US 11,987,478 B2
Guide display device and crane provided with same
Iwao Ishikawa, Kagawa (JP); Takayuki Kosaka, Kagawa (JP); Keita Mashima, Kagawa (JP); Satoshi Kubota, Osaka (JP); Shigenori Tanaka, Osaka (JP); Masaya Nakahara, Osaka (JP); and Koki Nakahata, Osaka (JP)
Assigned to TADANO LTD., Kagawa (JP); and THE SCHOOL CORPORATION KANSAI UNIVERSITY, Osaka (JP)
Appl. No. 17/911,029
Filed by TADANO LTD., Kagawa (JP); and THE SCHOOL CORPORATION KANSAI UNIVERSITY, Osaka (JP)
PCT Filed Mar. 23, 2021, PCT No. PCT/JP2021/012003
§ 371(c)(1), (2) Date Sep. 12, 2022,
PCT Pub. No. WO2021/193638, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-056810 (JP), filed on Mar. 26, 2020.
Prior Publication US 2023/0094743 A1, Mar. 30, 2023
Int. Cl. B66C 13/46 (2006.01); G01S 17/89 (2020.01); G06T 7/13 (2017.01); G06V 10/44 (2022.01)
CPC B66C 13/46 (2013.01) [G01S 17/89 (2013.01); G06T 7/13 (2017.01); G06V 10/443 (2022.01); G06T 2207/10028 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A guide display device of a crane, comprising:
a data processing section configured to calculate a representative point for each grid cell by using point group data acquired with a laser scanner by scanning a lifting cargo, a ground surface and a ground object from above the lifting cargo, create a three-dimensional map based on the representative point, and update the three-dimensional map when a representative point calculated anew and an existing representative point are different from each other,
wherein the data processing section detects an edge of the ground object based on a result of image processing of image data of the lifting cargo, the ground surface and the ground object captured with a camera from above the lifting cargo, recognizes the ground object based on the edge, accumulates, for predetermined frames prior to a time point of capturing the image data, the point group data that is in a nearby range of the edge of the ground object and is recognized to be the ground surface, and generates the three-dimensional map of the ground object whose edge is recognized based on the point group data that is accumulated.