿勢データｑの取得時間に係る情報として取得時間ｔｑを付与する。即ち、個別姿勢データｑに係る情報には、取得時間ｔｑが含まれている。 A second GNSS receiver 66 is connected to the IMU 63 to acquire attitude data Q, and at the same time, the second GNSS receiver 66 receives time information from a plurality of positioning satellites. The data processing unit 70 assigns an acquisition time tq to the individual posture data q as information related to the acquisition time of the individual posture data q. That is, the information concerning the individual posture data q includes the acquisition time tq.
　次に、データ処理部７０によるデータの処理状況を説明する。 Next, the processing status of data by the data processing unit 70 will be described.
　図１２に示す如く、データ処理部７０によるデータ処理では、まず「フレーム抽出処理」を行う（ＳＴＥＰ－１０１）。
　データ処理部７０による点群データＰのデータ処理では、点群データＰのストリームデータから、１フレーム分の点群データＰを切り出して出力する。１フレーム分の点群データＰは、レーザスキャナ６２によるレーザの照射方向がＺ軸回りに１周する間に取得する点データｐの集合である。 As shown in FIG. 12, in the data processing by the data processing unit 70, first, "frame extraction processing" is performed (STEP-101).
In the data processing of the point cloud data P by the data processing unit 70, the point cloud data P for one frame is cut out and output from the stream data of the point cloud data P. The point group data P for one frame is a set of point data p acquired while the irradiation direction of the laser by the laser scanner 62 makes one rotation around the Z axis.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「点群データと姿勢データの同期処理」を行う（ＳＴＥＰ－１０２）。
　データ処理部７０は、１フレーム分の点群データＰに含まれる点データｐを、ＩＭＵ６３によって取得した姿勢データＱと同期させる。
　具体的には、個々の点データｐにおいて、その点データｐの取得時間ｔｐに最も近い個別姿勢データｑの取得時間ｔｑを探索し、該取得時間ｔｑにおける個別姿勢データｑを、その点データｐに対応付けることで同期する。 As shown in FIG. 12, in the data processing by the data processing unit 70, next, “synchronization processing of point cloud data and posture data” is performed (STEP-102).
The data processing unit 70 synchronizes the point data p included in the point cloud data P for one frame with the attitude data Q acquired by the IMU 63.
Specifically, in each point data p, the acquisition time tq of the individual posture data q closest to the acquisition time tp of the point data p is searched, and the individual posture data q at the acquisition time tq is Synchronize by matching to.
　このようにしてデータ処理部７０は、個別姿勢データｑに同期された点データｐを出力する。
　そして、図１１に示すように、データ処理部７０は、距離ａおよび照射角度ｂとに基づいて、レーザスキャナ６２のレーザ中心位置から点データｐまでの距離ｈを算出する。尚、ここで言う「距離ｈ」は、レーザスキャナ６２のレーザ中心位置から点データｐが存在する水平面までの距離、つまり、レーザスキャナ６２のレーザ中心位置から点データｐまでの鉛直方向の距離である。 Thus, the data processing unit 70 outputs point data p synchronized with the individual posture data q.
Then, as shown in FIG. 11, the data processing unit 70 calculates the distance h from the laser center position of the laser scanner 62 to the point data p based on the distance a and the irradiation angle b. Here, the “distance h” is the distance from the laser center position of the laser scanner 62 to the horizontal plane where the point data p exists, that is, the distance in the vertical direction from the laser center position of the laser scanner 62 to the point data p. is there.
　また、データ処理部７０では、点データｐの距離ｈを算出する際に、その点データｐに対応する個別姿勢データｑを用いて補正を行う。これによって、レーザスキャナ６２の姿勢に起因する誤差を解消し、より精度よく点データｐの距離ｈを算出することができる。 Further, when calculating the distance h of the point data p, the data processing unit 70 performs correction using the individual posture data q corresponding to the point data p. Thus, the error caused by the attitude of the laser scanner 62 can be eliminated, and the distance h of the point data p can be calculated more accurately.
　即ち、ガイド情報表示装置５０において、データ取得部６０は、レーザスキャナ６２の姿勢データＱを取得するＩＭＵ６３を備え、データ処理部７０は、ＩＭＵ６３で取得したレーザスキャナ６２の姿勢データＱに基づいて、点群データＰを補正している。
　ガイド情報表示装置５０では、このような構成によって、オペレータに対して、より的確なガイド情報ＧＤを提示することが可能になっている。 That is, in the guide information display device 50, the data acquisition unit 60 is provided with the IMU 63 for acquiring the attitude data Q of the laser scanner 62, and the data processing unit 70 is based on the attitude data Q of the laser scanner 62 acquired by the IMU 63. The point cloud data P is corrected.
In the guide information display device 50, with such a configuration, it is possible to present more accurate guide information GD to the operator.
　１フレーム分の点群データＰをＸＹＺ座標系にプロットすると、図１３（Ａ）のように表される。図１３（Ａ）はＺ軸方向から見た点群データＰ（点データｐの集合）である。 When point cloud data P for one frame is plotted in the XYZ coordinate system, it is represented as shown in FIG. 13 (A). FIG. 13A shows point cloud data P (a set of point data p) viewed from the Z-axis direction.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「地表面推定処理」を行う（ＳＴＥＰ－１０３）。データ処理部７０は、吊荷領域ＷＡに存在する地表面Ｆの基準高Ｈ０を推定する処理を行う。 As shown in FIG. 12, in the data processing by the data processing unit 70, "ground surface estimation processing" is performed next (STEP-103). The data processing unit 70 performs processing to estimate the reference height H0 of the ground surface F present in the suspended load area WA.
　ここでは、まず、地表面Ｆを自動的に推定する場合を説明する。 Here, first, the case of automatically estimating the ground surface F will be described.
　（点群データ取得工程）
　データ処理部７０は、まず、１フレーム分の点群データＰを取得する。点群データＰは、測定対象物たる吊荷Ｗおよび地物Ｃの上方から、吊荷Ｗおよび地物Ｃおよび地表面Ｆを含む吊荷領域ＷＡにおいて取得したものである。 (Point cloud data acquisition process)
The data processing unit 70 first acquires point cloud data P for one frame. The point cloud data P is acquired from above the suspended load W and the feature C which are measurement objects, in the suspended load area WA including the suspended load W and the feature C and the ground surface F.
　図１４および図１５（Ｂ）に示すように、データ処理部７０は、吊荷領域ＷＡを、平面視（Ｙ軸方向視）において、格子状に複数の小領域Ｓに分割する（領域分割工程：ＳＴＥＰ－２０１）。データ処理部７０は、Ｚ軸方向に対して平行な分割線によってレーザ側線を等間隔に分割し、分割されたレーザ側線を基準とする同一形状で、かつ、同一面積を有する小領域Ｓに分割している。本実施形態において、データ処理部７０は、レーザ側線を１０分割することで、１６０個の小領域Ｓに分割している。 As shown in FIGS. 14 and 15B, the data processing unit 70 divides the suspended load area WA into a plurality of small areas S in a grid shape in plan view (view in the Y-axis direction) (area division process : STEP-201). The data processing unit 70 divides the laser side line at equal intervals by a dividing line parallel to the Z-axis direction, and divides it into small regions S having the same shape and the same area based on the divided laser side line doing. In the present embodiment, the data processing unit 70 divides the laser side line into ten parts to divide them into 160 small areas S.
　次に、データ処理部７０は、各小領域Ｓにおいて、距離ｈが最も大きい（距離ｈが最大距離ｈｍａｘである）点データｐを抽出する（最大点データ抽出工程：ＳＴＥＰ－２０２）。最大距離ｈｍａｘである点データｐは、最も低い位置に存在している点データｐであると推測される。そして、図１４および図１５（Ａ）に示すように、データ処理部７０は、最大距離ｈｍａｘである点データｐに対する他の点データの距離ｈの離れ量Ｄを算出する（離れ量算出工程：ＳＴＥＰ－２０３）。データ処理部７０は、最大距離ｈｍａｘを基準として、距離ｈの離れ量Ｄが所定の閾値ｒ１以内（本実施形態では離れ量Ｄが７ｃｍ以内）にある点データｐを、地表面Ｆを構成する点データとして抽出する（地表面点データ抽出工程：ＳＴＥＰ－２０４）。 Next, the data processing unit 70 extracts point data p having the largest distance h (the distance h is the maximum distance hmax) in each small area S (maximum point data extraction step: STEP-202). Point data p which is the maximum distance hmax is estimated to be point data p existing at the lowest position. Then, as shown in FIG. 14 and FIG. 15 (A), the data processing unit 70 calculates the separation amount D of the distance h of the other point data to the point data p which is the maximum distance hmax (a separation amount calculation step: STEP-203). The data processing unit 70 configures the ground surface F with point data p having a separation amount D within a predetermined threshold r1 (in this embodiment, a separation amount D within 7 cm) based on the maximum distance hmax. It extracts as point data (ground surface point data extraction process: STEP-204).
　次に、データ処理部７０は、各小領域Ｓにおいて、抽出した点データｐの距離ｈに基づいて各小領域Ｓの地表面Ｆの基準高Ｈ０を推定する（小領域地表面推定工程：ＳＴＥＰ－２０５）。本実施形態では、データ処理部７０は、抽出した点データｐの距離ｈの平均値を、小領域Ｓにおける地表面Ｆの基準高Ｈ０としている。
　データ処理部７０では、このような構成によって、任意の小領域Ｓにおいて、地表面Ｆの基準高Ｈ０を推定することができる。 Next, the data processing unit 70 estimates the reference height H0 of the ground surface F of each small area S based on the distance h of the extracted point data p in each small area S (small area ground surface estimation step: STEP -205). In the present embodiment, the data processing unit 70 sets the average value of the distances h of the extracted point data p as the reference height H0 of the ground surface F in the small area S.
With such a configuration, the data processing unit 70 can estimate the reference height H0 of the ground surface F in any small region S.
　さらに、データ処理部７０は、各小領域Ｓにおける地表面Ｆの基準高Ｈ０に基づいて吊荷領域ＷＡの地表面Ｆの基準高Ｈ０を推定する（領域地表面推定工程：ＳＴＥＰ－２０６）。本実施形態では、データ処理部７０は、各小領域Ｓにおける地表面Ｆの基準高Ｈ０（距離ｈの平均値）をさらに全ての小領域Ｓで平均した値を、吊荷領域ＷＡの地表面Ｆの基準高Ｈ０としている。
　データ処理部７０では、このような構成によって、吊荷領域ＷＡの地表面Ｆの基準高Ｈ０を推定することができる。そして、データ処理部７０は、距離ｈと基準高Ｈ０から、点データｐの標高値Ｈを算出する。図１０に示すように、標高値Ｈは、点データｐの基準高Ｈ０からの高さである。 Furthermore, the data processing unit 70 estimates the reference height H0 of the ground surface F of the suspended load area WA based on the reference height H0 of the ground surface F in each small area S (area ground surface estimation step: STEP-206). In the present embodiment, the data processing unit 70 further averages the reference height H0 (average value of the distance h) of the ground surface F in each small region S in all the small regions S as the ground surface of the suspended load region WA. The reference height H0 of F is used.
With such a configuration, the data processing unit 70 can estimate the reference height H0 of the ground surface F of the suspended load area WA. Then, the data processing unit 70 calculates the elevation value H of the point data p from the distance h and the reference height H0. As shown in FIG. 10, the altitude value H is the height from the reference height H0 of the point data p.
