Information processing device, information processing method, and program

Abstract

The goal is to estimate the state of multiple wires. [Solution] The information processing device includes an estimation unit that estimates a surface composed of multiple wires using point cloud data of multiple wires measured using a sensor, and an angle calculation unit that calculates the twist angle and the sway angle in the front-rear direction of the estimated surface based on the estimated surface.

Description

Technical Field

[0006] , ,

[0001] The present disclosure relates to an information processing apparatus, an information processing method, and a program for estimating the state of a wire.

Background Art

[0002] As a related technique, Patent Document 1 discloses a point cloud data processing apparatus that extracts features from point cloud data of a measurement object and automatically generates data related to the contour of the object in a short time. According to the point cloud data processing apparatus of Patent Document 1, from the point cloud data in which a two-dimensional image of a measurement object is associated with the three-dimensional coordinate data of a plurality of points constituting the two-dimensional image, point cloud data related to a non-planar region with a large calculation burden is removed, and a label for designating a plane is assigned to the point cloud data after the data of the non-planar region is removed, and based on a local region continuous from the plane to which the label is assigned, using a local plane, the contour line of the object is calculated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the point cloud data processing apparatus of Patent Document 1 does not estimate the states of a plurality of wires. That is, it does not estimate a plane configured using a plurality of wires and estimate the states of a plurality of wires based on the twist and the back-and-forth sway of the estimated plane.

[0005] An example of the object of the present disclosure is to estimate the states of a plurality of wires.

Means for Solving the Problems

[0006] To achieve the above objective, the information processing device in one aspect of this disclosure is: An estimation unit that estimates a surface composed of multiple wires using point cloud data of multiple wires measured using a sensor, An angle calculation unit calculates the torsional angle and the longitudinal oscillation angle of the estimated surface based on the estimated surface, It is characterized by having the following features.

[0007] Furthermore, in order to achieve the above objectives, the information processing method in one aspect of this disclosure is: Information processing device, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. It is characterized by the following:

[0008] Furthermore, in order to achieve the above objectives, the program in one aspect of this disclosure is On the computer, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. The characteristic feature is that it causes the process to be executed. [Effects of the Invention]

[0009] As described above, this disclosure makes it possible to estimate the state of multiple wires. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a diagram illustrating an example of an information processing device. [Figure 2] Figure 2 is a diagram illustrating an example of a mobile body equipped with a crane. [Figure 3]FIG. 3 is a diagram for explaining an example of a wire. [Figure 4] FIG. 4 is a diagram for explaining an example of a system having an information processing apparatus. [Figure 5] FIG. 5 is a diagram showing an example of a point group of a plurality of wires. [Figure 6] FIG. 6 is a diagram for explaining the angle of twist. [Figure 7] FIG. 7 is a diagram for explaining the angle representing the sway. [Figure 8] FIG. 8 is a diagram for explaining an example of the operation of the information processing apparatus. [Figure 9] FIG. 9 is a diagram for explaining an example of a computer that realizes the information processing apparatus in the embodiment.

MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, embodiments will be described with reference to the drawings. In the drawings described below, elements having the same function or corresponding functions are denoted by the same reference numerals, and repeated description thereof may be omitted.

[0012] (Embodiment) The configuration of the information processing apparatus in the embodiment will be described using FIG. 1. FIG. 1 is a diagram for explaining an example of the information processing apparatus.

[0013] [[ID=3 & 6]][Device Configuration] The information processing apparatus shown in FIG. 1 is an apparatus that estimates the states of a plurality of wires (wire state estimation apparatus). Further, as shown in FIG. 1, the information processing apparatus 10 includes an estimation unit 11 and an angle calculation unit 12.

[0014] The estimation unit 11 estimates a plane formed by a plurality of wires using point cloud data (point cloud information) of the plurality of wires measured using sensors.

[0015] The angle calculation unit 12 calculates the angle of twist and the angle of sway in the front-rear direction of the estimated plane based on the estimated plane.

[0016] Thus, in this embodiment, the torsional angle of the surface estimated using multiple wires and the angle of oscillation in the front-to-back direction can be calculated, making it possible to estimate the state of multiple wires.

