Crane Guide Display Moving-Object Detection from 3D Maps
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Solution Overview
Problem
Existing guide display devices cannot discriminate between stationary and moving objects in the work area, which is crucial for safe crane operations.
Innovation Solution
A guide display device that utilizes a data processing section to create three-dimensional maps in successive frames, calculate altitude values, and determine differences between current and past maps to identify moving objects based on altitude variations exceeding a threshold value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If a laser scanner creates three-dimensional maps to recognize ground objects, then the ability to detect ground objects is improved, but the ability to discriminate moving objects from stationary objects deteriorates
Solution Approach 1:
The system performs preliminary scanning actions by capturing multiple three-dimensional maps at different time points before making a determination. By acquiring a first three-dimensional map at a current time point and a second three-dimensional map at a previous time point, the system prepares the necessary spatial data in advance to enable subsequent movement detection and classification of ground objects.
Solution Approach 2:
The system uses feedback by comparing the spatial positions of ground objects across different time points. The data processing section determines whether a ground object is moving by analyzing the positional relationship between the first ground object in the current map and the second ground object in the previous map, using this feedback information to classify objects as moving or stationary.
2Loss of information
If three-dimensional maps are created in successive frames with altitude calculations, then the detail of spatial information is improved, but the complexity of data processing increases
Solution Approach 1:
The system extracts only the essential spatial information needed for movement detection by calculating representative points and altitude values from the three-dimensional maps. Instead of processing all raw point cloud data, the data processing section extracts key features such as ground object positions and altitude differences, reducing the complexity of subsequent comparisons while preserving critical spatial information.
Solution Approach 2:
The system changes parameters by comparing altitude values and positional coordinates between successive three-dimensional maps. By focusing on specific parameters such as altitude differences and spatial position changes rather than processing the entire point cloud data sets, the system maintains high spatial information quality while reducing computational complexity through targeted parameter comparison.
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
Enables discriminative recognition of moving objects in the work area, enhancing safety and operational awareness for crane operators.
Implementation Method 1
point group data acquired with a laser scanner by scanning a lifting cargo
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
The present invention provides a guide display device capable of recognizing a feature in a work area while distinguishing whether the feature is a moving body or not. In a guide display device of a crane, 3D maps are created for continuous frames; an altitude value for each grid in a 3D map that is created at time closest to the current time is obtained as a first altitude value; altitude values for respective corresponding grids in a predetermined number of 3D maps other than the 3D map that is created at time closest to the current time are obtained, and the average of the altitude values is calculated as a second altitude value; and it is determined that the feature is a moving body when the difference between the first altitude value and the second altitude value exceeds a predetermined threshold.