　（ＳＴＥＰ－２０６）において、データ処理部７０は、吊荷領域ＷＡにおける地表面Ｆの基準高Ｈ０に対する一の小領域Ｓにおける地表面Ｆの基準高Ｈ０の差異が所定の閾値よりも大きい場合に、地表面Ｆを構成しない点データｐを抽出したものと判断し、一の小領域Ｓにおける地表面Ｆの基準高Ｈ０の代わりに、一の小領域Ｓに隣接する小領域Ｓのうち、差異が所定の閾値未満となる小領域Ｓの地表面Ｆの基準高Ｈ０を用いて、吊荷領域ＷＡにおける地表面Ｆの基準高Ｈ０を補正してもよい。
　データ処理部７０では、このような構成によって、地表面Ｆを構成しない点データｐを抽出したものと推定される場合に、一の小領域Ｓの代わりに、一の小領域Ｓに隣接する小領域Ｓのうち、差異が所定の閾値未満となる小領域Ｓの地表面Ｆの基準高Ｈ０を用いることで、吊荷領域ＷＡの地表面Ｆの基準高Ｈ０をより正確に推定することができる。 In (STEP-206), the data processing unit 70 determines that the difference between the reference height H0 of the ground surface F in one small area S and the reference height H0 of the ground surface F in the suspended load area WA is larger than a predetermined threshold. The point data p which does not constitute the ground surface F is determined to be extracted, and instead of the reference height H0 of the ground surface F in one small area S, the difference among the small areas S adjacent to the one small area S The reference height H0 of the ground surface F in the suspended load area WA may be corrected using the reference height H0 of the ground surface F of the small area S where the value of L falls below a predetermined threshold.
In the data processing unit 70, when it is estimated that point data p which does not constitute the ground surface F is extracted by such a configuration, a small area adjacent to one small area S instead of one small area S The reference height H0 of the ground surface F of the suspended load area WA can be more accurately estimated by using the reference height H0 of the ground surface F of the small area S in which the difference is less than the predetermined threshold among the regions S. .
　また、（ＳＴＥＰ－２０６）において、吊荷領域ＷＡにおける地表面Ｆの基準高Ｈ０を推定する際に、全ての小領域Ｓのうち、地表面Ｆを構成しない点データｐを抽出したものと推定される小領域Ｓを除外してもよい。例えば、各小領域Ｓにおいて算出される地表面Ｆの基準高Ｈ０のうち、最小である一の小領域Ｓにおける地表面Ｆの基準高Ｈ０を基準として、所定の閾値以内にある小領域Ｓの地表面Ｆの基準高Ｈ０のみを用いて平均値を算出してもよい。以上のように、吊荷領域ＷＡにおける地表面Ｆの基準高Ｈ０を推定する際に、全ての小領域Ｓの基準高Ｈ０を用いる必要はなく、特定の小領域Ｓの基準高Ｈ０のみを用いてもよい。
　データ処理部７０では、このような構成によって、地表面Ｆを構成する点データを抽出できていないと推定される小領域Ｓを除外することができる。そのため、正確に吊荷領域ＷＡにおける基準高Ｈ０の推定を行うことができる。 Also, when estimating the reference height H0 of the ground surface F in the suspended load area WA in (STEP-206), it is estimated that point data p that does not constitute the ground surface F is extracted from all the small areas S. You may exclude the small area | region S to be done. For example, among the reference heights H0 of the ground surface F calculated in each small region S, the small regions S within the predetermined threshold value with reference to the reference height H0 of the ground surface F in one small region S that is the smallest The average value may be calculated using only the reference height H0 of the ground surface F. As described above, when the reference height H0 of the ground surface F in the suspended load area WA is estimated, it is not necessary to use the reference height H0 of all the small areas S, and only the reference height H0 of the specific small area S is used. May be
With such a configuration, the data processing unit 70 can exclude the small area S estimated to be incapable of extracting point data constituting the ground surface F. Therefore, the reference height H0 in the suspended load area WA can be accurately estimated.
　以上のように、地表面推定方法では、レーザスキャナ６２によって、地表面Ｆを含む吊荷領域ＷＡにおいて点群データＰを取得する点群データ取得工程と、吊荷領域ＷＡを、平面視において格子状に分割し、同一形状で、かつ、同一面積を有する複数の小領域Ｓを生成する領域分割工程と、小領域Ｓにおいて、距離ｈが最大である点データｐを抽出する最大点データ抽出工程と、小領域Ｓにおいて、距離ｈが最大である点データｐに対する他の点データｐの距離ｈの離れ量Ｄを算出する離れ量算出工程と、小領域Ｓにおいて、距離ｈの離れ量Ｄが所定の閾値ｒ１以内である点データｐを抽出する地表面点データ抽出工程と、地表面点データ抽出工程において抽出される点データｐに基づいて小領域Ｓの地表面Ｆの基準高Ｈ０を推定する小領域地表面推定工程と、各小領域Ｓの地表面Ｆの基準高Ｈ０に基づいて吊荷領域ＷＡの地表面Ｆの基準高Ｈ０を推定する領域地表面推定工程と、を備えている。 As described above, in the ground surface estimation method, the point cloud data acquisition step of acquiring the point cloud data P in the suspended load area WA including the ground surface F by the laser scanner 62 and the suspended load area WA Region division step of dividing into a plurality of subregions to generate a plurality of small regions S having the same shape and the same area, and a maximum point data extraction step of extracting point data p having the largest distance h in the small regions S In the small area S, the separation amount calculating step of calculating the separation amount D of the distance h of the other point data p to the point data p having the largest distance h, and in the small area S, the distance D of the distance h is The reference height H0 of the ground surface F of the small area S is estimated based on the ground surface point data extraction process of extracting the point data p within the predetermined threshold value r1 and the point data p extracted in the ground surface point data extraction process. Small territory It includes a ground surface estimating step, and a region ground surface estimating step of estimating the reference high H0 of the ground surface F of the suspended load area WA on the basis of the reference high H0 of the ground surface F of each of the small areas S.
　ガイド情報表示装置５０では、上記処理によって精度よく取得した地表面Ｆの基準高Ｈ０に基づいて、ガイド情報ＧＤを生成する構成としている。このため、ガイド情報表示装置５０では、地表面Ｆの基準高Ｈ０に基づいて、吊荷Ｗの高さ情報、地物Ｃの高さ情報を、精度良く算出することができる。 The guide information display device 50 is configured to generate the guide information GD based on the reference height H0 of the ground surface F acquired accurately by the above processing. For this reason, in the guide information display device 50, the height information of the suspended load W and the height information of the feature C can be accurately calculated based on the reference height H0 of the ground surface F.
　次に、映像上の特定の位置を基準として、地表面Ｆを推定する場合を説明する。尚、ここでは、映像上の特定の位置を、オペレータが手動で指定する場合を例示するが、データ処理部７０が、映像上の特定の位置を自動的に決定し指定する構成としてもよい。 Next, the case where ground surface F is presumed on the basis of the specific position on a picture is explained. Here, although the case where the operator manually designates a specific position on the video is exemplified, the data processing unit 70 may be configured to automatically determine and designate the specific position on the video.
　ガイド情報表示装置５０では、データ表示部８０およびデータ入力部９０において地表面の位置を指定することで、基準となる地表面Ｆを決定することができる。
　手動による場合、まず図１６上図に示すように、オペレータがデータ表示部８０に表示される映像上で、地表面であることが明らかな位置を指定する。すると、データ処理部７０は、図１６中図に示すように、その指定された位置（点）を中心とする所定半径の基準円を生成する。そして、データ処理部７０は、図１６下図に示すように、レーザ側線上にある点データｐとの重なりを検出し、基準円内に含まれる複数の点データｐを選択する。 In the guide information display device 50, the ground surface F to be a reference can be determined by designating the position of the ground surface in the data display unit 80 and the data input unit 90.
In the case of manual operation, first, as shown in the upper drawing of FIG. 16, the operator designates a clear position on the image displayed on the data display unit 80 as the ground surface. Then, the data processing unit 70 generates a reference circle of a predetermined radius centered on the designated position (point), as shown in FIG. Then, as shown in the lower part of FIG. 16, the data processing unit 70 detects an overlap with the point data p on the laser side line, and selects a plurality of point data p included in the reference circle.
　そして、データ処理部７０は、図１５（Ａ）に示すように、選択された複数の点データｐからまず、距離ｈが最も大きい（距離ｈが最大距離ｈｍａｘである）点データｐを抽出する。そして、データ処理部７０は、最大距離ｈｍａｘである点データｐに対する他の点データの距離ｈの離れ量Ｄを算出する。データ処理部７０は、最大距離ｈｍａｘを基準として、距離ｈの離れ量Ｄが所定の閾値ｒ１以内（本実施形態では離れ量Ｄが７ｃｍ以内）にある点データｐを地表面Ｆを構成する点データとして抽出する。データ処理部７０は、抽出した点データｐの距離ｈに基づいて地表面Ｆの基準高Ｈ０を推定する。本実施形態では、データ処理部７０は、抽出した点データｐの距離ｈの平均値を地表面Ｆの基準高Ｈ０として採用する。 Then, as shown in FIG. 15A, the data processing unit 70 first extracts point data p having the largest distance h (the distance h is the maximum distance hmax) from the plurality of selected point data p. . Then, the data processing unit 70 calculates the separation amount D of the distance h of the other point data to the point data p which is the maximum distance hmax. The data processing unit 70 configures the ground surface F as point data p whose distance D is within the predetermined threshold r1 (in this embodiment, distance D is within 7 cm) with reference to the maximum distance hmax. Extract as data. The data processing unit 70 estimates the reference height H0 of the ground surface F based on the distance h of the extracted point data p. In the present embodiment, the data processing unit 70 adopts the average value of the distances h of the extracted point data p as the reference height H0 of the ground surface F.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「平面の推定処理」を行う（ＳＴＥＰ－１０４）。データ処理部７０は、以下に示す上面推定方法によって、吊荷領域ＷＡに存在する測定対象物たる吊荷Ｗと地物Ｃの上面を推定する。 As shown in FIG. 12, in the data processing by the data processing unit 70, next, “Plane estimation processing” is performed (STEP-104). The data processing unit 70 estimates the upper surfaces of the suspended load W and the feature C, which are measurement objects, present in the suspended load area WA by the upper surface estimation method described below.
　１フレーム分の点群データＰをＸＹＺ座標系で示した吊荷領域ＷＡ上にプロットすると、図１３（Ａ）に示すように表される。そして、このような吊荷領域ＷＡにある点群データＰを模式的に表すと、図１７上図のように表される。 The point cloud data P for one frame is plotted on the suspended load area WA indicated by the XYZ coordinate system, as shown in FIG. 13A. The point cloud data P in such a suspended load area WA is schematically represented as shown in the upper diagram of FIG.
　データ処理部７０は、図１７上図に示すような吊荷領域ＷＡにおいて取得した点群データＰを、図１７中図に示すように、Ｙ軸方向に所定の厚みｄで層状に分割し、点群データＰを複数のグループに振り分ける（図１３（Ｂ）参照）。
　このときデータ処理部７０は、分割した各グループに個別のグループＩＤ（ここでは、ＩＤ：００１～００６とする）を付与し、各点データｐをグループＩＤに関連付ける。 The data processing unit 70 divides the point cloud data P acquired in the hanging load area WA as shown in the upper view of FIG. 17 into layers in the Y-axis direction with a predetermined thickness d as shown in the middle of FIG. The point cloud data P is distributed to a plurality of groups (see FIG. 13B).
At this time, the data processing unit 70 assigns individual group IDs (here, IDs: 001 to 006) to the divided groups, and associates each point data p with the group ID.
　そして、データ処理部７０は、各グループにおいて、そのグループに含まれる複数の点データｐを用いて、平面を推定する。ここで言う「平面」は、吊荷Ｗおよび地物Ｃにおいて上向きに存在する平面であり、即ち、吊荷Ｗおよび地物Ｃの「上面」である。 Then, in each group, the data processing unit 70 estimates a plane by using a plurality of point data p included in the group. The “plane” referred to here is a plane which exists upward in the load W and the feature C, that is, the “upper surface” of the load W and the feature C.
　具体的には、まず、データ処理部７０は、図１８および図１９上図に示すように、同一グループに含まれる複数の点データｐ・ｐ・・・から２つの点データｐ・ｐを選択する（２点選択工程：ＳＴＥＰ－３０１）。
　そして、データ処理部７０は、図１８および図１９下図に示すように、選択した２つの点データｐ・ｐの２点間距離Ｌ１を算出する（点間距離算出工程：ＳＴＥＰ－３０２）。 Specifically, first, the data processing unit 70 selects two point data p · p from a plurality of point data p · p... Included in the same group, as shown in FIGS. (2 point selection process: STEP-301).
