Crane
A crane creates a 3D map on the basis of three-dimensional information acquired by a three-dimensional information obtaining section that is provided on a boom. The three-dimensional information obtaining section: is configured to be capable of accumulating acquired three-dimensional information and to be capable of changing a measurement direction, a measurement range, and a measurement density; and creates the 3D map by superimposing accumulated three-dimensional information. When an operation signal for a swivel operation for a swivel base, a hoisting operation for the boom, or an extension/retraction operation for the boom has been detected, on the basis of the movement direction and movement speed of the boom as calculated from a detected value for the operation signal, the three-dimensional information obtaining section: changes the measurement direction; and narrows the measurement range and increases the measurement density as compared to when the operation signal has not been detected.
1. A crane, comprising:
a three-dimensional information obtaining section provided on a boom of the crane and configured to obtain point group data represented as three-dimensional coordinate values of an object as three-dimensional information by irradiating a monitoring area which is a part of a work area of the crane with laser light and calculating a measured distance to the object from a time period in which the laser light is reflected by the object and travels back; and
a control apparatus configured to sequentially accumulate the three-dimensional information obtained by the three-dimensional information obtaining section and create a 3D map of the work area based on the accumulated three-dimensional information, wherein
the monitoring area is composed of a measurement direction and a measurement range of the three-dimensional information obtaining section,
the three-dimensional information obtaining section is configured to be capable of accumulating the obtained three-dimensional information and changing the measurement direction, the measurement range and a measurement density,
the control apparatus is further configured to, while an operation signal of the crane is not detected, cause the three-dimensional information obtaining section to obtain the three-dimensional information under a first measurement condition, and, when the operation signal of the crane is detected, cause the three-dimensional information obtaining section to obtain the three-dimensional information under a second measurement condition in which the measurement density is higher than in the first measurement condition, and
the control apparatus is further configured to densify the accumulated three-dimensional information by superposing, on the three-dimensional information obtained while the operation signal of the crane is not detected, the three-dimensional information obtained when the operation signal of the crane is detected.
2. The crane according to claim 1 , wherein the operation signal is an operation signal of a swing operation of a swivel base, a luffing operation of the boom or an extending and retracting operation, and
the control apparatus is configured to change the measurement direction based on a movement direction and a movement rate of the boom calculated from a detected value of the operation signal, and reduce the measurement range in comparison with the range in a case where the operation signal is not detected, and increases the measurement density.
3. The crane according to claim 2 , wherein, when an operation amount of the swing operation, the luffing operation or the extending and retracting operation is changed, the control apparatus is configured to correct the measurement direction based on the operation amount.
4. The crane according to claim 1 , wherein, when a delay in creation of the 3D map occurs, the control apparatus is configured to reduce the amount of obtained three-dimensional information per hour by changing at least one of the measurement range and the measurement density of the three-dimensional information obtaining section.
5. The crane according to claim 2 , wherein, when a delay in creation of the 3D map occurs, the control apparatus is configured to reduce the amount of obtained three-dimensional information per hour by changing at least one of the measurement range and the measurement density of the three-dimensional information obtaining section.
6. The crane according to claim 3 , wherein, when a delay in creation of the 3D map occurs, the control apparatus is configured to reduce the amount of obtained three-dimensional information per hour by changing at least one of the measurement range and the measurement density of the three-dimensional information obtaining section.