EP2157041B1 - Method and system for calculating a position of an object in a container crane facility and control program for a measuring device - Google Patents

Method and system for calculating a position of an object in a container crane facility and control program for a measuring device Download PDF

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Publication number
EP2157041B1
EP2157041B1 EP20080014734 EP08014734A EP2157041B1 EP 2157041 B1 EP2157041 B1 EP 2157041B1 EP 20080014734 EP20080014734 EP 20080014734 EP 08014734 A EP08014734 A EP 08014734A EP 2157041 B1 EP2157041 B1 EP 2157041B1
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Prior art keywords
reference mark
measuring device
distance
floor area
container
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EP20080014734
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German (de)
French (fr)
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EP2157041A1 (en
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Sebastian Dippl
Hans-Peter Kagerer
Alois Recktenwald
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Siemens AG
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Siemens AG
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Priority to EP20080014734 priority Critical patent/EP2157041B1/en
Priority to CN2009101659937A priority patent/CN101655348B/en
Publication of EP2157041A1 publication Critical patent/EP2157041A1/en
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    • 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
  • reference objects that 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, you can also accurately calculate the target positions of goods in a stack area.
  • EP 1 152 966 B1 describes a system for determining a position of a footprint for a container, are used as the 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 basically 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.
  • a calibration device for a container crane system which comprises at least a first sensor and a second sensor and a plurality of scanned by at least one sensor markers.
  • the markers have relative to each other fixed positions or distances.
  • the markers may have a different visual appearance.
  • 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.
  • 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.
  • the reference marker on the at least one surface on a realized by a given areal distribution of the remission degree coding on.
  • Several reference markers can be reliably detected and distinguished from each other by providing the reference markers according to the invention on the at least one surface with a coding realized by a predetermined areal distribution of the remission degree. 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 positive fit in a bottom surface of the container crane system and at least one surface with a defined remission and at the at least one surface by a predetermined areal distribution of remission having realized coding.
  • 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. 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, an evaluation device is provided.
  • the object may be, for example, a vehicle, a container and / or a footprint for a container.
  • 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 first 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.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Description

Zur Reduktion von Containerumschlagzeiten werden Containerkrananlagen in zunehmendem Maß vollautomatisiert betrieben. Insbesondere im Bereich von Containerstapeln an Land ergeben sich erhebliche Potentiale für einen automatisierten Betrieb einer Containerkrananlage. Dabei kommt einer schnellen und genauen Positionserfassung von Objekten in der Containerkrananlage, wie Containern, Transportfahrzeugen, Kranen oder Krankomponenten, eine zentrale Bedeutung zu. Zur Positionserfassung werden bisher vor allem Laser- und Infrarotsensoren verwendet. Derartige Sensoren ermöglichen eine Erfassung von Objekten in einer Containerkrananlage auf große Entfernungen mit einer akzeptablen bis sehr guten Genauigkeit. Neben Positionen von Containern, Transportfahrzeugen, Kranen und Krankomponenten werden auch Zielbereiche für Container erfaßt. Vorteilhafterweise sind Positionserfassungssensoren an Stellen montiert, von denen zu erfassende Objekte verdeckungsfrei abgetastet werden können.To reduce container turnaround times, 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. Here, a fast and accurate position detection of objects in the container crane system, such as containers, transport vehicles, cranes or crane components, is of central importance. For position detection, laser and infrared sensors have hitherto been used. Such sensors enable the detection of objects in a container crane system at long distances with an acceptable to very good accuracy. In addition to positions of containers, transport vehicles, cranes and crane components, target areas for containers are also recorded. Advantageously, position detection sensors are mounted at locations from which objects to be detected can be scanned without obstruction.