Then, the data processing unit 70 calculates the distance L1 between two points of the selected two point data p · p as shown in FIG. 18 and the lower diagram of FIG. 19 (inter-point distance calculation step: STEP-302).
　次に、データ処理部７０は、図１８および図２０上図に示すように、２点間距離Ｌ１が所定の閾値ｒ２以下であれば（ＳＴＥＰ－３０３）、その２点（点線で示した２つの点データｐ・ｐ）は同一平面上にあるものとみなす（２点平面みなし工程：ＳＴＥＰ－３０４）。そして、データ処理部７０は、図１８および図２０下図に示すように、同一平面上にあるとみなされた各点（ここでは、選択した２点）の重心Ｇ１を算出する（重心算出工程：ＳＴＥＰ－３０５）。仮に、（ＳＴＥＰ－３０３）において、「ｎｏ」と判定された場合には、（ＳＴＥＰ－３０１）に戻って、新たな２点を選択し直す。 Next, as shown in the upper part of FIGS. 18 and 20, if the distance L1 between two points is less than or equal to a predetermined threshold value r2 (STEP-303), the data processing unit 70 selects two points (two shown by dotted lines). One point data p · p) is considered to be on the same plane (two-point plane considering process: STEP-304). Then, the data processing unit 70 calculates the center of gravity G1 of each point (here, two selected points) considered to be on the same plane, as shown in FIGS. 18 and 20 (lower center calculation step: STEP-305). If it is determined as "no" in (STEP-303), the process returns to (STEP-301) to reselect two new points.
　次に、データ処理部７０は、図１８および図２１上図に示すように、算出した重心Ｇ１に対する近傍点となる点データｐを探索する（近傍点探索工程：ＳＴＥＰ－３０６）。ここで言う「近傍点」とは、重心Ｇ１に対する点間距離が閾値ｒ２以下の点である。
　そして、データ処理部７０は、図１８および図２１下図に示すように、近傍点たる点データｐが見つかれば（ＳＴＥＰ－３０７）、その近傍点たる点データｐも、先に選択した２つの点データｐ・ｐと同一平面上にあるものとみなす（近傍点平面みなし工程：ＳＴＥＰ－３０８）。 Next, the data processing unit 70 searches for point data p that is a nearby point with respect to the calculated center of gravity G1, as shown in FIG. 18 and the upper diagram in FIG. 21 (nearest point searching step: STEP-306). The “nearby point” referred to here is a point at which the distance between points with respect to the center of gravity G1 is equal to or less than the threshold value r2.
Then, as shown in FIG. 18 and the lower diagram of FIG. 21, when the data processing unit 70 finds point data p that is a nearby point (STEP-307), the point data p that is the nearby point is the two points selected earlier. It is considered that it is on the same plane as the data p · p (near point plane considering step: STEP-308).
　そして、データ処理部７０は、図１８および図２２上図に示すように、（ＳＴＥＰ－３０５）に戻って、同一平面上にあるとみなされた各点（ここでは、点線で示した３つの点データｐ・ｐ・ｐ）から、新たな重心Ｇ２を算出する。 Then, the data processing unit 70 returns to (STEP-305) as shown in FIGS. 18 and 22 and the respective points regarded as being on the same plane (here, three points indicated by dotted lines). A new center of gravity G2 is calculated from the point data p · p · p).
　データ処理部７０は、（ＳＴＥＰ－３０６）に移行して、重心Ｇ２に対する近傍点となる点データｐをさらに探索する。そして、データ処理部７０は、図１８および図２２下図に示すように、近傍点たる点データｐがさらに見つかれば（ＳＴＥＰ－３０７）、その近傍点たる点データｐも、先に選択した各点と同一平面上にある点データｐであるものとみなす（ＳＴＥＰ－３０８）。
　そして、データ処理部７０は、新たな重心を算出しながら近傍点を探索し、近傍点たる点データｐが検出されなくなるまで（ＳＴＥＰ－３０５）から（ＳＴＥＰ－３０８）までの処理を順に繰り返して行う。 The data processing unit 70 proceeds to (STEP-306), and further searches for point data p which is a nearby point with respect to the gravity center G2. Then, as shown in FIG. 18 and the lower diagram of FIG. 22, if the data processing unit 70 further finds point data p that is a nearby point (STEP-307), the point data p that is a nearby point is also selected each point previously. And the point data p on the same plane as (step-308).
Then, the data processing unit 70 searches for nearby points while calculating a new centroid, and repeats the processing from (STEP-305) to (STEP-308) in order until the point data p which is a nearby point is not detected. Do.
　そして、データ処理部７０は、図１８および図２３に示すように、新たな近傍点が見つからなければ、（ＳＴＥＰ－３０７）で「ｎｏ」と判定し、同一平面上にあるとみなされた点データｐの部分集合（クラスタ）をクラスタリングして、平面を推定する（ＳＴＥＰ－３０９）。ここで言う「クラスタリング」とは、点データｐの集合である点群データＰをクラスタに切り分けて、各クラスタに含まれる点データｐが、同一平面上にあるという共通の特徴を持つようにする処理である。
　データ処理部７０は、点群データＰを、同一平面上にあるとみなされた点データｐに切り分けて、平面クラスタＣＬ１を設定する（図１７下図参照）。平面クラスタＣＬ１に属する各点データｐによれば、平面（即ち、吊荷Ｗおよび地物Ｃの「上面」）を規定することができる。尚、同一のグループＩＤが付与されたグループ内には、複数の平面クラスタＣＬ１が存在する場合もある。 Then, as shown in FIG. 18 and FIG. 23, the data processing unit 70 determines “no” in (STEP-307) and determines that the point is considered to be on the same plane if a new neighboring point is not found. Cluster a subset (cluster) of data p to estimate a plane (STEP-309). Here, “clustering” divides point group data P, which is a set of point data p, into clusters so that point data p included in each cluster has a common feature of being on the same plane. It is a process.
The data processing unit 70 divides the point cloud data P into point data p considered to be on the same plane, and sets a plane cluster CL1 (see the lower diagram in FIG. 17). According to each point data p belonging to the plane cluster CL1, it is possible to define a plane (that is, the “upper surface” of the hanging load W and the feature C). A plurality of plane clusters CL1 may exist in a group to which the same group ID is assigned.
　そして、データ処理部７０は、平面クラスタＣＬ１に属する点データｐの、Ｘ座標の最大値と最小値から平面の「幅」を推定し、Ｚ座標の最大値と最小値から平面の「奥行」を推定する。データ処理部７０は、このようにして、平面クラスタＣＬ１が形成する平面を規定する。尚、ここで規定する平面は、矩形以外の多角形であってもよい。 Then, the data processing unit 70 estimates the "width" of the plane from the maximum value and the minimum value of the X coordinate of the point data p belonging to the plane cluster CL1, and the "depth" of the plane from the maximum value and the minimum value of the Z coordinate. Estimate The data processing unit 70 thus defines the plane formed by the plane cluster CL1. The plane defined here may be a polygon other than a rectangle.
　このような上面推定方法では、レーザスキャナ６２で取得した上面に対応する点群データＰのみに基づいて吊荷Ｗおよび地物Ｃの上面を推定することができる。このため本実施形態で示した上面推定方法では、レーザスキャナ６２で取得した点群データＰに基づいて、短時間で吊荷Ｗおよび地物Ｃの上面を推定することが可能になり、ひいては、リアルタイムに吊荷Ｗおよび地物Ｃの上面を推定することが実現できる。 In such a top surface estimation method, the top surfaces of the suspended load W and the ground object C can be estimated based on only the point cloud data P corresponding to the top surface acquired by the laser scanner 62. Therefore, in the upper surface estimation method described in the present embodiment, it is possible to estimate the upper surfaces of the hanging load W and the ground object C in a short time based on the point cloud data P acquired by the laser scanner 62. It is possible to estimate the upper surface of the load W and the feature C in real time.
　また、このような上面推定方法では、統計的手法を用いずに吊荷Ｗおよび地物Ｃの上面を推定することができ、統計的手法を用いる場合に比べて、吊荷Ｗおよび地物Ｃの上面の推定に要する計算量を低減することができる。このため本実施形態で示した上面推定方法では、レーザスキャナ６２で取得した点群データＰに基づいて、より短時間で吊荷Ｗおよび地物Ｃの上面を推定することが可能になる。 Moreover, in such a top surface estimation method, the top surfaces of the suspended load W and the feature C can be estimated without using a statistical method, and compared with the case where the statistical method is used, the suspended load W and the feature C It is possible to reduce the amount of calculation required to estimate the upper surface of. Therefore, in the upper surface estimation method described in the present embodiment, it is possible to estimate the upper surfaces of the suspended load W and the ground object C in a shorter time based on the point cloud data P acquired by the laser scanner 62.
　尚、本実施形態で示した吊荷Ｗおよび地物Ｃの上面推定方法では、クレーン１において、伸縮ブーム２２のトップブーム部材２２ｆにデータ取得部６０を設け、レーザスキャナ６２によって、吊荷Ｗの鉛直上方から吊荷Ｗ、地物Ｃ、地表面Ｆに係る点群データＰを取得する場合を例示しているが、本発明に係る測定対象物の上面推定方法は、クレーンの吊荷とその吊荷の周囲に存在するものを測定対象物とする場合に適用するものとして限定されるものではない。
　即ち、本実施形態で示した上面推定方法は、例えば、ブームを備える作業車両（例えば、高所作業車等）のブーム先端部やドローン等にレーザスキャナを設けて、上空からその鉛直下方に存在する測定対象物の点群データを取得し、取得した点群データに基づいて測定対象物の上面を推定する場合に広く適用することができる。 In the crane 1, the data acquisition unit 60 is provided on the top boom member 22 f of the telescopic boom 22 in the crane 1, and the laser scanner 62 is used to Although the case of acquiring point cloud data P pertaining to the hanging load W, the ground object C, and the ground surface F from the vertically upper side is illustrated, the upper surface estimation method of the measurement object according to the present invention It is not limited as what is applied when making what exists around a suspended load into a measuring object.
That is, in the upper surface estimation method shown in the present embodiment, for example, a laser scanner is provided at the boom tip portion or the drone of a work vehicle (for example, work vehicle etc.) provided with a boom, and exists vertically from below The present invention can be widely applied to the case of acquiring point cloud data of a measurement object and estimating the upper surface of the measurement object based on the acquired point cloud data.
　次に、データ処理部７０は、推定した各平面クラスタＣＬ１（上面）を結合する。
　データ処理部７０は、図２４および図２５上図に示すように、推定された平面クラスタＣＬ１のうち、異なるグループＩＤが付与された２つの平面クラスタＣＬ１・ＣＬ１を選択し、各平面クラスタＣＬ１の標高値Ｈの差異ｄＨを算出する（ＳＴＥＰ－４０１：標高値差異算出工程）。 Next, the data processing unit 70 combines the estimated planar clusters CL1 (upper surface).
The data processing unit 70 selects two plane clusters CL1 and CL1 to which different group IDs are assigned among the estimated plane clusters CL1, as shown in FIGS. The difference dH of the altitude value H is calculated (STEP-401: altitude value difference calculating step).
　ここで、データ処理部７０は、差異ｄＨが閾値ｒ３以内である組み合わせを探索する（ＳＴＥＰ－４０２）。ここでいう平面クラスタＣＬ１の標高値Ｈとは、平面クラスタＣＬ１に属する各点データｐの標高値Ｈの平均値である。 Here, the data processing unit 70 searches for a combination in which the difference dH is within the threshold value r3 (STEP-402). The altitude value H of the plane cluster CL1 mentioned here is an average value of the altitude values H of the point data p belonging to the plane cluster CL1.
