EP2643258B1 - Method and system for the georeferenced determination of the location of containers in the loading range of container cranes - Google Patents

Description

The invention relates to a method for geo-referenced location determination of containers, in particular in the loading area of container cranes according to the preamble of claim 1.

When unloading container ships using container cranes and operating under the container crane transport vehicle, it is known to determine the current position of the container crane with a GPS-based system. Such a system is in document US 7344037 disclosed.

Furthermore, it is also known to provide the transport vehicles with which the containers are brought out of the loading area or into the loading area of the container crane with a GPS-supported location determination.

However, it has been found that when such a transport vehicle operates in satellite reception-conditioned reception shadow of the container crane, the crane-side GPS system is shielded from the GPS satellite reception, so that for the operating in the receiving shadow of the container crane transport vehicles no GPS location can be made.

For this reason, it is not possible to accomplish a precise localization of the container arranged in the loading area of the container crane.

So far, it has been remedied that an operator by radio to the operator on the container crane gave the instruction which container he should carry to where to achieve a correct assignment of the container on the loading place. In other cases, processes have been defined that could make an assumption about the location of the container with high probability.

When unloading containers from ships that are on the dock, it is known to read the arranged on the container OCR-readable information and feed a port management program. In this way, it is known in conjunction with the GPS coordinates of the container crane, which container according to its OCR-readable label - currently being unloaded.

However, as soon as the container is picked up by the container crane and transferred to the on-land loading or unloading station, it is no longer possible to detect the current georeferenced position in the loading or unloading area of the container crane because this area is off the container Crane itself is shielded against satellite-based reception of GPS signals in an undesirable manner.

In this way, when loading and unloading containers with the help of container cranes to confusion in such a way that the existing in the loading or unloading container can not be accurately located and therefore the wrong container is placed in the wrong place.

The invention is therefore based on the object, a method and an apparatus of the type mentioned in such a way that an accurate location of located in the loading or unloading of container cranes containers can be made.

To solve the problem, the invention is characterized by the technical teaching of claim 1.

An essential feature of the invention is that now instead of the failing in the receiving shadow of container cranes GPS localization of the transport vehicle now a determination of the distance of the transport vehicle to fixed points of the crane is completed.

This generates a relative position determination (position determination) of the transport vehicle operating in the crane area in relation to the crane. After the GPS coordinates of the crane are known, it is now possible to determine the absolute position of the transport vehicle in the receiving shadow of the crane by offsetting the relative distance of the transport vehicle to the specified fixed marks of the crane and its GPS coordinates.

The term "receiving shadow" is understood to mean that the outriggers or loading bridges or other parts of the container crane cover the transport vehicle operating under the crane so that the GPS system of the transport vehicle does not transmit the signals from the sky-based GPS satellites can receive and evaluate more.

This is where the invention begins, which instead provides that a relative distance measurement of the transport vehicle takes place in relation to the known position of the crane and that these relative coordinates are calculated in relation to the absolute position coordinates of the container crane such that they can be added to any one Time to determine the exact position of the transport vehicle under the crane.

After the transport vehicle either only a simple long-container (40 feet) or two short containers (20 feet each) can take or drop, is possible by the now possible absolute location of the transport vehicle at any time, the Determine the position of the long container currently being picked up by the container crane or the two short containers it has picked up.

This makes it possible for the first time to locate the containers via the port management program, which are arranged in the loading or unloading area of the crane and therefore make an exact position determination with absolute position coordinates.

This eliminates an error about the location of the container, and it no longer happens that such a container is positioned in the wrong place at the wrong time.

With the given technical teaching, there is thus the essential advantage that by a simple distance measurement of the relative coordinates of the transport vehicle and thus the container detected by the transport vehicle can be determined in absolute geo-referenced coordinates and thus its absolute position in XY- and possibly Z- Direction can be determined on the footprint.

Instead of the Cartesian coordinates given here as an example, the known geo coordinates can also be used.

In a particularly preferred embodiment of the present invention, provision is made for the distance measurement according to the invention to be carried out by wireless communication.

For this purpose, a transponder is arranged on the transport vehicle, which operates with a distance measuring device operating via a wireless communication. The distance measurement takes place in this case, for example via a radio beacon and a transponder.