[0017] [System Configuration] Next, the information processing device 10 in the embodiment will be described in detail. Figure 2 is a diagram illustrating an example of a mobile body equipped with a crane.

[0018] The mobile body 100 comprises a crane 1, a sensor S1, and an information processing device 10. The mobile body 100 is also, for example, a vehicle or ship equipped with the crane 1. A vehicle could be, for example, a crane truck. A ship could be, for example, a dredger. In this embodiment, for the sake of clarity, the case where the mobile body 100 is a dredger will be described. However, the mobile body 100 is not limited to a dredger.

[0019] Crane 1 is equipped with a slewing section 1a. Crane 1 is, for example, a truck crane, a rough terrain crane, an all-terrain crane, a crawler crane, a gantry crane, an unloader crane, a jib crane, an overhead crane, a cable crane, a stacker crane, etc.

[0020] The slewing section 1a is equipped with a jib 1b. In the example shown in Figure 2, wires 2 and a grab bucket 3 are attached to the jib 1b. Wires 2 (2a, 2b, 2c, 2d) include support wires 2a and 2c for supporting the grab bucket 3, and opening and closing wires 2b and 2d for opening and closing the grab bucket. However, although there are four wires 2 in the example shown in Figure 2, the number is not limited to four. If the vessel is a dredger, for example, the grab bucket 3 is suspended using wires 2 and used to excavate the seabed and load the excavated soil onto a barge.

[0021] Figure 3 is a diagram illustrating an example of a wire. The four line segments representing wires 2a, 2b, 2c, and 2d correspond to the four sides in the Z-axis direction that make up surface 20, as shown in Figure 3.

[0022] Sensor S1 is a sensor for monitoring the status of the wires 2 (support wires 2a, 2c, opening / closing wires 2b, 2d) attached to the crane 1. Sensor S1 is mounted on the mobile body 100. In the example in Figure 2, it is installed on the slewing section 1a of the crane 1 mounted on the mobile body 100. In the example in Figure 2, sensor S1 is installed next to the jib 1b on the front side in the Y-axis direction (short side of the mobile body 100) and in the center in the Z-axis (height) direction of the slewing section 1a.

[0023] However, the sensor S1 should be installed in a position where it can measure the condition of the wire. In other words, the sensor S1 should be installed so that the wire is included within the measurable area (measurement area) of the sensor S1. Note that the position and number of sensors are not limited to those shown in Figure 2.

[0024] Furthermore, sensor S1 is a sensor capable of measuring point cloud information, such as LiDAR (Light Detection and Ranging). Sensor S1 outputs point cloud information (measurement information), which includes the distance and position measured from the sensor's location, to the information processing device 10 via a network (wireless and / or wired).

[0025] The network is a wired or wireless network installed on the mobile device 100. The network is a general communication network constructed using communication lines such as LAN (Local Area Network), Bluetooth (registered trademark), and Wi-Fi (Wireless Fidelity) (registered trademark).

[0026] Note that the point cloud information (measurement information) measured by sensor S1 is in the sensor's own local coordinate system (sensor coordinates).

[0027] The information processing device 10 is, for example, a programmable device such as a CPU (Central Processing Unit) or FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or a circuit equipped with one or more of these, or a computer, personal computer, mobile terminal, or other device. The information processing device 10 is also a device that controls the crane 1 (crane control device or crane operation automation device).

[0028] In the example shown in Figure 2, the information processing device 10 is located inside the crane 1, but it may also be located outside the crane 1. For example, the information processing device 10 may be located in a place other than the crane 1.

[0029] If the information processing device 10 is installed in a location other than crane 1, it will control crane 1 via the network. The network is a general network constructed using communication lines such as the internet, LAN, dedicated line, telephone line, corporate network, mobile communication network, Bluetooth, Wi-Fi, etc.

[0030] Furthermore, a storage device (not shown) is provided inside the information processing device 10. However, the storage device may be provided outside the information processing device 10. The storage device may be a database, a server computer, or a circuit with memory.

[0031] ●The information processing device will be explained in detail. Figure 4 is a diagram illustrating an example of a system having an information processing device. The information processing device 10 includes a conversion unit 13, a region designation unit 14, a reference setting unit 15, an estimation unit 11, an angle calculation unit 12, and a control unit 16.