　次に、データ処理部７０は、図２４および図２５中図に示すように、標高値Ｈの差異ｄＨが閾値ｒ３以内である平面クラスタＣＬ１の組み合わせが検出されたときには、それらの平面クラスタＣＬ１・ＣＬ１についてＸ軸方向における重なりｄＷを検出する（ＳＴＥＰ－４０３：重なり検出工程）。ここでいう「重なり」とは、平面クラスタＣＬ１によって規定される平面のＸ軸方向における重複度合および離間度合であり、図２４および図２５に示すように、「幅」の重複量ｄＷ１が検出された場合（ｄＷ１＞０）か、もしくは、離間量ｄＷ２が所定の閾値ｒ４以下である場合（０≦ｄＷ２≦ｒ４）に、「重なり」を検出するものとする。 Next, as shown in FIGS. 24 and 25, when a combination of planar clusters CL1 having a difference dH of the elevation value H within the threshold value r3 is detected, the data processing unit 70 determines the combination of those planar clusters CL1 ···. The overlap dW in the X-axis direction is detected for CL1 (STEP-403: overlap detection step). Here, “overlap” refers to the overlap degree and separation degree in the X-axis direction of the plane defined by the plane cluster CL1, and as shown in FIGS. 24 and 25, the overlap amount dW1 of “width” is detected. In the case (dW1> 0) or when the separation amount dW2 is equal to or less than the predetermined threshold value r4 (0 ≦ dW2 ≦ r4), “overlap” is detected.
　そして、データ処理部７０は、図２４および図２５に示すように、「重なり」が検出された場合には（ＳＴＥＰ－４０４）、それらの平面クラスタＣＬ１・ＣＬ１に属する点データｐが同一平面上に存在するものとみなし、二つの平面クラスタＣＬ１・ＣＬ１を結合し、新たな平面クラスタＣＬ１として更新する（ＳＴＥＰ－４０５：平面結合工程）。また、このとき、新たな平面クラスタＣＬ１に属する各点データｐから、新たな標高値Ｈを算出する。 Then, as shown in FIG. 24 and FIG. 25, when “overlap” is detected (STEP-404), the data processing unit 70, on the same plane, point data p belonging to those plane clusters CL1 and CL1. The two planar clusters CL1 and CL1 are joined and updated as a new planar cluster CL1 (STEP-405: planar coupling process). At this time, a new altitude value H is calculated from each point data p belonging to the new plane cluster CL1.
　データ処理部７０は、図２４に示すように、以上の処理を、条件を満たす平面クラスタＣＬ１・ＣＬ１の組み合わせが無くなるまで繰り返して行い（ＳＴＥＰ－４０６）、複数のグループに跨って存在する平面を推定する。 As shown in FIG. 24, the data processing unit 70 repeats the above processing until the combination of planar clusters CL1 and CL1 satisfying the condition disappears (STEP-406), and a plane existing across a plurality of groups is displayed. presume.
　そして、データ処理部７０は、以上の結合処理によって結合した平面（即ち、平面クラスタＣＬ１）を出力する。
　平面クラスタＣＬ１によって規定される平面は、吊荷Ｗおよび地物Ｃにおいて上向きに存在する平面であり、即ち、吊荷Ｗおよび地物Ｃの上面である。 Then, the data processing unit 70 outputs the plane (that is, plane cluster CL1) coupled by the above coupling process.
The plane defined by the plane cluster CL1 is a plane facing upward in the load W and the feature C, that is, the upper surface of the load W and the feature C.
　このような平面の推定方法では、点群データＰの法線ベクトルを用いずに平面を推定することができる。このため、点群データＰの法線ベクトルを用いて平面を推定する場合に比べて、計算量が少なくて済むという特徴がある。
　また、このような平面の推定方法では、吊荷Ｗや地物Ｃの上面を推定することによって、吊荷Ｗや地物Ｃの側面の点データｐを取得せずに、吊荷Ｗや地物Ｃの立体的形状を把握することができる。 Such a plane estimation method can estimate a plane without using a normal vector of the point cloud data P. For this reason, there is a feature that the amount of calculation can be reduced compared to the case of estimating a plane using a normal vector of the point cloud data P.
In addition, in such a method of estimating a plane, by estimating the upper surface of the hanging load W or the feature C, the hanging load W or the ground can be obtained without acquiring point data p of the side surface of the hanging load W or the feature C. The three-dimensional shape of the object C can be grasped.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「同一領域のクラスタリング処理」を行う（ＳＴＥＰ－１０５）。ここで言う「クラスタリング」とは、データの集合である点群データＰを、クラスタに切り分けて、各クラスタに含まれる点データｐが、「同一領域」にあるという共通の特徴を持つようにする処理である。 As shown in FIG. 12, in the data processing by the data processing unit 70, next, “clustering processing of the same area” is performed (STEP-105). Here, “clustering” divides point cloud data P, which is a set of data, into clusters so that point data p included in each cluster has a common feature of being in the “same area”. It is a process.
　ここで行う「同一領域のクラスタリング処理」は、生成した平面クラスタＣＬ１（平面）を、同一平面を構成するか否かとは無関係に、「同一領域」に存在するか否かという異なる観点でクラスタリングする処理である。 In the “clustering process of the same area” performed here, the generated plane cluster CL1 (plane) is clustered from different viewpoints of whether or not it exists in the “same area” regardless of whether or not it configures the same plane. It is a process.
　具体的には、図２６上図に示すように、データ処理部７０は、標高値Ｈが最大値Ｈｈである点データｐを含む平面クラスタＣＬ１と、この平面クラスタＣＬ１に未結合である平面クラスタＣＬ１を抽出する。そして、データ処理部７０は、抽出した各平面クラスタＣＬ１の標高値Ｈの差分ΔＨを算出し、差分ΔＨが所定の閾値以下であれば、次の判定に移行する。 Specifically, as shown in the upper diagram of FIG. 26, the data processing unit 70 includes a plane cluster CL1 including point data p whose elevation value H is the maximum value Hh, and a plane cluster not coupled to the plane cluster CL1. Extract CL1. Then, the data processing unit 70 calculates the difference ΔH of the altitude values H of the extracted planar clusters CL1, and if the difference ΔH is equal to or less than a predetermined threshold, the process proceeds to the next determination.
　次の判定に移行すると、データ処理部７０は、図２６中図に示すように、差分ΔＨが所定の閾値以下の二つの平面クラスタＣＬ１・ＣＬ１について、Ｙ軸方向視における重なりを確認する。
　ここで、二つの平面クラスタＣＬ１・ＣＬ１が、Ｙ軸方向視において重なっている場合には、データ処理部７０は、図２６下図に示すように、これらの平面クラスタＣＬ１・ＣＬ１を「同一領域」にあるものとみなし、これらの平面クラスタＣＬ１・ＣＬ１によって、同一領域クラスタＣＬ２を形成する。 In the next determination, as shown in the middle of FIG. 26, the data processing unit 70 confirms overlap in the Y-axis direction for two plane clusters CL1 and CL1 whose difference ΔH is less than or equal to a predetermined threshold.
Here, when the two plane clusters CL1 and CL1 overlap in the Y-axis direction view, the data processing unit 70 “same area” as shown in the lower diagram of FIG. These planar clusters CL1 and CL1 form the same area cluster CL2.
　そして、データ処理部７０は、標高値Ｈの最大値Ｈｈを有する点データｐを含む平面クラスタＣＬ１と、この平面クラスタＣＬ１に未結合である平面クラスタＣＬ１をさらに探索し、未結合の平面クラスタＣＬ１が抽出されれば、差分ΔＨによる判定と、Ｙ軸方向視における重なりの確認を行い、上記条件に合致する平面クラスタＣＬ１があれば、上記同一領域クラスタＣＬ２にさらに追加する。 Then, the data processing unit 70 further searches the plane cluster CL1 including the point data p having the maximum value Hh of the elevation value H and the plane cluster CL1 not coupled to the plane cluster CL1, and the plane cluster CL1 is not coupled. If is extracted, the judgment based on the difference ΔH and the confirmation of the overlap in the Y-axis direction are performed, and if there is a plane cluster CL1 meeting the above condition, it is further added to the same area cluster CL2.
　データ処理部７０は、このような処理を、標高値Ｈの最大値Ｈｈを有する点データｐを含む平面クラスタＣＬ１に対して未結合の平面クラスタＣＬ１が見つからなくなるまで繰り返して行う。データ処理部７０は、以上のような処理によって、同一領域クラスタＣＬ２を形成する。 The data processing unit 70 repeats such processing until the unjoined planar cluster CL1 is not found with respect to the planar cluster CL1 including the point data p having the maximum value Hh of the elevation value H. The data processing unit 70 forms the same area cluster CL2 by the above processing.
　そして、このようにして形成された同一領域クラスタＣＬ２に属する点データｐは、後述するガイド情報ＧＤの表示において、形状的に一つのまとまりがあるものとして扱われ、同一領域クラスタＣＬ２を囲むようにガイド枠ＧＤ１が表示される。 The point data p belonging to the same area cluster CL2 formed in this way is treated as having one shape in shape in the display of the guide information GD described later, so as to surround the same area cluster CL2. The guide frame GD1 is displayed.
　尚、このような「同一領域のクラスタリング処理」は、図２７（Ａ）（Ｂ）に示すような、標高値に基づく木構造を用いた階層的クラスタリングとすることが好ましい。データ処理部７０は、「同一領域のクラスタリング処理」において、地物Ｃごとに、標高値Ｈを用いて木構造を作成する。ここでは、図２７（Ａ）に示した第一の例の地物Ｃについて木構造を用いた階層的クラスタリングを行った場合と、図２７（Ｂ）に示した第二の例の地物Ｃについて木構造を用いた階層的クラスタリングを行った場合を例示している。 Such “clustering process of the same area” is preferably hierarchical clustering using a tree structure based on elevation values as shown in FIGS. 27 (A) and 27 (B). The data processing unit 70 creates a tree structure using the elevation value H for each feature C in the “clustering process of the same area”. Here, when the hierarchical clustering using the tree structure is performed on the feature C of the first example shown in FIG. 27 (A), the feature C of the second example shown in FIG. 27 (B) An example of hierarchical clustering using a tree structure is illustrated.
　標高値に基づく木構造を用いた階層的クラスタリングでは、データ処理部７０は、標高値Ｈの平均値が最も小さい平面クラスタＣＬ１を「根（ルート）」として設定する。また、データ処理部７０は、「根」を構成する平面クラスタＣＬ１に対して、Ｙ軸方向視において重なりを持つ平面クラスタＣＬ１があれば、「根」から「枝（ブランチ）」を伸ばし、「枝」の先に、その重なりを持つ平面クラスタＣＬ１を追加する。そして、データ処理部７０は、標高値Ｈの平均値が最も大きい平面クラスタＣＬ１を「子」として設定する。 In hierarchical clustering using a tree structure based on elevation values, the data processing unit 70 sets a plane cluster CL1 having the smallest average value of the elevation values H as a "root". In addition, if there is a plane cluster CL1 having an overlap in the Y-axis direction view with respect to the plane cluster CL1 configuring the “root”, the data processing unit 70 extends the “branch” from the “root” At the tip of the branch, a planar cluster CL1 having the overlap is added. Then, the data processing unit 70 sets the plane cluster CL1 having the largest average value of the elevation values H as a “child”.
　ここで、ガイド枠ＧＤ１の生成方法について、説明する。
　データ処理部７０は、「同一領域のクラスタリング処理」において作成した地物Ｃの木構造を取得する。そして、データ処理部７０は、木構造を構成する各平面クラスタＣＬ１に含まれる点データｐを取得する。
　次に、データ処理部７０は、図２８上図に示すように、「子」の平面クラスタＣＬ１の点データｐから、Ｚ軸方向において最も奥に位置するレーザ側線上の各点データｐを取得する。そして、データ処理部７０は、隣り合うレーザ側線との距離の１／２だけＺ軸方向に離れており、かつ、各点データｐを囲むことができるＸ軸方向の幅を有する矩形を作成する。 Here, a method of generating the guide frame GD1 will be described.
The data processing unit 70 acquires the tree structure of the feature C created in the “clustering process of the same area”. Then, the data processing unit 70 acquires point data p included in each plane cluster CL1 configuring the tree structure.
Next, as shown in the upper diagram of FIG. 28, the data processing unit 70 obtains point data p on the laser side line located farthest in the Z-axis direction from the point data p of the “child” plane cluster CL1. Do. Then, the data processing unit 70 creates a rectangle having a width in the X-axis direction which is separated in the Z-axis direction by a half of the distance to the adjacent laser side line and can surround each point data p. .
