CN101655348A - 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 PDFInfo
- Publication number
- CN101655348A CN101655348A CN200910165993A CN200910165993A CN101655348A CN 101655348 A CN101655348 A CN 101655348A CN 200910165993 A CN200910165993 A CN 200910165993A CN 200910165993 A CN200910165993 A CN 200910165993A CN 101655348 A CN101655348 A CN 101655348A
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- reference marker
- distance
- ground
- measurement mechanism
- reflectance
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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
Abstract
The method relates to a method and system for calculating a position of an object in a container crane facility and control program for a measuring device. In order to measure the position of the object in the container crane, a first distance between a position of a measuring device and a known position of a reference mark is determined, a second distance between a position of the reference markand a position of an object is determined, and the position of the object is estimated from the distances and the known position of the reference mark. The orientation of reference mark is determinedby analyzing a radiance factor that is measured by the measuring device on the ground in the container crane system. The mark is integrated into the area in a form-fit manner, where at least one surface of the mark has a defined radiance factor.
Description
Technical field
For the reproduced time container crane facility that reduces container moves more and more automatically.Particularly in the field of piling up of the container on land, the automatic operating of container crane facility has great potential.In this case, determination object such as container, haulage vehicle, crane or the crane parts position in container crane facility are significant fast with exactly.Up to the present mainly be to use laser and infrared sensor in order to locate.This sensor has been realized at a distance with acceptable until the object that very accurately detects in container crane facility.Except the position of measuring container, haulage vehicle, crane and crane parts, but the also purpose zone of detected set vanning.Advantageously these position-detection sensors are installed in and make the object that should detect can be unobstructedly by in the zone of sensor scan.
Background technology
Normally be determined at the position of the object in the container crane facility by the relative measurement of carrying out based on known reference position.These reference positions are determined by hard-wired benchmark object.For the optical measuring system that this adopted not only detects the object of motion, and detect the object that does not move, and obtain each position with respect to known reference position.Particularly in reach directly below crane during the position of detected object, for example with the noticeable annex on the crane or condiment as the benchmark object.When the reach of crane during goods is reprinted is extended farly, usually fixing position will be arranged and the object that can detect at a distance as the benchmark object.For piling up crane automatically, just for example incite somebody to action from afar the reference marker of the fine identification of energy is installed on the ground of stack region for this reason.Seek these reference markers targetedly with measuring system, accurately to measure the position of object to be detected with respect to reference marker ground.Adopt this mode also can calculate the destination locations of the goods in the stack region exactly.
EP 1152966B1 has described a kind of system that is used to measure the placed side of container.In this system, vertically extending plate is used as reference marker.These plates are vertically installed on the ground.Just can measure the position of the reference marker that highlights from ground by its height by scanister.In the disclosed system of EP1152966B1, this scanister is installed on the crane trolley, so that reliably from this position probing reference marker.Its shortcoming is these reference markers because they are vertically to be provided with to have formed barrier on the ground basically, and is subjected to the infringement of haulage vehicle or container easily, and may be moved, therefore no longer can be reliably and measure their position exactly.
Summary of the invention
Task of the present invention is to propose the reliable of a kind of object that is used for measuring container crane facility and method accurately, and a kind of suitable device that is used to realize this method is provided.
According to the present invention, this task is by a kind of method that has in claim 1 feature of explanation, and has the system of the feature of explanation in claim 6 and be accomplished by a kind of control program with feature of explanation in claim 12 by a kind of.In the dependent claims favourable improvement project of the present invention is illustrated.
According to the present invention, in order to try to achieve the position of the object in the container crane facility, measure first distance between the known position of the position of this measurement mechanism and reference marker by measurement mechanism.In addition, the second distance between the position of the position of mensuration reference marker and object.By described first distance and second distance and the position that goes out described object by the known position calculation of reference marker.Basic design of the present invention is, by analyzing the orientation of being determined described reference marker by the reflectance that records on the ground of described measurement mechanism in container crane facility.In this case, reference marker is integrated in the ground to form fit basically, and at least one surface of reference marker has definite reflectance.For example reference marker can be embedded in the ground.This reference marker is because its shape and layout are insensitive to the damage that haulage vehicle or container caused, so even also can discern reliably by measured device under the situation that can see the condition difference.
Preferably scan in the laser of described measurement mechanism and/or infrared radiation device at least a portion, and determine reflectance by radiation absorption on the ground to ground by attaching troops to a unit.According to preferred scheme of the present invention, at least one surface of reference marker is to absorb ray basically, and reflects the orientation of measuring reference marker by the ray that disappears.Can discern a plurality of reference markers reliably, and can be distinguished from each other, its measure is, described reference marker is provided with the coding of realizing according to the predetermined distribution of area by reflectance on described at least one surface.