Positionen von Objekten innerhalb einer Containerkrananlage werden üblicherweise durch Relativmessungen in bezug auf bekannte Referenzpositionen erfaßt, die durch fest installierte Referenzobjekte festgelegt sind. Hierfür verwendete optische Meßsysteme erfassen sowohl bewegliche als auch unbewegliche Objekte und ermitteln deren jeweilige Position in Relation zu den bekannten Referenzpositionen. Als Referenzobjekte dienen beispielsweise markante Auf- oder Anbauten an einem Kran, insbesondere wenn in einem Wirkungsbereich direkt unter einem Kran Positionen von Objekten zu erfassen sind. Ist der Wirkungsbereich kungsbereich eines Kranes während eines Güterumschlags weiter ausgedehnt, werden üblicherweise Referenzobjekte verwendet, die eine feste Position haben und von größeren Entfernungen erfaßt werden. Für automatische Stapelkrane werden hierzu beispielsweise von weitem gut erkennbare Referenzmarker auf einer Bodenfläche eines Stapelbereichs montiert. Die Referenzmarker werden mit einem Meßsystem gezielt gesucht, um Positionen von zu erfassenden Objekten präzise in Relation zu den Referenzmarkern zu ermitteln. Auf diese Weise lassen sich auch zielpositionen von Gütern in einem Stapelbereich genau berechnen.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. For example, 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 If a crane's range of travel continues to widen during cargo handling, it is common to use reference objects that have a fixed position and are detected at greater distances. For automatic stacker cranes, for example, 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, you can also accurately calculate the target positions of goods in a stack area.

In EP 1 152 966 B1 ist ein System zur Ermittlung einer Position einer Stellfläche für einen Container beschrieben, bei dem als Referenzmarker rechtwinklige gestreckte Platten verwendet werden, die vertikal stehend auf einer Bodenfläche montiert sind. Mittels einer Abtasteinrichtung können die sich durch ihre Höhe von der Bodenfläche abhebenden Referenzmarker geortet werden. Die Abtasteinrichtung ist bei dem aus EP 1 152 966 B1 bekannten System an einer Krankatze montiert, um aus dieser Position die Referenzmarker zuverlässig zu erfassen. Nachteilig ist, daß die Referenzmarker aufgrund ihrer vertikal auf einer Bodenfläche stehenden Anordnung grundsätzlich Hindernisse darstellen und leicht durch Transportfahrzeuge oder Container beschädigt oder verschoben werden können und damit nicht mehr zuverlässig und genau zu orten sind.In EP 1 152 966 B1 describes a system for determining a position of a footprint for a container, are used as the reference marker rectangular elongated plates that are mounted vertically standing on a floor surface. 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 basically 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.

Aus EP 0 302 569 A ist ein Verfahren zur Ermittlung einer Position eines Objekts in einer Containerkrananlage entsprechend dem Obergriff des Patentanspruchs 1 bekannt, bei dem ein erster Abstand zwischen einer Position einer Meßvorrichtung und einer bekannten Position eines Referenzmarkers durch die Meßvorrichtung ermittelt wird. Ein zweiter Abstand wird zwischen der Position des Referenzmarkers und der Position des Objekts ermittelt. Aus dem ersten und zweiten Abstand sowie aus der bekannten Position des Referenzmarkers wird die Position des Objekts berechnet. Der Referenzmarker wird durch Auswertung eines durch die Meßvorrichtung an einer Bodenfläche innerhalb der Containerkrananlage gemessenen Remissionsgrades geortet. Dabei ist der Referenzmarker im wesentlichen formschlüssig in die Bodenfläche integriert und weist zumindest eine Oberfläche des Referenzmarkers einen definierten Remissionsgrad auf. Allerdings weisen sämtliche Referenzmarker einen einheitlichen Remissionsgrad auf und sind damit nicht voneinander unterscheidbar. Dies ist nachteilig in bezug auf eine genaue Erkennbarkeit insbesondere bei schlechten Sichtverhältnissen und auf eine fehlende Lokalisierungsmöglichkeit zur Plausibilisierung von Containerstellflächen.Out EP 0 302 569 A a method for determining a position of an object in a container crane system according to the preamble of patent claim 1 is known in which a first distance between a position of a measuring device and a known position of a reference marker is determined by the measuring device. A second distance becomes between the position of the reference marker and the position of the object. The position of the object is calculated from the first and second distances as well as from the known position of the reference marker. The reference marker is located by evaluating a remission level 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. However, all reference markers have a uniform degree of remission and are therefore not distinguishable from each other. This is disadvantageous in terms of accurate visibility especially in poor visibility conditions and a lack of localization possibility for plausibility of container shelves.