　次に、データ処理部７０は、作成した矩形に隣接するレーザ側線上に点データｐが存在する場合には、図２８下図に示すように、該当するレーザ側線上の点データｐを全て含むように矩形を変形させて、外形線を作成する。
　そして、データ処理部７０は、対象となるレーザ側線上の点データｐが無くなるまで隣接するレーザ側線上に点データｐを探索し、上記処理を繰り返す。
　最後に、データ処理部７０は、選択した木構造に含まれる全ての平面クラスタＣＬ１を外包する外形線を作成する。 Next, when point data p exists on the laser side line adjacent to the created rectangle, the data processing unit 70 includes all point data p on the corresponding laser side line as shown in the lower part of FIG. Transform the rectangle to create an outline.
Then, the data processing unit 70 searches for the point data p on the adjacent laser side line until the point data p on the target laser side line disappears, and repeats the above processing.
Finally, the data processing unit 70 creates an outline that externally wraps all planar clusters CL1 included in the selected tree structure.
　そして、データ処理部７０は、作成した外形線の中から、条件に合う外形線のみをガイド枠ＧＤ１として出力する。
　ガイド枠ＧＤ１として出力する条件は、例えば、図２９（Ａ）に示すように、地物Ｃの大枠たる外形線のみを表示する条件を選択することができる。この条件を選択した場合には、データ表示部８０には、その地物Ｃに対して、地物Ｃの全体を囲む一つのガイド枠ＧＤ１が表示される。 Then, the data processing unit 70 outputs only the outline that meets the conditions as the guide frame GD1 out of the generated outlines.
As the conditions to be output as the guide frame GD1, for example, as shown in FIG. 29A, it is possible to select the conditions for displaying only the outline of the feature C, which is a large frame. When this condition is selected, one guide frame GD1 surrounding the entire feature C is displayed for the feature C on the data display unit 80.
　また、ガイド枠ＧＤ１として出力する条件としては、例えば、図２９（Ｂ）に示すように、地物Ｃの大枠たる外形線に加えて、「根」に対する標高値Ｈの差（差分ΔＨ）が、閾値以上である外形線（小枠）のうち、各枝で標高値Ｈが最も高い平面クラスタＣＬ１に係る外形線を表示する条件を選択することができる。この条件を選択した場合には、データ表示部８０には、その地物Ｃの全体を囲む一つ目のガイド枠ＧＤ１と、一つ目のガイド枠ＧＤ１の内側に包含される二つ目のガイド枠ＧＤ１が表示され、地物Ｃの立体的形状が考慮されたより詳細なガイド情報ＧＤが表示される。 Further, as a condition to be output as the guide frame GD1, for example, as shown in FIG. 29 (B), in addition to the outline that is the outline frame of the feature C, the difference (difference .DELTA.H) of the elevation value H with respect to the "root" is Among the outlines (small frames) which are equal to or greater than the threshold value, it is possible to select a condition for displaying the outline relating to the plane cluster CL1 having the highest elevation value H in each branch. When this condition is selected, the data display unit 80 displays a first guide frame GD1 surrounding the entire feature C and a second guide frame included inside the first guide frame GD1. The guide frame GD1 is displayed, and more detailed guide information GD in which the three-dimensional shape of the feature C is considered is displayed.
　さらに、ガイド枠ＧＤ１として出力する条件としては、例えば、図２９（Ｃ）に示すように、地物Ｃの大枠たる外形線に加えて、「根」に対する標高値Ｈの差（差分ΔＨ）が、閾値以上である外形線（小枠）を全て表示する条件を選択することができる。この条件を選択した場合にも、データ表示部８０には、地物Ｃの全体を囲む一つ目のガイド枠ＧＤ１と、その内側に包含される二つ目のガイド枠ＧＤ１が表示され、地物Ｃの立体的形状が考慮されたより詳細なガイド情報ＧＤが表示される。 Furthermore, as a condition to be output as the guide frame GD1, for example, as shown in FIG. 29C, in addition to the outline that is the outline of the feature C, the difference (difference ΔH) of the elevation value H with respect to the “root” is It is possible to select a condition for displaying all the outlines (small frames) which are equal to or larger than the threshold. Even when this condition is selected, the data display unit 80 displays the first guide frame GD1 surrounding the entire feature C and the second guide frame GD1 included therein, and the ground More detailed guide information GD in which the three-dimensional shape of the object C is considered is displayed.
　このような表示条件は、差分ΔＨの閾値を調整することによっても行うことができる。オペレータは、ガイド情報ＧＤの表示がより見易くなるように、ガイド枠ＧＤ１の表示条件を適宜選択することができる。 Such display conditions can also be performed by adjusting the threshold value of the difference ΔH. The operator can appropriately select the display conditions of the guide frame GD1 so that the display of the guide information GD can be more easily viewed.
　即ち、ガイド情報表示装置５０では、同一領域クラスタＣＬ２に基づいてガイド枠ＧＤ１を生成することによって、地物Ｃの立体的形状を考慮して、地物Ｃをより詳細に表現したガイド枠ＧＤ１を生成することが可能になる。また、ガイド情報表示装置５０では、同一領域に存在する平面クラスタＣＬ１をまとめて囲むガイド枠ＧＤ１を生成することが可能になる。即ち、ガイド情報表示装置５０によれば、より詳細で見易いガイド情報ＧＤを提示することができる。 That is, in the guide information display device 50, the guide frame GD1 representing the feature C in more detail in consideration of the three-dimensional shape of the feature C is generated by generating the guide frame GD1 based on the same area cluster CL2. It is possible to generate. Further, in the guide information display device 50, it is possible to generate a guide frame GD1 which collectively encloses the planar cluster CL1 present in the same area. That is, according to the guide information display device 50, it is possible to present more detailed and easy-to-view guide information GD.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「点群データとカメラ映像の同期処理」を行う（ＳＴＥＰ－１０６）。
　ここでは、図５（Ａ）（Ｂ）に示した通り、ＸＹＺ座標系で取得した点群データＰをカメラ空間座標系の座標値に変換して、カメラ６１によって撮影した映像Ｍ上に同期（位置合わせ）して、データ表示部８０へと出力する。 As shown in FIG. 12, in the data processing by the data processing unit 70, next, “synchronization processing of point cloud data and camera image” is performed (STEP-106).
Here, as shown in FIGS. 5A and 5B, the point cloud data P acquired in the XYZ coordinate system is converted into coordinate values in the camera space coordinate system and synchronized with the image M captured by the camera 61 ( Alignment) and output to the data display unit 80.
　図１２に示す如く、データ処理部７０によるデータ処理では、次に「ガイド表示処理」を行う（ＳＴＥＰ－１０７）。
　データ処理部７０は、生成した同一領域クラスタＣＬ２の情報に基づいて、ガイド情報ＧＤを生成し、データ表示部８０に出力する。
　尚、「ガイド表示処理」に際しては、クレーン１のコントローラ３４から出力される「クレーン情報」を利用する。ここで利用する「クレーン情報」には、伸縮ブーム２２の長さ、起伏角度、クレーン１の作業半径、吊荷Ｗの重量等に係る情報が含まれる。 As shown in FIG. 12, in the data processing by the data processing unit 70, "guide display processing" is performed next (STEP-107).
The data processing unit 70 generates guide information GD based on the generated information of the same area cluster CL 2, and outputs the guide information GD to the data display unit 80.
In the "guide display processing", "crane information" output from the controller 34 of the crane 1 is used. The “crane information” used here includes information on the length of the telescopic boom 22, the elevation angle, the working radius of the crane 1, the weight of the hanging load W, and the like.
　データ処理部７０によるデータ処理の一連の流れを説明したが、このような構成では、測定対象物の側面における点データｐを取得する必要がなく、少ない演算量で、吊荷Ｗや地物Ｃの立体的形状を的確に把握して、ガイド情報ＧＤを生成することができる。このような構成は、データ演算量が少なくて済むため、リアルタイムに吊荷Ｗや地物Ｃの形状を把握する用途に適しており、簡易なハードウェア構成のデータ処理部７０を用いることができる。 Although a series of data processing by the data processing unit 70 has been described, in such a configuration, it is not necessary to acquire point data p on the side surface of the measurement object, and the load W or feature C can be reduced with a small amount of operation. The guide information GD can be generated by accurately grasping the three-dimensional shape of. Such a configuration is suitable for the purpose of grasping the shapes of the hanging load W and the ground object C in real time because the amount of data computation can be small, and the data processing unit 70 with a simple hardware configuration can be used .
　次に、ガイド情報ＧＤの内容について、説明する。
　ガイド情報表示装置５０では、データ表示部８０によって、ガイド情報ＧＤを表示する。データ表示部８０によって表示するガイド情報ＧＤには、図８（Ｂ）に示すような、オペレータによる地表面Ｆの指定位置に係る情報が含まれている。 Next, the contents of the guide information GD will be described.
In the guide information display device 50, the data display unit 80 displays the guide information GD. The guide information GD displayed by the data display unit 80 includes information relating to the designated position of the ground surface F by the operator as shown in FIG. 8 (B).
　また、ガイド情報表示装置５０では、吊荷Ｗを指定することができる。オペレータが地表面Ｆを指定する場合と同様に、画面上で吊荷Ｗを指示することで、その指定位置に存在する平面（上面）が吊荷Ｗの上面を表すものとして設定される。吊荷Ｗとして指定された後は、吊荷Ｗに係るガイド枠ＧＤ１と地物Ｃに係るガイド枠ＧＤ１は、線色や線太さ等を変えて区別して表示することが好ましい。
　地表面Ｆと吊荷Ｗの指定位置に係る情報は、円等の図形で表したマーカーによって表示される。 Further, in the guide information display device 50, the hanging load W can be designated. As in the case where the operator designates the ground surface F, by specifying the hanging load W on the screen, the plane (upper surface) present at the designated position is set as representing the upper surface of the hanging load W. After being designated as the hanging load W, it is preferable that the guide frame GD1 according to the hanging load W and the guide frame GD1 according to the feature C be displayed by changing the line color, the line thickness, and the like.
The information which concerns on the ground surface F and the designated position of the hanging load W is displayed by the marker represented with figures, such as a circle.
　また、データ表示部８０によって表示するガイド情報ＧＤには、データ処理部７０によって生成したガイド枠ＧＤ１が含まれている。 The guide information GD displayed by the data display unit 80 includes the guide frame GD1 generated by the data processing unit 70.
　データ処理部７０は、設定された同一領域クラスタＣＬ２に基づいて、ガイド枠ＧＤ１を出力する。尚、データ処理部７０は、吊荷Ｗのガイド枠ＧＤ１としては、衝突を確実に回避するための余裕を設けることができ、吊荷Ｗの外形線から所定の距離だけ外側にオフセットさせた枠線を、ガイド枠ＧＤ１として出力することができる。このようなガイド枠ＧＤ１は、吊荷Ｗおよび地物Ｃにおいて推定された上面（平面クラスタＣＬ１）を線分で囲う枠表示となっている。 The data processing unit 70 outputs the guide frame GD1 based on the set same area cluster CL2. The data processing unit 70 can provide a margin for reliably avoiding a collision as the guide frame GD1 of the hanging load W, and a frame offset outward from the outline of the hanging load W by a predetermined distance. The line can be output as a guide frame GD1. Such a guide frame GD1 is a frame display in which the upper surface (planar cluster CL1) estimated in the hanging load W and the feature C is surrounded by line segments.
　また、データ表示部８０によって表示するガイド情報ＧＤには、基準高Ｈ０から吊荷Ｗの下面までの高さ情報ＧＤ２と、基準高Ｈ０から地物Ｃの上面までの高さ情報ＧＤ３と、が含まれている。 The guide information GD displayed by the data display unit 80 includes height information GD2 from the reference height H0 to the lower surface of the hanging load W and height information GD3 from the reference height H0 to the upper surface of the feature C. include.
　吊荷Ｗの高さ情報ＧＤ２は、データ表示部８０の画面上の見やすい位置に独立したエリアを設けて、そのエリアに表示する構成とすることが好ましい。
　ガイド情報表示装置５０では、このような構成によって、吊荷Ｗの高さ情報ＧＤ２と地物Ｃの高さ情報ＧＤ３を見間違えることがないようにしている。 It is preferable that the height information GD2 of the hanging load W be configured to be provided with an independent area at an easily viewable position on the screen of the data display unit 80 and to be displayed in the area.