[0032] The transformation unit 13 transforms the local coordinate system of the point cloud data of multiple wires 2 measured by the sensor S1 into a world coordinate system (coordinate transformation processing). The coordinate transformation processing uses general transformation processing. In the coordinate transformation processing, for example, a transformation matrix is ​​used to transform the local coordinate system into a world coordinate system. Specifically, the parameters obtained in the preliminary preparation are used to transform the LiDAR coordinates into world coordinates.

[0033] The region specification unit 14 specifies the estimation region from the point cloud data of multiple wires to estimate a surface. Specifically, the estimation region is specified using the X, Y, and Z axes of the world coordinate system. The estimation region can be specified automatically or manually. By specifying the estimation region in this way, the estimation processing time can be reduced by performing the estimation process using only the point cloud data of the estimated region.

[0034] Figure 5 shows an example of a point cloud of multiple wires. Figure 5 shows the point clouds measured using sensor S1 for each of the wires 2a, 2b, 2c, and 2d shown in Figure 3. Figure 5 also shows an estimated region 50 (dashed line).

[0035] Furthermore, voxel processing may be applied to the point cloud data of the estimation region. Applying voxel processing can further reduce the number of points in the point cloud, thereby reducing the estimation processing time. In addition, voxel processing has the effect of smoothing the point cloud density and eliminates bias towards a single straight line during estimation, thereby improving the accuracy of surface estimation. Note that noise reduction will not be performed on the point cloud data corresponding to the line segment corresponding to wire 2, as there are areas with a small number of data points.

[0036] Before operation, the reference setting unit 15 uses point cloud data measured while the multiple wires 2 are motionless for a predetermined period to set the vertical, horizontal, and origin points that will represent the reference state of the multiple wires (reference setting process).

[0037] The estimation unit 11 estimates a surface formed by multiple wires 2 using point cloud data of multiple wires 2 measured using the sensor S1. Specifically, in this embodiment, a plane formed by line segments of four wires 2 is estimated. However, the multiple wires 2 do not have to be aligned in a straight line, and there are not necessarily four wires.

[0038] Specifically, the surface estimation process involves selecting arbitrary points and fitting the surface using the least squares method. The distance between the selected points and the surface is calculated, and points with distances greater than a predetermined value are excluded as outliers. The surface is then fitted again using the point cloud data excluding the outliers. If the proportion of non-outlier points exceeds a certain threshold, that surface is adopted as the final estimation result.

[0039] Furthermore, the estimation process allows for the capture of the entire surface even if a portion of it is occluded.

[0040] The angle calculation unit 12 calculates the twist angle and the longitudinal sway angle based on the estimated plane. Specifically, during operation, the angle calculation unit 12 uses the estimated plane (for example, the plane estimated from multiple wires 2 with the grab bucket 3 suspended) and the coordinate system of the reference state to calculate the tilt of the horizontal plane of the estimated plane as the angle representing the twist, and calculates the tilt of the vertical plane of the estimated plane as the angle representing the longitudinal sway.

[0041] Specifically, the angle calculation unit 12 first calculates the normal vector of the estimated surface. Next, the angle calculation unit 12 calculates the angle of twist (tilt in the horizontal plane) represented by the X-axis and the normal vector, centered on the Z-axis.

[0042] Figure 6 is a diagram illustrating the angle of twist. Figure 6A represents a rotation image around the Z-axis. In Figure 6A, vector 81 represents the estimated normal vector of the surface. Figure 6B represents the angle φ, which is the twist represented by the X-axis and the normal vector 81.

[0043] Next, the angle calculation unit 12 calculates the angle (inclination of the vertical plane) that represents the forward and backward oscillation, expressed by the Z axis and the normal vector, centered on the Y axis.

[0044] Figure 7 is a diagram illustrating the angle representing the oscillation. Figure 7A shows a rotation image around the Y-axis. In Figure 7B, vector 81 represents the normal vector of the estimated surface. Figure 7B shows the angle Ψ representing the oscillation in the forward and backward direction, expressed by the Z-axis and the normal vector 81. Note that rotation around the X-axis is an impossible state and is therefore excluded.