This distance-measuring device operating via a wireless communication transmits radio pulses at regular intervals, which are picked up by receivers arranged on the crane and sent back again. The duration of this pulse is recorded, and the runtime measurement determines the exact distance in all two or three spatial planes.

In this case, it is preferred if at least three radio beacons arranged at different locations are present on the crane, which transmit back the received pulse.

Also conceivable is a variant in which the distance measuring device is attached to the transport vehicle and measures its distance to transponders, which are attached as radio beacons, for example, to the legs of the crane.

In another embodiment of the present invention, it may also be provided that, instead of the wireless communication for distance measurement, optical distance measurement (for example via laser) takes place.

In a third embodiment of the invention, it is provided that the distance measurement takes place via ultrasound.

• Time-of-Flight-Messung (das ist eine Funkmessung)
• Time difference of arrival
• RSSI (received signal strength indicator)
• UWB (ultra wideband technology)
• Und der gleichen mehr.

In addition, other measuring principles for the distance measurement are considered to be essential to the invention:

• Time-of-flight measurement (this is a radio measurement)
• Time difference of arrival
• RSSI (received signal strength indicator)
• UWB (ultra wideband technology)
• And the same more.

Of course, the present invention is not limited to the fact that the position of the transport vehicle with the attached container (or double container) takes place only in the receiving shadow of the container crane. In another embodiment of the invention, it is provided that the distance measurement takes place with respect to two spaced apart and possibly with separately operating container cranes.

The distance measurement can also take place outside the GPS receiving shadow in the direction of only one crane.

According to a particular feature of the invention, it is provided that the signals of the transport vehicle are further processed via radio-based technology. This means that a transponder (tag) is arranged on the transport vehicle, which works with a preferably fixedly arranged reader. However, the reader does not have to be stationary. And the beacon can together with the reader form a device.

Likewise, it may be provided in a development that also on the container crane one or more transponders are arranged with a fixed Reader communicate. In this case, the distance measurement between crane and another known point is performed, which then serves as a reference point.

The subject of the present invention results not only from the subject matter of the individual claims, but also from the combination of the individual claims with each other.

All information and features disclosed in the documents, including the abstract, in particular the spatial design shown in the drawings, are claimed to be essential to the invention insofar as they are novel individually or in combination with respect to the prior art.

In the following the invention will be explained in more detail with reference to drawings showing only one embodiment. Here are from the drawings and their description further features essential to the invention and advantages of the invention.

Figur 1:

schematisiert einen Container-Kran nach der Erfindung mit Darstellung des Lade- und Entladebereiches und einem dort operierenden Transport-Fahrzeug

Figur 2:

schematisiert eine Draufsicht von oben auf den Container-Kran mit dessen vorwiegend im Empfangsschatten umliegenden Lade- und Entladebereich

Figur 3:

ein Blockschaltbild einer möglichen Datenverarbeitung zur Feststellung der aktuellen absoluten Position des jeweils vom Transportfahrzeug aufgenommenen Containers

Figur 4:

eine Abwandlung einer Ausführungsform nach dem Erfindung, bei dem die Entfernungsmessung zwischen zwei Container-Kränen stattfindet

Show it:

FIG. 1:

schematizes a container crane according to the invention with representation of the loading and unloading area and a transport vehicle operating there

FIG. 2:

schematized a top view from above of the container crane with its predominantly in the receiving shade surrounding loading and unloading

FIG. 3:

a block diagram of a possible data processing for determining the current absolute position of each container received by the transport vehicle

FIG. 4:

a modification of an embodiment according to the invention, in which the distance measurement takes place between two container cranes

In FIG. 1 is generally shown that from a ship 2, which is located on a quay of a port, a number of containers 1 are loaded, which are unloaded by a container crane 5. For this purpose, the container crane 5 on one or more of trolleys 6 located lifting tools, which are arranged, for example, raised and lowered in the direction of arrows 7.

In the illustrated embodiment, the trolley 6 is brought into the position 6 ', d. H. a arranged on the ship 1 container is unloaded by moving the trolley 6 on the crane bridge 4 and should be spent on a storage area 3.

For this purpose, a container bearing 8 is provided, on which operate one or more transport vehicles 9.