In the guide information display device 50, with such a configuration, the height information GD2 of the hanging load W and the height information GD3 of the feature C are not mistaken.
　データ処理部７０は、高さ情報ＧＤ２を、吊荷Ｗの上面であると推定した平面クラスタＣＬ１の上面高さから吊荷Ｗの高さを引くことによって算出する。
　ガイド情報表示装置５０では、オペレータが、吊荷Ｗに係る情報（以下「吊荷情報」と呼ぶ）を、予めデータ処理部７０に入力する。このオペレータによる「吊荷情報」の入力は、データ入力部９０から行われる。そして、データ処理部７０は、「吊荷情報」を利用して、吊荷Ｗの高さを取得する。 The data processing unit 70 calculates the height information GD2 by subtracting the height of the suspended load W from the upper surface height of the plane cluster CL1 estimated to be the upper surface of the suspended load W.
In the guide information display device 50, the operator inputs information related to the suspended load W (hereinafter referred to as “suspended load information”) to the data processing unit 70 in advance. The operator inputs the "hanging load information" from the data input unit 90. And the data processing part 70 acquires the height of the hanging load W using "hanging load information."
　ガイド情報表示装置５０では、地物Ｃの高さ情報ＧＤ３を、地物Ｃを囲むガイド枠ＧＤ１の内側に表示する構成としている。あるいは、ガイド情報表示装置５０では、ガイド枠ＧＤ１が小さい場合には、ガイド枠ＧＤ１と一部が重なるように表示する構成としている。
　ガイド情報表示装置５０では、このような構成によって、地物Ｃと高さ情報ＧＤ３の対応関係を明確にしている。 In the guide information display device 50, the height information GD3 of the feature C is displayed inside the guide frame GD1 surrounding the feature C. Alternatively, in the guide information display device 50, when the guide frame GD1 is small, the guide frame GD1 is configured to be displayed so as to partially overlap the guide frame GD1.
In the guide information display device 50, the correspondence between the feature C and the height information GD3 is clarified by such a configuration.
　また、ガイド情報表示装置５０では、データ処理部７０によって、そのガイド枠ＧＤ１に対応する平面クラスタＣＬ１の標高値Ｈに応じて、ガイド枠ＧＤ１の線色を変える構成としている。
　ガイド情報表示装置５０では、このような構成によって、オペレータがガイド枠ＧＤ１を見ることで、吊荷Ｗや地物Ｃのおおまかな標高値（高さ）を感覚的に知覚することができる。このため、ガイド情報表示装置５０では、吊荷Ｗと地物Ｃの高さをより的確に提示することができる。 In the guide information display device 50, the data processing unit 70 changes the line color of the guide frame GD1 in accordance with the elevation value H of the flat cluster CL1 corresponding to the guide frame GD1.
In the guide information display device 50, with such a configuration, when the operator looks at the guide frame GD1, the rough elevation value (height) of the hanging load W or the feature C can be perceived sensuously. For this reason, in the guide information display device 50, the heights of the hanging load W and the feature C can be more accurately presented.
　さらに、ガイド情報表示装置５０では、データ処理部７０によって、そのガイド枠ＧＤ１に対応する平面クラスタＣＬ１の標高値Ｈに応じて、高さ情報ＧＤ２のフォント色を変える構成としている。
　ガイド情報表示装置５０では、このような構成によって、オペレータが高さ情報ＧＤ２を見ることで、吊荷Ｗや地物Ｃのおおまかな標高値（高さ）を感覚的に知覚できる。このため、ガイド情報表示装置５０では、吊荷Ｗと地物Ｃの高さをより的確に提示することができる。 Furthermore, in the guide information display device 50, the data processing unit 70 changes the font color of the height information GD2 in accordance with the elevation value H of the plane cluster CL1 corresponding to the guide frame GD1.
In the guide information display device 50, with such a configuration, the operator can perceptually perceive rough elevation values (heights) of the suspended load W and the feature C by looking at the height information GD2. For this reason, in the guide information display device 50, the heights of the hanging load W and the feature C can be more accurately presented.
　図３０および図３１に示すように、ガイド情報表示装置５０によって行うガイド情報ＧＤの表示には、吊荷Ｗの動線情報が含まれている。吊荷Ｗの動線情報には、クレーン１の作業半径線情報ＧＤ４と、クレーン１の伸縮ブーム２２の軸線情報ＧＤ５が含まれる。尚、ここでいう「吊荷Ｗの動線情報」は、「メインフック３２の動線情報」と換言してもよく、作業半径線情報ＧＤ４と軸線情報ＧＤ５は、「メインフック３２の動線情報」としても利用することができる。 As shown in FIGS. 30 and 31, the display of the guide information GD performed by the guide information display device 50 includes flow line information of the hanging load W. The movement line information of the hanging load W includes work radius line information GD4 of the crane 1 and axis information GD5 of the telescopic boom 22 of the crane 1. The "flow line information of the hanging load W" may be replaced with "flow line information of the main hook 32", and the work radius line information GD4 and the axis line information GD5 may be "flow line of the main hook 32". It can also be used as information.
　作業半径線情報ＧＤ４は、伸縮ブーム２２を旋回動作させるときの吊荷Ｗの動線の目安となるものであり、吊荷Ｗは作業半径線情報ＧＤ４として示す円弧に沿って移動する。軸線情報ＧＤ５は、伸縮ブーム２２を起伏動作および伸縮動作させるときの吊荷Ｗの動線の目安となるものであり、吊荷Ｗは軸線情報ＧＤ５として示す直線に沿って移動する。 The work radius line information GD4 is an indicator of the flow line of the suspended load W when the telescopic boom 22 is turned, and the suspended load W moves along an arc shown as the work radius line information GD4. The axis information GD5 is an indicator of the flow line of the suspended load W when the telescopic boom 22 is moved up and down and extends and retracts, and the suspended load W moves along a straight line indicated as the axis information GD5.
　図３２を用いて、作業半径線情報ＧＤ４の生成に用いるクレーン１の作業半径Ｒの算出方法について説明する。ここでいう、クレーン１の作業半径Ｒとは、クレーン１における伸縮ブーム２２の旋回中心から、メインフック３２の中心（本実施形態では、カメラ６１のレンズ中心）を通る鉛直線までの水平距離を指す。
　尚、本説明においてのみ、カメラ座標系の原点Ｏ１（カメラ６１のレンズ中心）を基準として、図３２に示すようなＸＹＺ座標系を規定している。Ｘ軸方向は、伸縮ブーム２２の起伏支点の軸方向に対して平行な水平方向である。また、Ｙ軸方向は、鉛直方向である。さらに、Ｚ軸方向は、伸縮ブーム２２の起伏支点の軸方向に対して垂直な水平方向である。 The method of calculating the work radius R of the crane 1 used to generate the work radius line information GD4 will be described with reference to FIG. Here, the working radius R of the crane 1 is the horizontal distance from the turning center of the telescopic boom 22 in the crane 1 to the vertical line passing through the center of the main hook 32 (in this embodiment, the lens center of the camera 61). Point to.
Incidentally, only in the present description, an XYZ coordinate system as shown in FIG. 32 is defined with reference to the origin O1 of the camera coordinate system (the lens center of the camera 61). The X-axis direction is a horizontal direction parallel to the axial direction of the fulcrum of the telescopic boom 22. The Y-axis direction is the vertical direction. Furthermore, the Z-axis direction is a horizontal direction perpendicular to the axial direction of the fulcrum of the telescopic boom 22.
　カメラ座標系の原点Ｏ１を基準として表される伸縮ブーム２２の旋回中心をＯ２（ｘ１，ｙ１，ｚ１）、カメラ座標系の原点Ｏ１を基準として表される伸縮ブーム２２の起伏支点をＯ３（ｘ２，ｙ２，ｚ２）、伸縮ブーム２２のブーム長さをＬ、伸縮ブーム２２の起伏角をθとしたとき、作業半径Ｒは、以下の数式（５）（６）で算出することができる。尚、以下の数式では、一時変数をｔｍｐ３としている。
　　ｔｍｐ３＝｛（ｘ１－ｘ２）２＋（ｙ１－ｙ２）２｝／１０００・・・（５）
　　Ｒ＝ｔｍｐ３＋Ｌ×ｃｏｓθ・・・（６）
　尚、データ処理部７０は、上記数式（５）（６）に基づいて作業半径Ｒを算出する場合のほか、クレーン１から「クレーン情報」として入力される作業半径Ｒを用いてもよい。 The turning center of the telescopic boom 22 expressed with the origin O1 of the camera coordinate system as a reference is O2 (x1, y1, z1), and the relief fulcrum of the telescopic boom 22 expressed with the origin O1 of the camera coordinate system as a reference O3 (x2 , Y2, z2), when the boom length of the telescopic boom 22 is L and the elevation angle of the telescopic boom 22 is θ, the working radius R can be calculated by the following equations (5) and (6). In the following formula, the temporary variable is tmp3.
tmp3 = {(x1-x2) 2+ (y1-y2) 2} / 1000 (5)
R = tmp 3 + L × cos θ (6)
The data processing unit 70 may use the working radius R input as “crane information” from the crane 1 in addition to the case where the working radius R is calculated based on the above formulas (5) and (6).
　ここで、動線情報たるガイド情報ＧＤの生成方法について、説明する。
　図３３に示す如く、まず、データ処理部７０は、カメラ６１が撮影した映像Ｍを取得する（撮影工程：ＳＴＥＰ－５０１）。カメラ６１の映像Ｍは、旋回動作と起伏動作と伸縮動作とが可能な伸縮ブーム２２を備えたクレーン１によって吊り上げた吊荷Ｗの上方から、吊荷Ｗと地表面Ｆと、を少なくとも含む吊荷領域ＷＡにおいて取得したものである。 Here, a method of generating guide information GD which is flow line information will be described.
As shown in FIG. 33, first, the data processing unit 70 acquires an image M photographed by the camera 61 (photographing step: STEP-501). The image M of the camera 61 is suspended at least from the load W and the ground surface F from above the load W lifted by the crane 1 provided with the telescopic boom 22 capable of turning, raising and lowering and telescopic movement. It is acquired in the load area WA.
　次に、データ処理部７０は、１フレーム分の点群データＰを取得する（点群データ取得工程：ＳＴＥＰ－５０２）。点群データＰは、吊荷Ｗの上方から、吊荷Ｗと地表面Ｆと、を少なくとも含む吊荷領域ＷＡにおいて取得したものである。 Next, the data processing unit 70 acquires point cloud data P for one frame (point cloud data acquisition step: STEP-502). The point cloud data P is acquired from above the suspended load W in the suspended load area WA including at least the suspended load W and the ground surface F.
　そして、データ処理部７０は、前述した地表面推定処理（図１４～図１６参照）によって、任意の小領域Ｓ（例えば、カメラ６１のレンズ中心から延ばした垂線と交わる所定の小領域Ｓ）又は吊荷領域ＷＡの地表面Ｆの基準高Ｈ０を推定する（地表面推定工程：ＳＴＥＰ－５０３）。 Then, the data processing unit 70 performs an arbitrary small area S (for example, a predetermined small area S intersecting the perpendicular extending from the lens center of the camera 61) or the small area S by the ground surface estimation process described above (see FIGS. 14 to 16) or The reference height H0 of the ground surface F of the suspended load area WA is estimated (ground surface estimation step: STEP-503).
　データ処理部７０は、地表面Ｆの基準高Ｈ０に基づいて、図３０上図、図３１上図および図３３に示すように、実空間上におけるカメラ６１の撮影範囲である横幅ｗｈおよび縦幅ｗｖを算出する（撮影範囲算出工程：ＳＴＥＰ－５０４）。 The data processing unit 70, based on the reference height H0 of the ground surface F, as shown in the upper view of FIG. 30, the upper view of FIG. 31, and FIG. Calculate wv (shooting range calculation step: STEP-504).