In WO 2008/074882 ist eine Kalibriervorrichtung für eine Containerkrananlage beschrieben, die zumindest einen ersten Sensor und einen zweiten Sensor sowie eine Mehrzahl von durch zumindest einen Sensor abgetasteten Markern umfaßt. Die Marker weisen relativ zueinander festgelegte Positionen bzw. Abstände auf. Dabei können die Marker eine unterschiedliche optische Erscheinung aufweisen.In WO 2008/074882 a calibration device for a container crane system is described, which comprises at least a first sensor and a second sensor and a plurality of scanned by at least one sensor markers. The markers have relative to each other fixed positions or distances. The markers may have a different visual appearance.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein zuverlässiges und genaues Verfahren zur Ermittlung eines Objekts in einer Containerkrananlage zu schaffen und geeignete Mittel zur Realisierung des Verfahrens anzugeben.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.

Diese Aufgabe wird erfindungsgemäß durch ein Verfahren mit den in Anspruch 1 angegebenen Merkmalen und durch ein System mit den in Anspruch 5 angegebenen Merkmalen gelöst. Vorteilhafte Weiterbildungen der vorliegenden Erfindung sind in den abhängigen Ansprüchen angegeben.This object is achieved by a method having the features specified in claim 1 and by a system having the features specified in claim 5. Advantageous developments of the present invention are specified in the dependent claims.

Erfindungsgemäß wird zur Ermittlung einer Position eines Objekts in einer Containerkrananlage ein erster Abstand zwischen einer Position einer Meßvorrichtung und einer bekannten Position eines Referenzmarkers durch die Meßvorrichtung ermittelt. Außerdem wird ein zweiter Abstand zwischen der Position des Referenzmarkers und der Position des Objekts ermittelt. Aus dem ersten und zweiten Abstand sowie aus der bekannten Position des Referenzmarkers wird die Position des Objekts berechnet wird. Ein wesentlicher Aspekt der vorliegenden Erfindung liegt darin, daß der Referenzmarker durch Auswertung eines durch die Meßvorrichtung an einer Bodenfläche innerhalb der Containerkrananlage gemessenen Remissionsgrades geortet wird. Dabei ist der Referenzmarker im wesentlichen formschlüssig in die Bodenfläche integriert, und zumindest eine Oberfläche des Referenzmarkers weist einen definierten Remissionsgrad auf. Der Referenzmarker kann beispielsweise in die Bodenfläche eingebettet sein. Außerdem weist der Referenzmarker an der zumindest einen Oberfläche eine durch eine vorgegebene flächenmäßige Verteilung des Remissionsgrades realisierte Codierung auf. Mehrere Referenzmarker können zuverlässig erkannt und voneinander unterschieden werden, indem die Referenzmarker erfindungsgemäß an der zumindest einen Oberfläche mit einer durch eine vorgegebene flächenmäßige Verteilung des Remissionsgrades realisierten Codierung versehen werden. Aufgrund seiner Gestaltung und Anordnung ist der Referenzmarker unempfindlich gegenüber Beschädigungen durch Transportfahrzeuge oder Container und ermöglicht auch bei schlechten Sichtverhältnissen seine zuverlässige Erkennung durch die Meßvorrichtung.According to the invention, 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. In addition, 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. In this case, 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. In addition, the reference marker on the at least one surface on a realized by a given areal distribution of the remission degree coding on. Several reference markers can be reliably detected and distinguished from each other by providing the reference markers according to the invention on the at least one surface with a coding realized by a predetermined areal distribution of the remission degree. 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.