System according to the position of the object that is used for measuring container crane facility of the present invention comprises at least one reference marker.This reference marker is integrated into to form fit on the ground of container crane facility basically, and has the surface that at least one has definite reflectance.Be provided with measurement mechanism in addition, be used for measuring the position of reference marker, and be used to measure first distance between the known position of the position of this measurement mechanism and reference marker by the reflectance that records on the ground.In addition, the storage unit that also has the second distance between the position of the position of described first distance of at least temporary transient storage and reference marker and described object according to system of the present invention.In order also to be provided with analytical equipment by described first distance and second distance and by the position that the known position calculation of reference marker goes out described object.Described object for example can be vehicle, container and/or the placed side that is used for container.
Can be loaded into according to control program of the present invention in the working storage of computer unit, and have at least one code segment.When control program moves,, obtain first distance between the known position of the reference marker in the position of measurement mechanism and the container crane facility by the enforcement of code segment in computer unit.Obtain the second distance between the position of the position of reference marker and described object in addition.During the described code segment of this external enforcement, also by described first distance and second distance and the position that goes out described object by the known position calculation of reference marker.In addition, by control program, can be by analyzing the orientation of determining described reference marker by the reflectance that records on the ground of described measurement mechanism in container crane facility.In this case, reference marker is integrated in the ground to form fit basically, and at least one surface of reference marker has definite reflectance.
Description of drawings
Below by embodiment, the present invention is described in more details by accompanying drawing.These accompanying drawings are:
Fig. 1: the synoptic diagram on the ground of container crane facility, it has the reference marker that is embedded in the ground.
Fig. 2: the synoptic diagram on ground with reference marker of alternatives.
Fig. 3: according to the sectional view of ground in the zone of reference marker of Fig. 1.
Embodiment
Be divided into the put area 101 that is used for container 102 terrestrial network form shown in Figure 1.The size of these containers for example can be suitable with the ISO container.In a fixing grid, criss-cross reference marker 103 is separately positioned on the corner of put area 101.Alternatively also can for example use the reference marker 203 of rectangle according to Fig. 2, these reference markers are separately positioned on the longitudinal edge and the horizontal edge of the put area 201 that is used for container 202.Leave distance respectively between put area 101,201, be used for when put area 101,201 is occupied by container, guaranteeing has minimum distance between container.Even this minor increment is set is under the situation about being occupied by container 102,202 at put area 101,201, also can for example detect reference marker 103,203 reliably by the scanister that is installed on the crane trolley.The meaning that minor increment is set between this external put area 101,201 is, for example make to have the band mechanical positioner lifting function of hoisting apparatus (Spreader (suspender)) of (Flipper-jacking gear) is moved automatically, and can not contact or damage adjacent container.
In order to measure the position of put area 101,201 or container 102,202, at first should measure first distance between the known position of the position of measurement mechanism and reference marker 103,203 by measurement mechanism.Measurement mechanism for example is mounted in laser or the infrared scanner on the crane trolley.In addition, the second distance between the position of the position of mensuration reference marker 103,203 and put area 101,201 or container 102,202.By described first distance and second distance and by the known position of reference marker 103,203, calculate the position of put area 101,201 or container 102,202.By analyzing, determine the orientation of described reference marker 103,203 by the reflectance that records on the ground of described measurement mechanism in container crane facility.Can see by Fig. 3, be integrated in the ground 104 to reference marker 103 form fit.The surface on the ground dorsad 104 of reference marker 103 has definite reflectance.Preferably implement the method that is used for position finding described herein by control program.This control program can be loaded in the working storage of the crane automation equipment that computing machine supports, and has at least one code segment.When carrying out this code segment, just carry out or the beginning above-mentioned steps.
Above-mentioned position measurement method will utilize the characteristic that can absorb laser or infrared-ray to a great extent of material.Laser or infrared-ray are reflected in scanning process usually, and can obtain the distance that is scanned object from the working time of measuring.Laser or infrared-ray change in the character of surface and the color of the object that the reflection basis that is scanned on the object is scanned.Though for example the coal reflection characteristic of black is very poor, still has about 10% reflected value.For example also be lower than 10% material significantly if select a kind of its reflected value, also can discern reference marker reliably even background is very dark for reference marker.In addition, can also use the material that absorbs laser or infrared-ray basically.
Therefore for example may detect reference marker, promptly on the position of reference marker, be absorbed by measurement mechanism emitted laser or infrared-ray by following measure.Therefore, on reference marker position, absorb laser or infrared-ray, can be interpreted as the position of reference marker.Therefore by the reflection measurement value that disappears, can accurately measure the position and the orientation of absorbability object.
When using reference marker that make by absorbent material or that have absorbent surfaces, no longer require reference marker outstanding from its surrounding environment as protrusion.That make by absorbent material or reference marker with absorbent surfaces only it size and its material aspect suitable with the scan characteristic of employed measurement mechanism.Because these reference markers can be deposited in the ground to form fit, so reduced susceptibility significantly to mechanical damage and distortion.In addition particularly because because the reflected value of determining that disappears basically of reference marker material, thereby can get rid of reference marker and environmental objects such as stone, fence or people are mixed up the situation of confusing, so that above-mentioned position measurement method proves is durable especially.That is to say that environmental objects provides the reflected value that does not disappear when scanning.