To determine the absolute position of the crane 5 this carries a GPS receiver 20, which receives a plurality of satellites 18a, 18b, 18c, 18d each have a transmit beam 19a, 19b, 19c, 19d and due to the transit time differences between the different transmitted beams 19, the absolute position of the container crane 5 can be detected on the bearing surface 3.

However, as soon as the container crane 5 moves with its crane bridge 4 over the bearing surface 3, the transport vehicle 9 operating in the reception shade 17 is shaded by the satellite receiver and is no longer able to position itself accurately with its own GPS receiver to hand over the warehouse management program.

The transport vehicle 9 consists in a conventional manner of a gripping device 10 which is arranged on a lifting device 11. It is freely movable with wheels and, for example, just takes a container 12, which is arranged in the row 13 of the loading and unloading. According to FIG. 2 are in the loading and unloading also two more rows 14, 15 arranged on which containers are sold or can be raised. The arrangement of two further rows 14, 15 is an embodiment of the invention, but other configurations of the loading and unloading space may be provided.

According to the invention, it is now provided that because of the shadowing of the transport vehicle 9 in the receiving shadow 17 of the container crane 5, a distance measurement of the transport vehicle takes place at fixed crane fixing points.

Each Kranfixpunkt is designed as a radio beacon 28, 29, where - like FIG. 2 shows - a total of 4 different radio beacons 28a, 28b and 29a, 29b are present. This is only to be understood as an example of a preferred constellation. The more radio beacons are present, the more accurate is the distance measurement to a distance sensor 26 connected to the transport vehicle, which is simultaneously in data communication with or part of a transponder 23 which is likewise arranged on the transport vehicle.

The distance sensor 26 thus carries out measuring distances at intervals of distance to the crane fixedly arranged radio beacons 28, 29 and thus determines - very accurately - the distance of the transport vehicle 9 relative to the container crane. 5

The transponder 23 on the transport vehicle 9 cooperates with a preferably stationary arranged reading device 24, which in turn accounts for the received data with the absolute crane position data.

As FIG. 1 shows, are first received in the crane-side GPS receiver 20, the four satellite signals in a specific data format 21 and input via an output 22 a computer. According to FIG. 3 the calculation of the crane coordinates 21 takes place via the output 22 with the aid of a calculation of the current position of the crane in the calculation block 31.

This absolute position of the crane is fed to a computer 32 and connected to the data of the rangefinder 26 by inputting it to a calculation block 33 which determines the relative transport vehicle coordinates Xs, Ys, Zs.

This results in a so-called floating reference point 34, which means that now the relative coordinates of the transport vehicle 9 are entered into the computer 32 and charged to the absolute location coordinates of the container crane 5. Via an output 35, this calculation is transferred to a calculation block 36 and finally output in the calculation block 37 as a result.

The result is the absolute location coordinates of the container just taken up by the transport vehicle or dropped off or carried along with it.

As the FIG. 2 shows, can be arranged in a row 13, 14, 15, either a double container 12 or two individual containers 12a, 12b, which are, however, always taken together or individually by the transport vehicle 9 or discontinued.

If according to FIG. 2 the transport vehicle 9 is located exactly above the double containers 12a, 12b arranged in row 13, the distance measurement is carried out and, in the previously described procedure, offset against the absolute location coordinates of the container crane, whereby the absolute positional position of the two containers 12a, 12b in row 13 is known and thus can be tracked exactly to which storage location the transport vehicle 9 spends these two containers.

Also conceivable are variants in which, for example, the position of the transport vehicle 9 is determined shortly before or after, and the real position is determined by means of an offset.

The absolute spatial position of the containers picked up or set down by the transport vehicle is therefore possible at any desired time, even if the transport vehicle operates in the GPS receiving shadow of the container crane 5.

The FIG. 4 shows as a development of the present invention that the distance measurement does not necessarily have to take place to a single container crane. In the illustrated embodiment, two adjacent container cranes 5a, 5b are arranged, which operate at a certain distance on the quay. At each container crane 5a, 5b necessary for measuring distance beacons 28, 29 are arranged, and the distance measurement then takes place between the radio beacons of both a container crane 5a and the other container crane 5b. In this way it is possible to carry out a distance measurement of the transport vehicle, even if this does not operate below a container crane 5, but next to such a container crane.
Likewise, the invention is not limited to perform a distance measurement via radio beacons, which are arranged on two spaced container cranes 5a, 5b.