Vorzugsweise wird zumindest ein Teil der Bodenfläche mittels einer der Meßvorrichtung zugeordneten Laser- und/oder Infrarotstrahlvorrichtung abgetastet und der Remissionsgrad aus einer Strahlabsorption an der Bodenfläche ermittelt. Entsprechend einer bevorzugten Ausgestaltung der vorliegenden Erfindung ist zumindest eine Oberfläche des Referenzmarkers im wesentlichen strahlabsorbierend, und der Referenzmarker wird anhand einer verschwindenden Strahlremission geortet.Preferably, 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. According to a preferred embodiment of the present invention, 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.

Das erfindungsgemäße System zur Ermittlung einer Position eines Objekts in einer Containerkrananlage umfaßt zumindest einen Referenzmarker, der im wesentlichen formschlüssig in eine Bodenfläche der Containerkrananlage integriert ist sowie zumindest eine Oberfläche mit einem definierten Remissionsgrad und an der zumindest einen Oberfläche eine durch eine vorgegebene flächenmäßige Verteilung des Remissionsgrades realisierte Codierung aufweist. Außerdem ist eine Meßvorrichtung zur Ortung des Referenzmarkers anhand eines an der Bodenfläche gemessenen Remissionsgrades und zur Ermittlung eines ersten Abstands zwischen einer Position der Meßvorrichtung und einer bekannten Position des Referenzmarkers vorgesehen. Des weiteren weist das erfindungsgemäße System eine Speichereinheit zur zumindest temporären Speicherung des ersten Abstands und eines zweiten Abstands zwischen der Position des Referenzmarkers und der Position des Objekts auf. Zur Berechnung der Position des Objekts aus dem ersten und zweiten Abstand sowie aus der bekannten Position des Referenzmarkers ist eine Auswertevorrichtung vorgesehen. Bei dem Objekt kann es sich beispielsweise um ein Fahrzeug, einen Container und/oder eine Stellfläche für einen Container handeln.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 positive fit in a bottom surface of the container crane system and at least one surface with a defined remission and at the at least one surface by a predetermined areal distribution of remission having realized coding. In addition, 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. Furthermore, 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. 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, an evaluation device is provided. The object may be, for example, a vehicle, a container and / or a footprint for a container.

Die Erfindung wird nachfolgend an einem Ausführungsbeispiel anhand der Zeichnung näher erläutert. Es zeigt

Figur 1
eine schematische Darstellung einer Bodenfläche einer Containerkrananlage mit in die Bodenfläche eingebetteten Referenzmarkern,
Figur 2
eine schematische Darstellung einer Bodenfläche mit Referenzmarkern in einer alternativen Ausgestaltung,
Figur 3
einen Querschnitt durch die Bodenfläche gemäß Figur 1 im Bereich eines Referenzmarkers.
The invention will be explained in more detail using an exemplary embodiment with reference to the drawing. It shows
FIG. 1
a schematic representation of a bottom surface of a container crane system embedded in the bottom surface reference markers,
FIG. 2
a schematic representation of a bottom surface with reference markers in an alternative embodiment,
FIG. 3
a cross section through the bottom surface according to FIG. 1 in the range of a reference marker.