　また、データ処理部７０は、図３０中図に示すように、カメラ座標系の原点Ｏ１および作業半径Ｒから、カメラ６１の撮影範囲に対するクレーン１の旋回中心を算出する。そして、図３０下図および図３３に示すように、データ処理部７０は、クレーン１の旋回中心点Ｏ２および作業半径Ｒからガイド情報ＧＤである作業半径線情報ＧＤ４を生成する（動線情報生成工程：ＳＴＥＰ－５０５）。 Further, the data processing unit 70 calculates the turning center of the crane 1 with respect to the imaging range of the camera 61 from the origin O1 and the working radius R of the camera coordinate system as shown in the middle of FIG. Then, as shown in FIG. 30 lower view and FIG. 33, the data processing unit 70 generates work radius line information GD4 which is the guide information GD from the swing center point O2 of the crane 1 and the work radius R (flow line information generation process : STEP-505).
　さらに、（ＳＴＥＰ－５０５）において、データ処理部７０は、図３１下図に示すように、カメラ座標系の原点Ｏ１および伸縮ブーム２２の旋回中心点Ｏ２に基づいて、各点Ｏ１・Ｏ２を通る線分から伸縮ブーム２２の軸線方向を算出してガイド情報ＧＤである軸線情報ＧＤ５を生成する。
　尚、（ＳＴＥＰ－５０５）においては、データ処理部７０によって、作業半径線情報ＧＤ４と軸線情報ＧＤ５のいずれを先に生成してもよい。また、（ＳＴＥＰ－４０５）では、作業半径線情報ＧＤ４と軸線情報ＧＤ５のいずれか一方だけを生成する構成としてもよい。 Furthermore, in (STEP-505), as shown in the lower part of FIG. 31, the data processing unit 70 passes through the points O1 and O2 based on the origin O1 of the camera coordinate system and the turning center point O2 of the telescopic boom 22. From the above, the axial direction of the telescopic boom 22 is calculated to generate axis information GD5 which is guide information GD.
In (STEP-505), either of the work radius line information GD4 and the axis line information GD5 may be generated first by the data processing unit 70. Further, in (STEP-405), only one of the work radius line information GD4 and the axis line information GD5 may be generated.
　そして、データ処理部７０は、図３０下図および図３３に示すように、データ表示部８０に作業半径線情報ＧＤ４を出力し、データ表示部８０において、映像Ｍに作業半径線情報ＧＤ４を重畳させて表示する（動線情報表示工程：ＳＴＥＰ－５０６）。 Then, the data processing unit 70 outputs the work radius line information GD4 to the data display unit 80 as shown in FIG. 30B and FIG. 33, and the work radius line information GD4 is superimposed on the image M in the data display unit 80. And display (flow line information display process: STEP-506).
　さらに、（ＳＴＥＰ－５０６）において、データ処理部７０は、図３１下図および図３３に示すように、軸線情報ＧＤ５をデータ表示部８０に出力し、データ表示部８０において、映像Ｍに軸線情報ＧＤ５を重畳させて表示する。本実施形態では、カメラ６１の撮影範囲における縦方向および伸縮ブーム２２の軸線方向は常に一致しているため、映像Ｍにおいて軸線情報ＧＤ５はＺ軸方向に沿うように表示される。
　尚、（ＳＴＥＰ－５０６）において、作業半径線情報ＧＤ４と軸線情報ＧＤ５は、図３４に示すように、データ表示部８０において同時に表示してもよい。 Further, in (STEP-506), the data processing unit 70 outputs the axis line information GD5 to the data display unit 80 as shown in FIG. 31 lower view and FIG. Is superimposed and displayed. In the present embodiment, since the longitudinal direction in the imaging range of the camera 61 and the axial direction of the telescopic boom 22 always coincide with each other, in the image M, the axial line information GD5 is displayed along the Z-axis direction.
In (STEP-506), the work radius line information GD4 and the axis line information GD5 may be simultaneously displayed on the data display unit 80 as shown in FIG.
　また、（ＳＴＥＰ－５０６）において、データ処理部７０は、図３０下図、図３１下図に示すように、作業半径線情報ＧＤ４および軸線情報ＧＤ５を表示する線を破線によって出力し、かつ、その破線の長さおよび間隔を、地表面Ｆの基準高Ｈ０に基づいて算出したデータ取得部６０の高さ（撮影範囲）に応じて設定する。まず、破線の長さおよび間隔の目安となる長さ（以下、基準長さと呼ぶ）を設定する。例えば、基準長さを１ｍとした場合、作業半径情報ＧＤ４と軸線情報ＧＤ５は、地表面Ｆの基準高Ｈ０に基づいて算出したデータ取得部６０の高さ（撮影範囲の大きさ）に応じて表示上では破線の長さおよび間隔を変更し、そのときのスケールにおいて、地表面Ｆで１ｍに相当する長さおよび間隔として表示される。つまり、データ取得部６０の高さが高くなるほど、表示上での破線の長さおよび間隔が短くなり、データ取得部６０の高さが低いほど、表示上での破線の長さおよび間隔が長くなるように設定される。
　以上のように、ガイド情報表示装置５０では、作業半径線情報ＧＤ４および軸線情報ＧＤ５の破線の長さおよび間隔が、基準長さで表示されることによって、オペレータはガイド情報ＧＤから地表面Ｆを含む測定対象物に対する距離感を容易に把握することができる。 Further, in (STEP-506), the data processing unit 70 outputs a line for displaying the work radius line information GD4 and the axis line information GD5 by a broken line as shown in the lower side of FIG. 30 and the lower side of FIG. The length and the interval are set according to the height (the imaging range) of the data acquisition unit 60 calculated based on the reference height H0 of the ground surface F. First, the length of a broken line and a length (hereinafter referred to as a reference length) as an indication of the interval are set. For example, when the reference length is 1 m, the work radius information GD4 and the axis line information GD5 are determined according to the height (the size of the imaging range) of the data acquisition unit 60 calculated based on the reference height H0 of the ground surface F. On the display, the length and interval of the broken line are changed, and on the scale at that time, it is displayed as the length and interval corresponding to 1 m on the ground surface F. That is, as the height of the data acquisition unit 60 increases, the length and interval of the broken line on the display shorten, and as the height of the data acquisition unit 60 decreases, the length and interval of the broken line on the display increase. Is set to be
As described above, in the guide information display device 50, the operator can display the ground surface F from the guide information GD by displaying the lengths and intervals of the broken lines of the work radius line information GD4 and the axis line information GD5 in the reference lengths. The sense of distance to the object to be measured can be easily grasped.
　尚、本実施形態では、地表面推定処理を用いて、吊荷Ｗ周辺の地表面Ｆの基準高Ｈ０を算出し、該地表面Ｆの基準高Ｈ０に基づいて、カメラ６１の撮影範囲を算出しているが、撮影範囲の算出方法はこれに限定されない。例えば、「クレーン情報」から算出されるクレーン１の設置面に対するカメラ６１の高さに基づいて、カメラ６１の撮影範囲を算出してもよい。また、カメラ６１がズーム機能を有している場合であれば、ズーム倍率を考慮して、カメラ６１の撮影範囲を算出してもよい。 In the present embodiment, the reference height H0 of the ground surface F around the suspended load W is calculated using the ground surface estimation processing, and the imaging range of the camera 61 is calculated based on the reference height H0 of the ground surface F. However, the method of calculating the imaging range is not limited to this. For example, the imaging range of the camera 61 may be calculated based on the height of the camera 61 with respect to the installation surface of the crane 1 calculated from “crane information”. Further, as long as the camera 61 has a zoom function, the imaging range of the camera 61 may be calculated in consideration of the zoom magnification.
　即ち、本発明の一実施形態に係るガイド情報表示装置は、伸縮ブーム２２から垂下されるメインワイヤロープ２７によって吊り下げられ、伸縮ブーム２２の動作に応じて移動される吊荷Ｗの上方から、吊荷Ｗと吊荷Ｗの下方に存在する地表面Ｆと、を少なくとも含む吊荷領域ＷＡの映像を撮影するカメラ６１と、吊荷領域ＷＡにおいて、吊荷Ｗの上方から点群データＰを取得するレーザスキャナ６２と、を備えたデータ取得部６０と、カメラ６１の映像Ｍを表示するデータ表示部８０と、レーザスキャナ６２で取得した点群データＰに基づいて、カメラ６１の映像Ｍに重畳して表示するガイド情報ＧＤを生成するデータ処理部７０と、を備え、データ処理部７０は、レーザスキャナ６２で取得した点群データＰに基づいて地表面Ｆの基準高Ｈ０を推定するとともに、地表面Ｆの基準高Ｈ０に基づいてカメラ６１の撮影範囲（横幅ｗｈおよび縦幅ｗｖ）を算出し、カメラ６１の撮影範囲に基づいて、吊荷Ｗの動線を表すガイド情報ＧＤを生成する。
　そして、このような構成のガイド情報表示装置では、吊荷Ｗの動線を正確に表したガイド情報ＧＤである作業半径線情報ＧＤ４および軸線情報ＧＤ５を表示することができる。 That is, the guide information display apparatus according to the embodiment of the present invention is suspended by the main wire rope 27 suspended from the telescopic boom 22 and is moved from above the suspended load W moved according to the operation of the telescopic boom 22 The load load W and the ground surface F below the load load W, the camera 61 capturing an image of the load load area WA including at least the point load data P from above the load load W in the load load area WA Based on the data acquisition unit 60 including the laser scanner 62 to acquire, the data display unit 80 that displays the image M of the camera 61, and the point cloud data P acquired by the laser scanner 62, And the data processing unit 70 generates the guide information GD to be displayed in an overlapping manner, and the data processing unit 70 determines the reference height H of the ground surface F based on the point cloud data P acquired by the laser scanner 62. And calculate the shooting range (horizontal width wh and vertical width wv) of the camera 61 based on the reference height H0 of the ground surface F, and based on the shooting range of the camera 61, a guide that represents the flow line of the hanging load W Generate information GD.
Then, in the guide information display device having such a configuration, it is possible to display work radius line information GD4 and axis information GD5 which are guide information GD representing the flow line of the hanging load W accurately.
　さらに、ガイド情報表示装置５０によって行うガイド情報ＧＤの表示には、吊荷Ｗと地物Ｃの接触を防止するための警報表示が含まれている。
　データ処理部７０は、吊荷Ｗと地物Ｃを水平面に投影した際の水平距離が、所定の閾値（例えば、１ｍ）以下であり、かつ、鉛直方向の距離が所定の閾値（例えば、１ｍ）以下であった場合に、接触の恐れがあるものと判断する。 Furthermore, the display of the guide information GD performed by the guide information display device 50 includes an alarm display for preventing contact between the load W and the feature C.
In the data processing unit 70, the horizontal distance when projecting the hanging load W and the feature C on a horizontal plane is equal to or less than a predetermined threshold (for example, 1 m), and the distance in the vertical direction is a predetermined threshold (for example, 1 m) If it is the following, it is determined that there is a risk of contact.
　このときデータ処理部７０は、図３４に示すように、吊荷Ｗと接触する恐れがある地物Ｃのガイド枠ＧＤ１および高さ情報ＧＤ２を強調させる態様で、地物Ｃのガイド枠ＧＤ１および高さ情報ＧＤ２を出力する。あるいは、データ処理部７０は、地物Ｃのガイド枠ＧＤ１および高さ情報ＧＤ２を点滅させる態様で、地物Ｃのガイド枠ＧＤ１および高さ情報ＧＤ２を出力する。ガイド情報表示装置５０では、データ処理部７０によって、警報表示たる地物Ｃのガイド枠ＧＤ１および高さ情報ＧＤ２を出力し、データ表示部８０に表示することで、オペレータの注意を促すことができる。 At this time, as shown in FIG. 34, the data processing unit 70 guides the guide frame GD1 of the feature C and the guide frame GD1 of the feature C in such a manner as to emphasize the guide frame GD1 and height information GD2 of the feature C which may come into contact with the load W. Output height information GD2. Alternatively, the data processing unit 70 outputs the guide frame GD1 of the feature C and the height information GD2 in a mode in which the guide frame GD1 and the height information GD2 of the feature C blink. In the guide information display device 50, the data processing unit 70 outputs the guide frame GD1 and the height information GD2 of the feature C as an alarm display, and displays them on the data display unit 80, whereby the operator's attention can be urged. .