[0045] During operation, the control unit 16 acquires control information for controlling the crane 1 (information including at least the angle representing the estimated twist of the surface (inclination of the horizontal surface) and the angle representing the estimated sway of the surface in the longitudinal direction (inclination of the vertical surface)), and controls the crane 1 based on the control information.

[0046] [Device operation] Next, the operation of the information processing device in the embodiment will be described using Figure 8. Figure 8 is a diagram illustrating an example of the operation of the information processing device. In the following description, the diagram will be referred to as appropriate. In this embodiment, the information processing method is implemented by operating the information processing device. Therefore, the explanation of the information processing method in this embodiment will be replaced by the following explanation of the operation of the information processing device.

[0047] As shown in Figure 8, first, the conversion unit 13 converts the local coordinate system of the point cloud data of multiple wires 2 measured by the sensor S1 to the world coordinate system (coordinate transformation process: step A1). In step A1, the conversion unit 13 stores the point cloud data in the world coordinate system in a storage device.

[0048] Next, the region specification unit 14 specifies the estimation region from the point cloud data of multiple wires to estimate a surface (step A2). Specifically, in step A2, the estimation region is specified using the X, Y, and Z axes of the world coordinate system. The estimation region can be specified automatically or manually.

[0049] Next, the reference setting unit 15 uses point cloud data measured while the multiple wires 2 are motionless for a predetermined period before operation to set the vertical, horizontal, and origin points that will serve as the reference state for the multiple wires (reference setting process: step A3).

[0050] Next, the estimation unit 11 estimates a surface formed by multiple wires 2 using point cloud data of multiple wires 2 measured using the sensor S1 (step A4). Specifically, in this embodiment, a surface formed by line segments of four wires 2 is estimated. However, the multiple wires 2 do not have to be aligned in a straight line, and there are not necessarily four wires.

[0051] The angle calculation unit 12 calculates the twist angle and the longitudinal sway angle based on the estimated plane (step A5). That is, in step A5, the angle calculation unit 12 uses the estimated plane (for example, the plane estimated from multiple wires 2 with the grab bucket 3 suspended) and the coordinate system of the reference state to calculate the inclination of the horizontal plane of the estimated plane as the angle representing the twist, and calculates the inclination of the vertical plane of the estimated plane as the angle representing the longitudinal sway.

[0052] Specifically, in step A5, the angle calculation unit 12 first calculates the normal vector of the estimated surface. Next, in step A5, the angle calculation unit 12 calculates the angle of twist (tilt in the horizontal plane) represented by the X-axis and the normal vector, centered on the Z-axis.

[0053] During operation, the control unit 16 acquires control information for controlling the crane 1 (information including the angle representing the estimated twist of the surface (inclination of the horizontal surface) and the angle representing the estimated sway of the surface in the front-to-back direction (inclination of the vertical surface)), and controls the crane 1 based on the control information (step A6).

[0054] [Effects of the Embodiment] As described above, according to this embodiment, the torsional angle of the surface estimated using multiple wires and the angle of oscillation in the front-to-back direction can be calculated, so the state of multiple wires can be estimated.

[0055] [program] The program in the embodiment can be any program that causes a computer to execute steps A1 to A6 shown in Figure 8. By installing and executing this program on a computer, the information processing device and information processing method in the embodiment can be realized. In this case, the computer's processor functions as a conversion unit 13, a region specification unit 14, a reference setting unit 15, an estimation unit 11, an angle calculation unit 12, and a control unit 16, and performs the processing.

[0056] Furthermore, the program in the embodiment may be executed by a computer system constructed by multiple computers. In this case, for example, each computer may function as one of the following: the conversion unit 13, the area designation unit 14, the reference setting unit 15, the estimation unit 11, the angle calculation unit 12, or the control unit 16.

[0057] [Physical configuration] Here, a computer that implements an information processing device by executing the program in the embodiment will be described using Figure 9. Figure 9 is a diagram illustrating an example of a computer that implements an information processing device in the embodiment.