Die in Figur 1 dargestellte Bodenfläche ist rasterartig in Stellbereiche 101 für Container 102 eingeteilt, die hinsichtlich ihrer Abmessungen beispielsweise ISO-Containern entsprechen können. In einem fixen Raster sind kreuzförmige Referenzmarker 103 jeweils an Ecken der Stellbereiche 101 angeordnet. Alternativ hierzu können entsprechend Figur 2 beispielsweise auch rechteckige Referenzmarker 203 verwendet werden, die jeweils an Längs- und Querseiten der Stellbereiche 201 für Container 202 angeordnet sind. Zwischen den Stellbereichen 101, 201 besteht jeweils ein Abstand, um im Fall einer Belegung der Stellbereiche 101, 201 mit Containern einen Mindestabstand zwischen den Containern sicherzustellen. Ein solcher Mindestabstand ist vorgesehen, damit die Referenzmarker 103, 203 beispielsweise von einer an einer Krankatze montierten Abtasteinrichtung auch bei Belegung der Stellbereiche 101, 201 mit Containern 102, 202 zuverlässig erfaßt werden können. Außerdem ist ein Mindestabstand zwischen den Stellbereichen 101, 201 sinnvoll, damit beispielsweise Kräne mit mechanischen Einweisern (Flipper) umfassenden Hebezeugen (Spreader) automatisiert betrieben werden können, ohne benachbarte Container zu berühren bzw. beschädigen.In the FIG. 1 shown 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. In a fixed grid, cross-shaped reference markers 103 are respectively arranged at corners of the setting areas 101. Alternatively, you can accordingly FIG. 2 for example 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. There is in each case a distance between the setting areas 101, 201 in order to ensure a minimum distance between the containers in the case of occupancy of the setting areas 101, 201 with containers. 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. In addition, 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.

Zur Ermittlung einer Position eines Stellbereichs 101, 201 oder eines Containers 102, 202 wird zunächst ein erster Abstand zwischen einer Position einer Meßvorrichtung und einer bekannten Position eines Referenzmarkers 103, 203 durch die Meßvorrichtung ermittelt. Die Meßvorrichtung ist beispielsweise ein an einer Krankatze montierter Laser- oder Infrarotscanner. Außerdem wird ein zweiter Abstand zwischen der Position des Referenzmarkers 103, 203 und der Position des Stellbereichs 101, 201 oder des Containers 102, 202 ermittelt. Aus dem ersten und zweiten Abstand sowie aus der bekannten Position des Referenzmarkers 103, 203 wird die Position des Stellbereichs 101, 201 oder des Containers 102, 202 berechnet wird. Der Referenzmarker 103, 203 wird durch Auswertung eines durch die Meßvorrichtung an einer Bodenfläche innerhalb der Containerkrananlage gemessenen Remissionsgrades geortet. Anhand von Figur 3 ist erkennbar, daß der Referenzmarker 103 formschlüssig in die Bodenfläche 104 integriert ist. Eine von der Bodenfläche 104 abgewandte Oberfläche des Referenzmarkers 103 weist einen definierten Remissionsgrad auf. Das hier beschriebene Verfahren zur Positionsermittlung wird bevorzugt durch ein Steuerungsprogramm implementiert, das in einen Arbeitsspeicher einer rechnergestützten Kranautomatisierungsanlage ladbar ist und zumindest einen Codeabschnitt aufweist, bei dessen Ausführung obige Schritte ausgeführt bzw. veranlaßt werden.In order to determine a position of a positioning region 101, 201 or of a container 102, 202, a first distance between a position of a measuring device and a known position of a reference marker 103, 203 is first determined by the measuring device. The measuring device is, for example, a laser or infrared scanner mounted on a crane trolley. In addition, 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.

Für oben beschriebenes Positionsermittlungsverfahren wird die Eigenschaft bestimmter Materialen ausgenutzt, Laser- oder Infrarotstrahlung weitgehend zu absorbieren. Üblicherweise wird ein Laser- oder Infrarotstrahl bei einem Abtastvorgang reflektiert, und aus einer ermittelten Laufzeit kann eine Entfernung zum abgetasteten Objekt ermittelt werden. Eine Remission eines Laser- oder Infrarotstrahls an einem abgetasteten Objekt variiert abhängig von Oberflächenbeschaffenheit und Farbe des abgetasteten Objekts. Beispielsweise bietet schwarze Kohle trotz sehr schlechter Remissionseigenschaften noch einen Remissionswert von ca. 10%. Wird für einen Referenzmarker ein Material ausgewählt, dessen Remissionswert beispielsweise 10 % noch deutlich unterschreitet, können Referenzmarker auch auf sehr dunklen Untergründen noch zuverlässig erkannt werden. Zudem sind Materialien verfügbar, die Laser- oder Infrarotstrahlung im wesentlichen absorbieren.For the position detection method described above, the property of certain materials is utilized to largely absorb laser or infrared radiation. Usually, 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. In addition, materials are available that substantially absorb laser or infrared radiation.

