EP2157041A1 - Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure - Google Patents

Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure Download PDF

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Publication number
EP2157041A1
EP2157041A1 EP08014734A EP08014734A EP2157041A1 EP 2157041 A1 EP2157041 A1 EP 2157041A1 EP 08014734 A EP08014734 A EP 08014734A EP 08014734 A EP08014734 A EP 08014734A EP 2157041 A1 EP2157041 A1 EP 2157041A1
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EP
European Patent Office
Prior art keywords
reference marker
measuring device
distance
remission
container crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08014734A
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German (de)
English (en)
Other versions
EP2157041B1 (fr
Inventor
Sebastian Dippl
Hans-Peter Kagerer
Alois Recktenwald
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP20080014734 priority Critical patent/EP2157041B1/fr
Priority to CN2009101659937A priority patent/CN101655348B/zh
Publication of EP2157041A1 publication Critical patent/EP2157041A1/fr
Application granted granted Critical
Publication of EP2157041B1 publication Critical patent/EP2157041B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • container crane systems are increasingly being operated fully automatically. Particularly in the area of container stacks on land, there are considerable potential for automated operation of a container crane system.
  • a fast and accurate position detection of objects in the container crane system such as containers, transport vehicles, cranes or crane components
  • position detection laser and infrared sensors have hitherto been used.
  • sensors enable the detection of objects in a container crane system at long distances with an acceptable to very good accuracy.
  • target areas for containers are also recorded.
  • position detection sensors are mounted at locations from which objects to be detected can be scanned without obstruction.
  • Positions of objects within a containerized crane installation are usually detected by relative measurements with respect to known reference positions, which are determined by permanently installed reference objects.
  • Optical measuring systems used for this purpose detect both movable and immovable objects and determine their respective position in relation to the known reference positions.
  • striking structures or extensions on a crane serve as reference objects, in particular if positions of objects are to be detected directly under a crane in an area of action. Is the sphere of influence of a crane during cargo handling, more commonly reference objects are used which have a fixed position and are detected at greater distances.
  • reference markers that are easily recognizable from afar are mounted on a bottom surface of a stacking area. The reference markers are searched for with a measuring system in order to determine positions of objects to be detected precisely in relation to the reference markers. In this way, target positions of goods in a stack area can be calculated exactly.
  • EP 1 152 966 B1 describes a system for determining a position of a footprint for a container, are used as a reference marker rectangular elongated plates that are mounted vertically standing on a floor surface.
  • a scanning device By means of a scanning device can be located by their height from the floor surface contrasting reference markers.
  • the scanner is at the off EP 1 152 966 B1 known system mounted on a trolley, to reliably detect the reference marker from this position.
  • the disadvantage is that the reference marker fundamentally represent obstacles due to their standing vertically on a ground surface arrangement and can be easily damaged or moved by transport vehicles or containers and thus are no longer reliable and accurate to locate.
  • the present invention has for its object to provide a reliable and accurate method for determining an object in a container crane system and to provide suitable means for implementing the method.
  • a first distance between a position of a measuring device and a known position of a reference marker is determined by the measuring device for determining a position of an object in a container crane system.
  • a second distance between the position of the reference marker and the position of the object is determined. From the first and second distance as well as from the known position of the reference marker, the position of the object is calculated.
  • An essential aspect of the present invention is that the reference marker is located by evaluating a measured by the measuring device on a floor surface within the container crane system remission degree.
  • the reference marker is substantially integrated into the bottom surface in a form-fitting manner, and at least one surface of the reference marker has a defined remission degree.
  • the reference marker may for example be embedded in the bottom surface. Due to its design and arrangement of the reference marker is insensitive to damage caused by transport vehicles or containers and allows even in poor visibility conditions its reliable detection by the measuring device.
  • At least a part of the bottom surface is scanned by means of a laser and / or infrared radiation device associated with the measuring device, and the remission degree is determined from a beam absorption at the bottom surface.
  • at least one surface of the reference marker is substantially ray absorbing, and the reference marker is located by means of a vanishing beam remission.
  • the inventive system for determining a position of an object in a container crane system comprises at least one reference marker, which is integrated in a substantially form-fitting manner in a bottom surface of the container crane system and has at least one surface with a defined remission degree.
  • a measuring device for locating the reference marker is provided on the basis of a reflectance level measured on the bottom surface and for determining a first distance between a position of the measuring device and a known position of the reference marker.
