クレーンの安全な操作のための空間センシングと危険状況検知

抄録

At construction sites, cranes are used to construct buildings. However, the current issues are the problem of surrounding detection and the problem with route planning. In order to solve these problems, a dangerous situation detection system for recognizing a wide area around the crane and safe operation is required. In this study, we develop a system for recognizing a wide area around the crane. We also propose a collision detection method for safe operation of the crane. In this study, we performed a 3D scan around the crane using a 3D measurement system. In order to solve the problems of the previous system, we performed the correction of the deviation and designed a new system. Furthermore, we proposed a collision detection method for detecting dangerous situations and verified it on a simulation. We also verified the proposed method in an actual environment.