Somit kann ein Referenzmarker beispielsweise dadurch detektiert werden, daß von einer Meßvorrichtung emittierte Laser- oder Infrarotstrahlen an der Position des Referenzmarkers absorbiert werden. Ein Absorbieren von Laser- oder Infrarotstrahlen an Referenzmarkerpositionen kann daher als Position von Referenzmarkern interpretiert werden. Sowohl Lage als auch Ausrichtung eines absorbierenden Objekts lassen sich anhand verschwindender Remissionsmeßwerte präzise ermitteln.Thus, 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.

Bei einer Verwendung von Referenzmarkern aus absorbierenden Materialien oder mit absorbierenden Oberflächen ist es nicht mehr erforderlich, daß sich ein Referenzmarker als Erhöhung von seiner Umgebung abhebt. Referenzmarker aus absorbierenden Materialien oder mit absorbierenden Oberflächen sind lediglich hinsichtlich ihrer Abmessung und ihres Materials an Abtasteigenschaften einer verwendeten Meßvorrichtung anzupassen. Da Referenzmarker im Boden formschlüssig versenkt werden können, besteht eine deutlich reduzierte Empfindlichkeit gegenüber mechanischen Beschädigungen und Deformationen. Außerdem erweist sich oben beschriebenes Positionsermittlungsverfahren als äußerst robust, insbesondere da aufgrund eines definierten im wesentlichen verschwindenden Remissionswertes eines Referenzmarkermaterials eine Verwechslung eines Referenzmarkers mit Umgebungsobjekten wie Steinen, Gittern oder Menschen ausgeschlossen werden kann. Umgebungsobjekte liefern bei einer Abtastung nämlich nichtverschwindende Remissionswerte.When using reference markers of absorbent materials or absorbent surfaces, it is no longer necessary for a reference marker to stand out from its surroundings as an elevation. 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. In addition, 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.

Die Anwendung der vorliegenden Erfindung ist nicht auf das hier beschriebene Ausführungsbeispiel beschränkt.The application of the present invention is not limited to the embodiment described herein.

Claims (9)