  • the system according to the invention has a memory unit for at least temporarily storing the first distance and a second distance between the position of the reference marker and the position of the object.
  • an evaluation device is provided for the calculation of the position of the object from the first and second distance as well as from the known position of the reference marker.
  • the object may be, for example, a vehicle, a container and / or a footprint for a container.
  • the control program according to the invention can be loaded into a main memory of a computer unit and has at least one code section, in the execution of which a first distance between a position of the measuring device and a known position of a reference marker within a container crane system is determined when the control program in the computer unit expires. In addition, a second distance between the position of the reference marker and a position of an object is determined. Furthermore, when the code section is executed from the first and second distances as well as from the known position of the reference marker, the position of the object is calculated.
  • the control program causes the reference marker to be located by evaluating a remission degree measured by the measuring device on a bottom surface within the container crane system. In this case, the reference marker is integrated into the bottom surface essentially in a form-fitting manner and at least one surface of the reference marker has a defined remission degree.
  • bottom surface is grid-like divided into adjustment areas 101 for containers 102, which may correspond in terms of their dimensions, for example, ISO containers.
  • cross-shaped reference markers 103 are respectively arranged at corners of the setting areas 101.
  • FIG. 2 it is also possible to use rectangular reference markers 203 which are respectively arranged on longitudinal and transverse sides of the positioning areas 201 for containers 202.
  • Such a minimum distance is provided so that the reference markers 103, 203 can be reliably detected, for example, by a scanning device mounted on a crane trolley even when the setting areas 101, 201 are occupied by containers 102, 202.
  • a minimum distance between the parking areas 101, 201 makes sense, so that, for example, cranes can be operated automatically by means of mechanical hoists (spreaders), without touching or damaging neighboring containers.
  • a first distance between a position of a measuring device and a known position of a reference marker 103, 203 is determined by the measuring device.
  • the measuring device is, for example, a laser or infrared scanner mounted on a crane trolley.
  • a second distance between the position of the reference marker 103, 203 and the position of the adjustment area 101, 201 or of the container 102, 202 is determined. From the first and second distances as well as from the known position of the reference markers 103, 203, the position of the setting range 101, 201 or of the container 102, 202 is calculated.
  • the reference marker 103, 203 is located by evaluating a measured by the measuring device on a bottom surface within the container crane system remission degree. Based on FIG. 3 It can be seen that the reference marker 103 is positively integrated in the bottom surface 104. A surface of the reference marker facing away from the bottom surface 104 103 has a defined remission degree.
  • the method for position determination described here is preferably implemented by a control program that can be loaded into a main memory of a computer-aided crane automation system and has at least one code section, in the execution of which the above steps are executed or initiated.
  • the property of certain materials is utilized to largely absorb laser or infrared radiation.
  • a laser or infrared beam is reflected in a scanning operation, and from a determined running time, a distance to the scanned object can be determined.
  • a remission of a laser or infrared beam on a scanned object will vary depending on the texture and color of the scanned object. For example, black coal still offers a remission value of about 10% despite very poor remission properties. If a material is selected for a reference marker whose reflectance value is still significantly below 10%, for example, reference markers can still be reliably detected even on very dark backgrounds.
  • materials are available that substantially absorb laser or infrared radiation.
  • a reference marker can be detected, for example, by absorbing laser or infrared rays emitted from a measuring device at the position of the reference marker. Absorbing laser or infrared rays at reference marker positions can therefore be interpreted as the position of reference markers. Both position and orientation of an absorbent object can be precisely determined by vanishing remission measurements.
  • Reference markers of absorbent materials or absorbent surfaces are merely adapted to the scanning characteristics of a measuring device used in terms of their dimensions and material. Since reference markers can be countersunk in the ground, there is a significant reduction in sensitivity to mechanical damage and deformation.
  • the above-described position determination method proves to be extremely robust, in particular because a confusion of a reference marker with surrounding objects such as stones, grids or people can be excluded due to a defined substantially vanishing remission value of a reference marker material. Namely, environment objects provide non-vanishing reflectance values in one scan.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP20080014734 2008-08-20 2008-08-20 Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure Active EP2157041B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20080014734 EP2157041B1 (fr) 2008-08-20 2008-08-20 Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure
CN2009101659937A CN101655348B (zh) 2008-08-20 2009-08-20 测定集装箱起重机设备中对象位置的方法和系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20080014734 EP2157041B1 (fr) 2008-08-20 2008-08-20 Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure

Publications (2)

Publication Number Publication Date
EP2157041A1 true EP2157041A1 (fr) 2010-02-24
EP2157041B1 EP2157041B1 (fr) 2013-06-12

Family

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EP20080014734 Active EP2157041B1 (fr) 2008-08-20 2008-08-20 Procédé et système de détermination d'une position d'un objet dans une installation de grue pour conteneurs et programme de commande pour un dispositif de mesure

Country Status (2)

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EP (1) EP2157041B1 (fr)
CN (1) CN101655348B (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114955579A (zh) * 2022-04-12 2022-08-30 三一海洋重工有限公司 集装箱堆场的贝位标定方法、装置、设备及系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102452611B (zh) * 2010-10-21 2014-01-15 上海振华重工(集团)股份有限公司 集装箱起重机的吊具空间姿态的检测方法和装置
FI125644B (fi) * 2011-07-18 2015-12-31 Konecranes Oyj Järjestelmä ja menetelmä nosturin tartuntaelimen sijainnin ja kiertymän määrittämiseksi
EP2574587B1 (fr) * 2011-09-30 2014-06-25 Siemens Aktiengesellschaft Procédé de détermination d'une position cible pour un palonnier de conteneur et le palonnier de conteneur

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2352176A1 (de) * 1972-10-18 1974-05-02 Hitachi Ltd Anlage zur automatischen handhabung und lagerung von stueckgut
EP0302569A1 (fr) * 1987-08-03 1989-02-08 Europe Container Terminus B.V. Installation de transbordement et de stockage de conteneurs
JPH03128893A (ja) * 1989-10-16 1991-05-31 Kawasaki Steel Corp 物品保菅ヤードにおける在荷検知装置
US5780826A (en) * 1995-03-27 1998-07-14 Toyo Umpanki Co., Ltd. Container handling apparatus and management system
EP1152966A1 (fr) * 1998-09-30 2001-11-14 Abb Ab Repere horizontal
WO2008074882A1 (fr) * 2006-12-21 2008-06-26 Abb Ab Dispositif, procédé et système d'étalonnage pour un portique à conteneur

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3128893B2 (ja) * 1991-09-18 2001-01-29 ソニー株式会社 固体カラー撮像素子及び固体カラー撮像装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2352176A1 (de) * 1972-10-18 1974-05-02 Hitachi Ltd Anlage zur automatischen handhabung und lagerung von stueckgut
EP0302569A1 (fr) * 1987-08-03 1989-02-08 Europe Container Terminus B.V. Installation de transbordement et de stockage de conteneurs
JPH03128893A (ja) * 1989-10-16 1991-05-31 Kawasaki Steel Corp 物品保菅ヤードにおける在荷検知装置
US5780826A (en) * 1995-03-27 1998-07-14 Toyo Umpanki Co., Ltd. Container handling apparatus and management system
EP1152966A1 (fr) * 1998-09-30 2001-11-14 Abb Ab Repere horizontal
EP1152966B1 (fr) 1998-09-30 2007-11-07 Abb Ab Système et méthode pour la détermination de la distance entre une partie mobile d'une grue et un emplacement pour conteneur
WO2008074882A1 (fr) * 2006-12-21 2008-06-26 Abb Ab Dispositif, procédé et système d'étalonnage pour un portique à conteneur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114955579A (zh) * 2022-04-12 2022-08-30 三一海洋重工有限公司 集装箱堆场的贝位标定方法、装置、设备及系统

Also Published As

Publication number Publication date
EP2157041B1 (fr) 2013-06-12
CN101655348B (zh) 2012-04-11
CN101655348A (zh) 2010-02-24

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