[0058] As shown in Figure 11, the computer 110 comprises a CPU (Central Processing Unit) 111, main memory 112, storage device 113, input interface 114, display controller 115, data reader / writer 116, and communication interface 117. These components are connected to each other via a bus 121, enabling data communication. In addition to the CPU 111, or in place of the CPU 111, the computer 110 may also include a GPU or FPGA.

[0059] The CPU 111 loads the program in the embodiment, which consists of a set of codes stored in the storage device 113, into the main memory 112, and performs various calculations by executing each code in a predetermined order. The main memory 112 is typically a volatile storage device such as DRAM (Dynamic Random Access Memory).

[0060] Furthermore, the program in this embodiment is provided stored on a computer-readable recording medium 120. The program in this embodiment may also be distributed over the Internet via a communication interface 117.

[0061] Specific examples of the storage device 113 include hard disk drives and semiconductor storage devices such as flash memory. The input interface 114 mediates data transmission between the CPU 111 and input devices 118 such as a keyboard and mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119.

[0062] The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads programs from the recording medium 120, and writes processing results from the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and other computers.

[0063] Specific examples of the recording medium 120 include general-purpose semiconductor memory devices such as CF (Compact Flash®) and SD (Secure Digital), magnetic recording media such as Flexible Disks, and optical recording media such as CD-ROMs (Compact Disk Read Only Memory).

[0064] Furthermore, the information processing device 10 in this embodiment can be implemented not by a computer on which a program is installed, but by using hardware corresponding to each part, such as electronic circuits. Moreover, the information processing device 10 may be partially implemented by a program and the remaining part by hardware. In this embodiment, the computer is not limited to the computer shown in Figure 11.

[0065] [Note] The following additional notes are disclosed regarding the embodiments described above. Some or all of the embodiments described above can be expressed by (Note 1) to (Note 24) below, but are not limited to the following descriptions.

[0066] (Note 1) An estimation unit that estimates a surface composed of multiple wires using point cloud data of multiple wires measured using a sensor, An angle calculation unit that calculates the torsional angle and longitudinal oscillation angle of the estimated surface based on the estimated surface, An information processing device having

[0067] (Note 2) The system has a region designation unit that specifies a region from the point cloud data of the plurality of wires for which the surface is estimated. The information processing device described in Appendix 1.

[0068] (Note 3) Before operation, the system has a reference setting unit that uses point cloud data measured while the multiple wires are motionless for a predetermined period to set the vertical, horizontal, and origin points that represent the reference state of the multiple wires. The information processing device described in Appendix 2.

[0069] (Note 4) The angle calculation unit calculates the inclination of the horizontal plane based on the estimated plane and the reference state, and sets it as the angle representing the twist, and calculates the inclination of the vertical plane, and sets it as the angle representing the sway in the front-to-back direction. The information processing device described in Appendix 3.

[0070] (Note 5) Voxel processing is performed on the point cloud data of the specified region. The information processing device described in Appendix 2.

[0071] (Note 6) The aforementioned multiple wires lift the grab bucket installed on the crane. The information processing device described in Appendix 1.

[0072] (Note 7) The aforementioned crane is mounted on a dredger. The information processing device described in Appendix 6.

[0073] (Note 8) The system includes a transformation unit that converts the local coordinate system of the point cloud data to the world coordinate system of the crane. The information processing device described in Appendix 6.

[0074] (Note 9) Information processing device, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. Information processing methods.

[0075] (Note 10) The information processing device specifies a region from the point cloud data of the plurality of wires in which to estimate the surface. The information processing method described in Appendix 9.

[0076] (Note 11) The aforementioned information processing device uses point cloud data measured while the multiple wires are motionless for a predetermined period before operation to set the vertical, horizontal, and origin points that represent the reference state of the multiple wires. The information processing method described in Appendix 10.

[0077] (Note 12) The information processing device calculates the inclination of the horizontal plane and sets it as the angle representing the twist, based on the estimated plane and the reference state, and calculates the inclination of the vertical plane and sets it as the angle representing the sway in the front-to-back direction. The information processing method described in Appendix 11.

[0078] (Note 13) Voxel processing is performed on the point cloud data of the specified region. The information processing method described in Appendix 10.