  1. Method for determining a position of an object in a container crane facility, wherein
    - a first distance between a position of a measuring device and a known position of a reference mark (103, 203) is determined by the measuring device,
    - a second distance between the position of the reference mark (103, 203) and the position of the object (102, 202) is determined,
    - the position of the object (102, 202) is calculated from the first and second distance as well as from the known position of the reference mark (103, 203),
    - the reference mark (103, 203) is located by evaluating a radiance factor that is measured by the measuring device at a floor area (104) inside the container crane facility, wherein the reference mark (103, 203) is integrated into the floor area (104) in an essentially form-fit manner and at least one surface of the reference mark (103, 203) has a defined radiance factor,
    characterised in that the reference mark (103, 203) has a coding implemented by a predefined surface-wide distribution of the radiance factor at the at least one surface.
  2. Method according to claim 1,
    in which at least one part of the floor area (104) is scanned by means of a laser and/or infrared beam device associated with the measuring device and the radiance factor is determined from beam absorption at the floor area (104).
  3. Method according to one of claims 1 or 2,
    in which the at least one surface of the reference mark (103, 203) is essentially beam-absorbent and the reference mark (102, 203) is located on the basis of a disappearing beam radiance.
  4. Method according to one of claims 1 to 3,
    in which the reference mark (103, 203) is embedded into the floor area (104).
  5. System for determining a position of an object in a container crane facility according to claim 1, having
    - at least one reference mark (103, 203), which is integrated into a floor area (104) of the container crane facility in an essentially form-fit manner, wherein the reference mark (103, 203) has at least one surface with a defined radiance factor,
    - a measuring device for locating the reference mark (103, 203) on the basis of a radiance factor measured at the floor area (104) and for determining a first distance between a position of the measuring device and a known position of the reference mark (103, 203),
    - a storage unit for at least temporary storage of the first distance and a second distance between the position of the reference mark (103, 203) and the position of the object (102, 202),
    - an evaluation device for calculating the position of the object (102, 202) from the first and second distance as well as from the known position of the reference mark (103, 203),
    characterised in that the reference mark (103, 203) has a coding implemented by a predefined surface-wide distribution of the radiance factor at the at least one surface.
  6. System according to claim 5,
    in which the object (102, 202) is a vehicle, a container and/or a space for a container.
  7. System according to one of claims 5 or 6,
    in which the measuring device is associated with a laser and/or infrared beam device for scanning at least part of the floor area (104).
  8. System according to one of claims 5 to 7,
    in which the at least one surface of the reference mark (103, 203) is essentially beam-absorbent.
  9. System according to one of claims 5 to 8,
    in which the reference mark (103, 203) is embedded into the floor area (104).
EP20080014734 2008-08-20 2008-08-20 Method and system for calculating a position of an object in a container crane facility and control program for a measuring device Active EP2157041B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20080014734 EP2157041B1 (en) 2008-08-20 2008-08-20 Method and system for calculating a position of an object in a container crane facility and control program for a measuring device
CN2009101659937A CN101655348B (en) 2008-08-20 2009-08-20 Method and system for calculating a position of an object in a container crane facility and control program for a measuring device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20080014734 EP2157041B1 (en) 2008-08-20 2008-08-20 Method and system for calculating a position of an object in a container crane facility and control program for a measuring device

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EP2157041A1 EP2157041A1 (en) 2010-02-24
EP2157041B1 true EP2157041B1 (en) 2013-06-12

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Publication number Priority date Publication date Assignee Title
CN102452611B (en) * 2010-10-21 2014-01-15 上海振华重工(集团)股份有限公司 Detection method and detection device for space attitude of suspender of container crane
FI125644B (en) * 2011-07-18 2015-12-31 Konecranes Oyj System and method for determining the position and rotation of a crane gripper
EP2574587B1 (en) * 2011-09-30 2014-06-25 Siemens Aktiengesellschaft Method for determining a target position for a container spreader and the container spreader
CN114955579A (en) * 2022-04-12 2022-08-30 三一海洋重工有限公司 Shell position calibration method, device, equipment and system for container yard

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5211826B2 (en) * 1972-10-18 1977-04-02
NL8701823A (en) * 1987-08-03 1989-03-01 Europ Container Terminus STORAGE AND TRANSFER SYSTEM FOR CONTAINERS.
JPH03128893A (en) * 1989-10-16 1991-05-31 Kawasaki Steel Corp Stowage detecting device in article storing yard
JP3128893B2 (en) * 1991-09-18 2001-01-29 ソニー株式会社 Solid-state color imaging device and solid-state color imaging device
AU699013B2 (en) * 1995-03-27 1998-11-19 Toyo Umpanki Co. Ltd. Container handling apparatus and management system
SE524580C2 (en) * 1998-09-30 2004-08-31 Abb Ab A system for determining the position of a loading box for a container relative to a moving part of a crane and a method for measuring a distance between a moving part of a crane and a loading box for a container
SE530490C2 (en) * 2006-12-21 2008-06-24 Abb Ab Calibration device, method and system for a container crane

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CN101655348B (en) 2012-04-11
CN101655348A (en) 2010-02-24

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