It is also sufficient if the transport vehicle 9 only carries out a distance measurement with the radio beacons 28, 29 of a single container crane 5, even if the transport vehicle 9 moves outside the receiving shadow 17 of the container crane 5.

It has already been pointed out in the general part of the description that although it is preferred to carry out the distance measurement via an RFID-based system with radio beacons.

However, the invention is not limited thereto. Instead of such a wireless communication distance measurement also ultrasonic distance measurements, optical or laser-based distance measurements can be made.

drawing Legend

1 Container 20 GPS receiver 2 ship 21 data format 3 storage area 22 output 4 crane bridge 23 transponder 5 Container crane 24 reader 6 trolley 25 data transfer 7 arrow 26 Distance sensor 8th Container storage 27 measuring beam 9 Transport Vehicle 28 radiobeacon 10 gripping device 29 radiobeacon 11 lifting device 30 crane base 12 Container 31 Rechenblock 13 line 32 computer 14 line 33 Rechenblock 15 line 34 relative coordinates 16 35 output 17 reception shadow 36 Rechenblock 18 satellite 37 Rechenblock 19 transmission beam

Claims (8)

1. Method for the georeferenced determination of the location of containers (1, 12), in particular in the loading region of container cranes (5), wherein a satellite-assisted determination of the location of the container crane (5) and of the transport vehicle (9) receiving and depositing the containers (1, 12) takes place, characterised in that to detect the absolute position coordinates of the containers (12) located in the satellite reception shadow (17), in a first method step, a distance measurement takes place between at least one measuring point on the transport vehicle (9) and one or more measuring points on the container crane (5), in that, in a second method step, the position coordinates of the container crane (5) obtained by satellite-assisted determination of the location in relation to the relative coordinates of the transport vehicle (9) obtained by the distance measurement are set and in that, in a third method step, the absolute position of the transport vehicle (9) and/or that of the container (12; 12a, 12b) located below the transport vehicle is determined from the absolute crane coordinates and the relative position coordinates of the transport vehicle (9).
2. Method according to claim 1, characterised in that the distance measurement between the transport vehicle (9) and the container crane (5) takes place by means of a wireless communication.
3. Method according to claim 1 or 2, characterised in that arranged on the transport vehicle (9) is at least one transponder (23)/reader, which determines the measured values with respect to the relative position to the container crane (5) and forwards them to a reading apparatus (24)/transponder, which is connected to a data processing system (computer 32).
4. Method according to any one or more of the preceding claims, characterised in that the determination of the relative position of the transport vehicle (9) takes place with respect to at least two container cranes (5a, 5b) arranged spaced apart from one another.
5. Device for the georeferenced determination of the location of containers (1, 12), in particular in the loading region of container cranes (5), wherein a satellite-assisted determination of the location of the container crane (5) and of the transport vehicle (9) receiving and depositing the containers (1, 12) takes place, characterised in that at least one distance measuring apparatus to detect the relative position coordinates of the containers (12) located in the satellite reception shadow (17) and the container crane (5) is arranged on the container crane (5) and/or on the transport vehicle (9), in that the position coordinates of the container crane (5) obtained by satellite-assisted determination of the location with respect to the relative coordinates of the transport vehicle (9) obtained by the distance measurement and determined with respect to the crane (5) are processed in a data processing system and in that the absolute position of the container (12; 12a, 12b) below the transport vehicle (9) is determined therefrom.
6. Device according to claim 5, characterised in that arranged on the transport vehicle (9) is at least one transponder (23), which communicates with a reading apparatus (24) by means of a wireless communication and in that the reading apparatus (24) has a data connection to the data processing system (computer 32).
7. Device according to claim 5 or 6, characterised in that the measuring points on the crane (5) are configured as radio beacons (28, 29) and in that the distance measuring apparatus (26) on the transport vehicle (9) is configured as a transponder (23).
8. Use of a device according to any one of claims 5 to 7, characterised in that it is suitable for carrying out the method according to at least any one of the method claims 1 to 4.

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