Application of the present invention is not limited to embodiment described herein.
Claims (12)
1. be used for measuring the method for position of the object of container crane facility, wherein,
-measure first distance between the known position of the position of this measurement mechanism and reference marker by measurement mechanism,
Second distance between the position of the described reference marker of-mensuration and the position of object,
-go out the position of described object by described first distance and second distance and by the known position calculation of reference marker,
-by analyzing the orientation of determining described reference marker by the reflectance that records on the ground of described measurement mechanism in container crane facility, wherein, described reference marker is integrated in the ground to form fit basically, and at least one surface of described reference marker has definite reflectance.
2. in accordance with the method for claim 1, wherein, scan in the laser of described measurement mechanism and/or infrared radiation device at least a portion by attaching troops to a unit, and obtain described reflectance by radiation absorption on the ground to ground.
3. according to claim 1 or 2 described methods, wherein, described at least one surface of described reference marker is to absorb ray basically, and reflects to determine the orientation of reference marker by the ray that disappears.
4. according to each described method in the claim 1 to 3, wherein, described reference marker is embedded in the ground.
5. according to each described method in the claim 1 to 4, wherein, described reference marker has the coding of realizing according to the predetermined distribution of area by reflectance at least one surface.
6. be used for measuring the system of position of the object of container crane facility, it comprises,
-at least one reference marker, this reference marker are integrated into to form fit in the ground of container crane facility basically and have the surface that at least one has definite reflectance,
-measurement mechanism is used for determining by the reflectance that records on the ground the orientation of reference marker, and is used to measure first distance between the known position of the position of described measurement mechanism and reference marker,
-storage unit is used at least temporary transient described first distance of storage and the second distance between the position of the position of described reference marker and described object,
-analytical equipment is used for by described first distance and second distance and the position that gone out described object by the known position calculation of described reference marker.
7. according to the described system of claim 6, wherein, described to as if vehicle, container and/or be used for the placed side of container.
8. according to claim 6 or 7 described systems, wherein, be equipped with for described measurement mechanism to be used to the laser and/or the infrared radiation device of at least a portion that scans ground.
9. according to each described system in the claim 6 to 8, wherein, described at least one surface of described reference marker is to absorb ray basically.
10. according to each described system in the claim 6 to 9, wherein, described reference marker is embedded in the ground.
11. according to each described system in the claim 6 to 10, wherein, described reference marker has the coding of realizing according to the predetermined distribution of area by reflectance on described at least one surface.
12. be used for the control program of measurement mechanism, described control program can be loaded in the working storage of computer unit and have at least one code segment, by carrying out this code segment:
First distance between the position of the described measurement mechanism of-mensuration and the known position of the reference marker in the container crane facility,
Second distance between the position of the described reference marker of-mensuration and the position of object,
-go out the position of described object by described first distance and second distance and by the known position calculation of reference marker,
-by analyzing the orientation of determining described reference marker by the reflectance that records on the ground of described measurement mechanism in container crane facility, wherein, described reference marker is integrated in the ground to form fit basically, and at least one surface of described reference marker has definite reflectance.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP08014734.1 | 2008-08-20 | ||
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101655348A true CN101655348A (en) | 2010-02-24 |
| CN101655348B CN101655348B (en) | 2012-04-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101659937A Active 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 |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP2157041B1 (en) |
| CN (1) | CN101655348B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102452611A (en) * | 2010-10-21 | 2012-05-16 | 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 |
| CN103030063A (en) * | 2011-09-30 | 2013-04-10 | 西门子公司 | Method for determining target position for container spreader and container spreader |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| JP3085468B2 (en) * | 1995-03-27 | 2000-09-11 | ティー・シー・エム株式会社 | Container handling equipment 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 |
-
2008
- 2008-08-20 EP EP20080014734 patent/EP2157041B1/en active Active
-
2009
- 2009-08-20 CN CN2009101659937A patent/CN101655348B/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102452611A (en) * | 2010-10-21 | 2012-05-16 | 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 |
| 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 |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
| CN103781717B (en) * | 2011-07-18 | 2015-09-09 | 科恩起重机有限公司 | Determine the position of the capture member of hoisting crane and the system and method for measure of skewness |
| US9764931B2 (en) | 2011-07-18 | 2017-09-19 | Konecranes Global Corporation | System and method for determining location and skew of crane grappling member |
| CN103030063A (en) * | 2011-09-30 | 2013-04-10 | 西门子公司 | Method for determining target position for container spreader and container spreader |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101655348B (en) | 2012-04-11 |
| EP2157041B1 (en) | 2013-06-12 |
| EP2157041A1 (en) | 2010-02-24 |
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