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1.发明申请公开(公告)号：US20210147193A1
公开(公告)日：2021-05-20
申请号：US16632731
申请日：2018-07-19
发明人： Takayuki KOSAKA , Iwao ISHIKAWA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： To estimate the top surface of a measurement target on the basis of a data point group that corresponds to the top surface of the measurement target and is obtained using a laser scanner. A data processing unit: selects two data points from the data point group which is contained within the thickness in the vertical direction of a hoisting load region, and calculates the distance between the selected two data points; determines the two data points are located in the same plane and calculates the gravitational center for each point determined to be in the same plane when the distance between the two points is equal to or less than a threshold; searches for a nearby point which is a data point for which the distance from the gravitational centers is equal to or less than the threshold, determines the nearby point is also in the same plane when the nearby point is discovered, and repeatedly performs the process in order each time a nearby point is discovered; obtains multiple data points determined to be in the same plane; and estimates plane clusters representing the top surfaces of a hoisting load and an object on the basis of the multiple data points.
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公开(公告)号：US20200167940A1
公开(公告)日：2020-05-28
申请号：US16632779
申请日：2018-07-19
发明人： Takayuki KOSAKA , Iwao ISHIKAWA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： Provided is a method for clustering the data point groups of one or more measurement targets located in the same region from among the acquired data point groups. This method is provided with: acquiring a data point group in a region that contains a measurement target from above the measurement target by using a laser scanner; clustering the data point groups that correspond to the top surface of the measurement target as a planar cluster by using a data processing unit; extracting a reference planar cluster which is a reference for making a same-region determination; calculating the difference in height between the reference planar cluster and other planar clusters, and searching for planar clusters exhibiting a height difference within a prescribed threshold; selecting one planar cluster exhibiting a height difference within the prescribed threshold; detecting whether there is overlap between the reference planar cluster and the one planar cluster; and clustering the planar clusters as clusters in the same region when overlap is detected.
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公开(公告)号：US20220003544A1
公开(公告)日：2022-01-06
申请号：US17296807
申请日：2019-12-09
发明人： Iwao ISHIKAWA , Takayuki KOSAKA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： A ground surface estimation method includes: a continuous region recognizing step for recognizing, when a difference in altitude value between a representative point of one grid and a representative point of another adjacent grid out of the plurality of grids is equal to or less than a threshold, the one grid and the other adjacent grid as a continuous region that is a region where the one grid and the other adjacent grid are continuous; and a ground surface estimation step for estimating a continuous region having the largest number of grids among the continuous regions as a ground surface.
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4.发明申请公开(公告)号：US20210163270A1
公开(公告)日：2021-06-03
申请号：US16632696
申请日：2018-07-19
发明人： Takayuki KOSAKA , Iwao ISHIKAWA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： To accurately obtain the shapes of a hoisting load and an object located near the hoisting load, and the height of the ground surface, and present an accurate warning display when the hoisting load approaches the object. A guide information display device is equipped with a data processing unit which: estimates the top surface of a hoisting load, the ground surface, and the top surface of the object, on the basis of a data point group obtained by a laser scanner; generates guide frames representing guide frames that surround the top surface of the hoisting load and the top surface of the object, and also generates height information and height information which represent the elevation of the hoisting load and the object; calculates the distance between the hoisting load and the object on the basis of the estimated top surfaces of the hoisting load and object; and outputs a warning display when the distance is equal to or less than a threshold. The guide information display device is also equipped with a data display unit for displaying guide information obtained by overlapping an image captured by a camera with the guide frames, the height information and the height information, and the warning display which were generated by the data processing unit.
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5.发明申请公开(公告)号：US20200165107A1
公开(公告)日：2020-05-28
申请号：US16632639
申请日：2018-07-19
发明人： Takayuki KOSAKA , Iwao ISHIKAWA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： To accurately present information about the shape and location of a hoisting load and an object located near the hoisting load, regardless of the orientation and operational state of the crane. A guide information display device, wherein a camera images part of a work region of a crane, a laser scanner obtains a data point group of the work region captured by the camera, and a data processing unit: removes, from the obtained data point group, a data point group located between a hoisting load hanging from a crane and the tip end section of the telescopic boom of the crane; estimates, on the basis of the remaining data point group, the top surface of the hoisting load, the ground surface of the work region, and the top surfaces of objects located in the work region; generates guide frames which surround the top surfaces of the hoisting load and the objects; and overlaps the generated guide frames on the captured image, and displays the same on a data display unit.
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公开(公告)号：US20220017336A1
公开(公告)日：2022-01-20
申请号：US17296847
申请日：2019-12-09
发明人： Iwao ISHIKAWA , Takayuki KOSAKA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： A ground surface estimation method include: performing first estimation in which the continuous region having a largest number of the grids among the continuous regions is estimated as a ground surface; and performing second estimation including: calculating an average altitude value of the representative point of the grids in the non-adjacent continuous region for each of the non-adjacent continuous regions; calculating an average altitude value of the representative point of the grids in the predetermined range of the continuous region estimated as the ground surface; and estimating that a non-adjacent continuous region as the ground surface when a difference between the average altitude value of the representative point of the grids in the non-adjacent continuous region and the average altitude value of the representative point of the grids in a predetermined range of the continuous region estimated as the ground surface is equal to or less than a threshold.
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7.发明申请公开(公告)号：US20210147194A1
公开(公告)日：2021-05-20
申请号：US16632750
申请日：2018-07-19
发明人： Takayuki KOSAKA , Iwao ISHIKAWA , Satoshi KUBOTA , Shigenori TANAKA , Kenji NAKAMURA , Yuhei YAMAMOTO , Masaya NAKAHARA
摘要： To estimate the top surface of a measurement target on the basis of a data point group that corresponds to the top surface of a measurement target and is obtained using a laser scanner. This top-surface estimation method for hoisting loads and objects is provided with: a data point group acquisition step in which a laser scanner acquires data point groups in a hoisting load region which includes a hoisting load and an object from above the hoisting load and the object; a group allocation step in which a data processing unit divides the hoisting load region into layers which constitute a plurality of groups which have a prescribed thickness in the vertical direction, and allocates the acquired data point groups to the plurality of layer groups; and a top-surface estimation step in which the data processing unit estimates the top surfaces of the hoisting load and the object in each layer group on the basis of the data point groups allocated to the plurality of layer groups.
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