Abstract
In the construction sites using crane, it is important for the crane operator to correctly grasp the sizes of the suspended load and its surrounding features, their heights and positional relationship. For supporting those works, the authors have developed the system to visualize the sizes and heights of the suspended load and its surrounding features on an image from over the suspended load, by installing a camera, a laser scanner and an inertial measurement unit on the tip of a jib. However, this system had three problems. Firstly, it was impossible to correctly recognize part of the features and ground surface when there were multiple features. Secondly, it was impossible to judge part of the slope as the ground surface when there was a slope on the ground surface within the site. Finally, it was impossible to recognize the features and the ground surface located outside the range of the crane operation. In this study, in order to solve these problems, the system is redeveloped for assisting the operator using a camera, a laser scanner and an inertial measurement unit installed on the tip of a jib, and global navigation satellite systems newly installed on the tip of a jib and the rotary center of a crane. And then, this system can generate a three-dimensional map of the operating range of the crane and display the heights and sizes of features around the crane. Finally, we evaluate in terms of usefulness and reliability through experiments.
