Guide information display device, crane equipped with same, and guide information display method

A guide information display apparatus, comprising:

• a data display section;
• a data acquisition section that acquires image data of a suspended load region captured by a camera, and point cloud data acquired by scanning with a laser scanner from a top surface of a suspended load and a ground object in the suspended load region;
• and
• a data processing section that creates a guide frame corresponding to the suspended load and the ground object based on top surface shape data of the suspended load and the ground object estimated from the point cloud data and causes the guide frame to be displayed on the data display section while superimposing the created guide frame on the suspended load and the ground object in the image data,
• wherein the data processing section
• causes elevation value information indicating a height for the suspended load and ground object from a ground surface to be displayed in association with the guide frame surrounding the suspended load and ground object, and
• causes a distance between the suspended load and the ground object to be displayed on the data display section, the distance being estimated from an elevation value of an underside of the suspended load and an elevation value of the ground object, and issues a warning in a case where the distance is equal to or smaller than a threshold value, and a distance in a horizontal direction between the suspended load and the ground object is equal to or smaller than a threshold value, and
• wherein the data processing section makes a determination of whether or not the distance in a horizontal direction between the suspended load and the ground object is equal to or smaller than a threshold value, based on coordinates of an extended visible outline resulting from extending a guide frame of the suspended load and a visible outline of the ground object,
• by determining whether or not the extended visible outline and the visible outline of the ground object overlap each other, and
• by determining whether or not a line segment of the extended visible outline and a line segment of the visible outline of the ground object overlap each other, and determining whether or not one of the extended visible outline and the visible outline of the ground object includes the other, in a case where the extended visible outline and the visible outline of the ground object do not overlap each other.