[0079] (Note 14) The aforementioned multiple wires lift the grab bucket installed on the crane. The information processing method described in Appendix 9.

[0080] (Note 15) The aforementioned crane is mounted on a dredger. The information processing method described in Appendix 14.

[0081] (Note 16) The aforementioned information processing device converts the local coordinate system of the point cloud data to the world coordinate system of the crane. The information processing method described in Appendix 14.

[0082] (Note 17) On the computer, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. A program that executes a process.

[0083] (Note 18) The computer is instructed to specify the region from the point cloud data of the plurality of wires in which to estimate the surface. The program described in Appendix 17.

[0084] (Note 19) The computer is instructed, before operation, to set the vertical, horizontal, and origin points of the multiple wires, which represent the reference state of the multiple wires, using point cloud data measured while the multiple wires were motionless for a predetermined period. The program described in Appendix 18.

[0085] (Note 20) The computer calculates the inclination of the horizontal plane based on the estimated plane and the reference state, and sets this as the angle representing the twist; it also calculates the inclination of the vertical plane and sets this as the angle representing the sway in the front-to-back direction. The program described in Appendix 19.

[0086] (Note 21) Voxel processing is performed on the point cloud data of the specified region. The program described in Appendix 17.

[0087] (Note 22) The aforementioned multiple wires lift the grab bucket installed on the crane. The program described in Appendix 21.

[0088] (Note 23) The aforementioned crane is mounted on a dredger. The program described in Appendix 22.

[0089] (Note 24) The computer is instructed to convert the local coordinate system of the point cloud data to the world coordinate system of the crane. The program described in Appendix 22.

[0090] Although the invention has been described above with reference to embodiments, the invention is not limited to the embodiments described above. Various modifications to the structure and details of the invention can be made that will be understood by those skilled in the art within the scope of the invention. [Industrial applicability]

[0091] According to the description above, it is possible to estimate the state of multiple wires. Furthermore, it is useful in fields where estimating the state of wires is necessary. [Explanation of Symbols]

[0092] 1. Claim 1a Swivel section 1b Jib 2 wires 2a, 2c Support wires 2b, 2d Opening / closing wires 3 grab buckets S1 Sensor 10 Information Processing Devices 11 Estimation part 12 Angle calculation unit 13 Conversion section 14 Area specification section 15 Standard setting section 16 Control Unit 100 Mobile Units 110 Computer 111 CPU 112 Main Memory 113 Storage device 114 Input Interface 115 Display Controller 116 Data Readers / Writers 117 Communication Interface 118 Input devices 119 Display device 120 recording media 121 Bus

Claims

1. An estimation means for estimating a surface composed of multiple wires using point cloud data of multiple wires measured using a sensor, An angle calculation means for calculating the torsion angle and the sway angle in the front-rear direction of the estimated surface based on the estimated surface, An information processing device having

2. The system includes a region designation means for designating a region from the point cloud data of the plurality of wires in which the surface is estimated. The information processing apparatus according to claim 1.

3. Before operation, the system has a reference setting means that uses point cloud data measured while the multiple wires are motionless for a predetermined period to set the vertical, horizontal, and origin points that represent the reference state of the multiple wires. The information processing apparatus according to claim 2.

4. The angle calculation means calculates the inclination of the horizontal plane based on the estimated plane and the reference state, and uses this as the angle representing the twist of the plane, and calculates the inclination of the vertical plane of the plane, and uses this as the angle representing the sway in the front-to-back direction. The information processing apparatus according to claim 3.

5. Voxel processing is performed on the point cloud data of the specified region. The information processing apparatus according to claim 2.

6. The aforementioned multiple wires lift the grab bucket installed on the crane. The information processing apparatus according to claim 1.

7. The aforementioned crane is mounted on a dredger. The information processing apparatus according to claim 6.

8. The system has a transformation means for converting the local coordinate system of the point cloud data to the world coordinate system. The information processing apparatus according to claim 6.

9. Information processing device, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. Information processing methods.

10. On the computer, Using point cloud data of multiple wires measured with a sensor, the surface formed by the multiple wires is estimated. Based on the estimated surface, the torsional angle and the longitudinal oscillation angle of the estimated surface are calculated. A program that executes a process.

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