　また、ガイド情報表示装置５０では、データ処理部７０によってガイド情報ＧＤを生成するにあたって、図３５に示すように、吊荷Ｗとトップブーム部材２２ｆの間に除外領域ＪＡを設定する。そして、データ処理部７０は、当該除外領域ＪＡ内で取得された点データｐを、データ処理の対象から除外する構成としている。 Further, in the guide information display device 50, when generating the guide information GD by the data processing unit 70, as shown in FIG. 35, the exclusion area JA is set between the suspended load W and the top boom member 22f. Then, the data processing unit 70 is configured to exclude point data p acquired in the excluded area JA from the data processing target.
　除外領域ＪＡには、メインワイヤロープ２７が通過している。ガイド情報表示装置５０では、メインワイヤロープ２７をガイド情報ＧＤの生成対象（測定対象物）に含めないようにすることで、より正確で見やすいガイド情報ＧＤを提示する構成としている。尚、除外領域ＪＡは、吊荷Ｗのガイド枠ＧＤ１の生成に影響を及ぼさないように考慮して、その下端高さを、吊荷Ｗの上面から所定の距離だけ離れた位置に設定することが好ましい。 The main wire rope 27 passes through the exclusion area JA. The guide information display device 50 is configured to present more accurate and easy-to-see guide information GD by not including the main wire rope 27 in the generation target (measurement object) of the guide information GD. In addition, the excluded area JA should be set at a position separated by a predetermined distance from the upper surface of the suspended load W in consideration of not affecting the generation of the guide frame GD1 of the suspended load W. Is preferred.
　このような構成のガイド情報表示装置５０では、クレーン１のオペレータに対して、吊荷Ｗと吊荷Ｗの周辺に存在する地物Ｃについて、その形状を示すガイド枠ＧＤ１と、高さを示す高さ情報ＧＤ２・ＧＤ３を含むガイド情報ＧＤを的確に提示することができる。そして、このような構成のガイド情報表示装置５０を用いれば、例えば、オペレータが吊荷Ｗを直接視認することができない状況においても、オペレータは、ガイド情報表示装置５０によって提示されるガイド情報ＧＤに基づいて、効率よく、かつ、安全にクレーン１による作業を行うことができる。 In the guide information display device 50 having such a configuration, a guide frame GD1 indicating the shape of the suspended load W and the feature C existing around the suspended load W and the height for the operator of the crane 1 is shown. The guide information GD including the height information GD2 and GD3 can be accurately presented. When the guide information display device 50 having such a configuration is used, for example, even in a situation where the operator can not visually recognize the hanging load W directly, the operator can use the guide information GD presented by the guide information display device 50. Based on the work by the crane 1 can be performed efficiently and safely.
　本発明は、ガイド情報表示装置、クレーンおよびガイド情報の生成方法に利用可能である。 The present invention is applicable to a guide information display device, a crane and a method of generating guide information.
　１　　　クレーン
　６１　　カメラ
　６２　　レーザスキャナ
　７０　　データ処理部
　Ｄ　　　離れ量
　Ｆ　　　地表面
　Ｐ　　　点群データ
　ｐ　　　点データ
　Ｓ　　　小領域
　Ｗ　　　吊荷
　Ｃ　　　地物
　ＷＡ　　吊荷領域
　ｈ　　　距離 Reference Signs List 1 crane 61 camera 62 laser scanner 70 data processing unit D distance F ground surface P point group data p point data S small area W suspended load C feature WA suspended load area h distance

Claims (10)

  1. 　ブームから垂下されるワイヤによって吊り下げられ、前記ブームの動作に応じて移動される吊荷の上方から、前記吊荷と地表面と、を少なくとも含む領域の映像を撮影するカメラと、
    　前記領域において、前記吊荷の上方から点群データを取得するレーザスキャナと、
    　を備えたデータ取得部と、
    　前記カメラの映像を表示するデータ表示部と、
    　前記レーザスキャナで取得した点群データに基づいて、前記カメラの映像に重畳して表示するガイド情報を生成するデータ処理部と、を備え、
    　前記データ処理部は、前記レーザスキャナで取得した点群データに基づいて前記地表面の基準高を推定するとともに、前記地表面の基準高に基づいて前記カメラの撮影範囲を算出し、前記カメラの撮影範囲に基づいて、前記吊荷の動線を表す前記ガイド情報を生成する、
    　ことを特徴とするガイド情報表示装置。     A camera for capturing an image of an area including at least the suspended load and the ground surface from above the suspended load suspended by a wire suspended from the boom and moved according to the operation of the boom;
    A laser scanner for acquiring point cloud data from above the suspended load in the area;
    A data acquisition unit equipped with
    A data display unit for displaying an image of the camera;
    A data processing unit configured to generate guide information to be superimposed and displayed on the image of the camera based on the point cloud data acquired by the laser scanner;
    The data processing unit estimates a reference height of the ground surface based on point cloud data acquired by the laser scanner, and calculates an imaging range of the camera based on the reference height of the ground surface. Generating the guide information representing the flow line of the suspended load based on the imaging range;
    A guide information display device characterized in that.
  2. 　前記データ処理部は、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心の位置を基準とした前記吊荷の旋回方向への動線を表す作業半径線情報を生成する、
    　ことを特徴とする請求項１に記載のガイド情報表示装置。     The data processing unit generates, as the guide information, work radius line information representing a flow line in the turning direction of the hanging load based on the position of the turning center of the boom based on the imaging range of the camera. ,
    The guide information display device according to claim 1, characterized in that:
  3. 　前記データ処理部は、前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心と前記データ取得部の位置とを基準とした前記吊荷の前記ブームの軸線方向への動線を表す軸線情報を生成する、
    　ことを特徴とする請求項１または請求項２に記載のガイド情報表示装置。     The data processing unit is a flow line in the axial direction of the boom of the lifting load based on the swing center of the boom and the position of the data acquisition unit as the guide information based on the imaging range of the camera. Generate axis information representing
    The guide information display device according to claim 1 or 2, characterized in that:
  4. 　前記データ処理部は、
    　前記ガイド情報を破線によって出力し、かつ、該破線の長さおよび間隔を前記地表面の基準高に基づいて算出した前記カメラの撮影範囲に応じて設定する、
    　ことを特徴とする請求項１から請求項３の何れか一項に記載のガイド情報表示装置。     The data processing unit
    Outputting the guide information by a broken line, and setting the length and interval of the broken line in accordance with the photographing range of the camera calculated based on the reference height of the ground surface;
    The guide information display apparatus according to any one of claims 1 to 3, characterized in that:
  5. 　前記データ処理部は、
    　前記領域を、平面視において格子状に分割し、同一形状で、かつ、同一面積を有する複数の小領域を生成し、
    　前記小領域において、前記レーザスキャナのレーザ中心位置からの鉛直方向の距離が最大である点データを抽出し、
    　前記小領域において、前記距離が最大である点データに対する他の点データの前記距離の離れ量を算出するとともに、前記距離の離れ量が所定の閾値以下である点データを、地表面を構成する点データとして抽出し、
    　前記地表面を構成する点データに基づいて前記小領域における前記地表面の基準高を推定する、
    　ことを特徴とする請求項１から請求項４の何れか一項に記載のガイド情報表示装置。     The data processing unit
    The area is divided into a grid in plan view to generate a plurality of small areas having the same shape and the same area;
    Extracting point data in which the vertical distance from the laser center position of the laser scanner is maximum in the small area;
    In the small area, the distance of the distance of the other point data to the point data having the maximum distance is calculated, and the point data of which the distance of the distance is equal to or less than a predetermined threshold is constructed on the ground surface. Extracted as point data,
    Estimating a reference height of the ground surface in the small area based on point data constituting the ground surface;
    The guide information display device according to any one of claims 1 to 4, characterized in that:
  6. 　請求項１から請求項５の何れか一項に記載のガイド情報表示装置を備える、
    　ことを特徴とするクレーン。     A guide information display apparatus according to any one of claims 1 to 5, comprising:
    A crane characterized by
  7. 　カメラによって、ブームから垂下されるワイヤによって吊り下げられ、前記ブームの動作に応じて移動される吊荷の上方から、前記吊荷と地表面と、を少なくとも含む領域を撮影する撮影工程と、
    　レーザスキャナによって、前記吊荷の上方から、前記領域において点群データを取得する点群データ取得工程と、
    　前記レーザスキャナで取得した点群データに基づいて、前記カメラの映像に重畳して表示するガイド情報を生成するデータ処理手段によって、
    　前記点群データに基づいて前記地表面の基準高を推定する地表面推定工程と、
    　前記地表面の基準高に基づいて前記カメラの撮影範囲を算出する撮影範囲算出工程と、
    　前記カメラの撮影範囲に基づいて、前記吊荷の動線を表す前記ガイド情報を生成する動線情報生成工程と、
    　を備える、
    　ことを特徴とするガイド情報の生成方法。     An imaging step of imaging an area including at least the suspended load and the ground surface from above the suspended load suspended by a wire suspended from the boom by a camera and moved according to the operation of the boom;
    A point cloud data acquisition step of acquiring point cloud data in the area from above the suspended load by a laser scanner;
    The data processing means generates guide information to be superimposed and displayed on the image of the camera based on the point cloud data acquired by the laser scanner.
    A ground surface estimation step of estimating a reference height of the ground surface based on the point cloud data;
    An imaging range calculation step of calculating an imaging range of the camera based on the reference height of the ground surface;
    A flow line information generation step of generating the guide information representing the flow line of the suspended load based on the imaging range of the camera;
    Equipped with
    A method of generating guide information characterized in that.
  8. 　前記動線情報生成工程において、
    　前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心の位置を基準とした前記吊荷の旋回方向への動線を表す作業半径線情報を生成する、
    　ことを特徴とする請求項７に記載のガイド情報の生成方法。     In the flow line information generation step,
    As the guide information, work radius line information representing a flow line in the turning direction of the hanging load with reference to the position of the turning center of the boom is generated based on the imaging range of the camera.
    The method according to claim 7, wherein the guide information is generated.
  9. 　前記動線情報生成工程において、
    　前記ガイド情報として、前記カメラの撮影範囲に基づいて、前記ブームの旋回中心と前記カメラの位置とを基準とした前記吊荷の前記ブームの軸線方向への動線を表す軸線情報を生成する、
    　ことを特徴とする請求項７または請求項８に記載のガイド情報の生成方法。     In the flow line information generation step,
    As the guide information, based on the imaging range of the camera, axis information representing a flow line of the hanging load in the axial direction of the boom based on the pivot center of the boom and the position of the camera is generated.
    A method of generating guide information according to claim 7 or 8, characterized in that.
  10. 　前記データ処理手段によって、
    　前記ガイド情報を破線によって出力し、かつ、該破線の長さおよび間隔を前記カメラの撮影範囲に応じて設定する動線情報表示工程を、
    　さらに備える、
    　ことを特徴とする請求項７から請求項９の何れか一項に記載のガイド情報の生成方法。     By said data processing means
    The flow line information display process of outputting the guide information by a broken line and setting the length and interval of the broken line according to the photographing range of the camera,
    Furthermore,
    The method of generating guide information according to any one of claims 7 to 9, characterized in that:
PCT/JP2018/027280 2017-07-21 2018-07-20 Guide information display device, crane, and guide information generation method WO2019017472A1 (en)

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Citations (3)

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JP2013018580A (en) * 2011-07-08 2013-01-31 Tadano Ltd Performance line display unit
JP2013120176A (en) * 2011-12-09 2013-06-17 Tadano Ltd System for notifying height information of object around hoisting load
JP2016153335A (en) * 2015-02-20 2016-08-25 株式会社タダノ Suspended load monitoring equipment

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2013018580A (en) * 2011-07-08 2013-01-31 Tadano Ltd Performance line display unit
JP2013120176A (en) * 2011-12-09 2013-06-17 Tadano Ltd System for notifying height information of object around hoisting load
JP2016153335A (en) * 2015-02-20 2016-08-25 株式会社タダノ Suspended load monitoring equipment

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