Crane Ground Surface Estimation With Non-Adjacent Region Checks
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Solution Overview
Problem
Existing crane systems fail to accurately estimate whether a region separated by another region is a ground surface, leading to potential misjudgment by operators.
Innovation Solution
A method and system that estimate a ground surface by comparing altitude values of non-adjacent continuous regions, using a threshold to distinguish ground surfaces from other regions, and adjust grid width for detailed recognition, especially in crane work environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a distance measurement section measures height information of objects around a suspended load, then the operator can confirm the state around the load, but the system cannot accurately estimate whether a separated region is a ground surface
Solution Approach 1:
The measurement region is divided into multiple grids, and each grid is independently analyzed for ground surface estimation. This segmentation allows the system to handle separated regions by evaluating each grid's altitude characteristics individually, enabling accurate ground surface identification even when regions are disconnected.
Solution Approach 2:
A ground surface estimation unit acts as an intermediary between the distance measurement section and the display system. This unit calculates altitude values for each grid, compares them with reference ground surface altitude values, and determines whether separated regions are ground surfaces, thereby bridging the information gap.
2Quantity of substance
If the system provides height information for all detected regions, then comprehensive information is available, but erroneous recognition may occur when separated regions are not correctly identified as ground surfaces
Solution Approach 1:
Different quality control is applied to different regions based on their characteristics. Ground surface grids are identified by comparing altitude values within a threshold range, while non-ground surface regions are distinguished by altitude differences exceeding the threshold. This local quality approach ensures reliable identification while maintaining comprehensive information coverage.
Solution Approach 2:
The system provides feedback by comparing each grid's altitude value with reference ground surface altitude values and determining whether the difference is within a threshold range. This feedback mechanism allows the system to reliably distinguish ground surfaces from non-ground surfaces while maintaining comprehensive information about all detected regions.
3Measurement precision
If the measurement region is divided into a plurality of grids, then detailed recognition of densely close regions is improved, but the complexity of data processing increases
Solution Approach 1:
The measurement region is divided into multiple grids to enable detailed recognition of densely close regions. Each grid is independently evaluated for ground surface characteristics by comparing altitude values, which systematically manages the complexity of processing multiple regions while maintaining high measurement precision.
Solution Approach 2:
The system changes parameters by comparing altitude values within a threshold range to determine ground surface characteristics. This parameter-based approach simplifies the processing complexity by using a clear decision criterion (threshold comparison) rather than complex analysis of each grid's characteristics.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Accurately identifies ground surfaces in complex environments, reducing erroneous estimations and enhancing operational safety and efficiency of crane operations.
Implementation Method 1
a laser scanner 62 that radiates laser on a measurement target object and receives reflected light of the laser from the measurement target object
Implementation Method 2
receives reflected light of the laser from the measurement target object
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
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.