DE102010052034A1 - Method and device for geo-referenced location determination of containers in the loading area of container cranes - Google Patents

Abstract

Method for geo-referenced location determination of containers, in particular in the loading area of container cranes, wherein a satellite-based location determination of the container crane and the container receiving and depositing transport vehicle takes place, characterized in that for detecting the absolute position coordinates located in the satellite reception shadow Container in a first method step, a distance measurement between at least one measuring point on the transport vehicle and one or more measuring points on the container crane takes place, that in a second method step obtained by satellite-based location determination position coordinates of the container crane in relation to those obtained by the distance measurement , Relative coordinates of the transport vehicle are set and that in a third method step from the absolute crane coordinates and the relative position coordinates of the transport vehicle, the absolute position of the position Transport vehicle and / or the container located under the transport vehicle can be determined.

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.

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 connection with the GPS coordinates of the container crane which container - according to its OCR-readable label - is 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 moved to 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 used as radio beacons z. B. are attached 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.

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, which communicate with a stationary reading device. 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.

Show it:

1 : Schematically illustrates a container crane according to the invention with representation of the loading and unloading area and a transport vehicle operating there

2 : Schematically a top view of the container crane with its predominantly in the receiving shade surrounding loading and unloading

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

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

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

In the illustrated embodiment, the trolley 6 in the position 6 ' brought, ie one on the ship 1 arranged container is by moving the trolley 6 at the crane bridge 4 unload and should be on a storage area 3 be spent.

For this purpose is a container warehouse 8th provided on the one or more transport vehicles 9 operate.

To determine the absolute position of the crane 5 This carries a GPS receiver 20 from several satellites 18a . 18b . 18c . 18d one transmission beam each 19a . 19b . 19c . 19d receives and due to the transit time differences between the different transmission beams 19 the absolute position of the container crane 5 on the storage area 3 is detectable.

Once the container crane 5 but with his crane bridge 4 over the storage area 3 moves, this is in the receive shadow 17 operating transport vehicle 9 is shadowed from the satellite reception and is no longer able to transfer with his own GPS receiver an exact location position to the warehouse management program.

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

According to the invention it is now provided that because of the shading of the transport vehicle 9 in the reception shade 17 of the container crane 5 a distance measurement of the transport vehicle takes place at fixed crane fix points.

Each crane fix point is as a radio beacon 28 . 29 trained, where - like 2 shows - a total of 4 different radio beacons 28a . 28b and 29a . 29b available. 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 connected to the transport vehicle 26 which simultaneously with a likewise arranged on the transport vehicle transponder 23 is in data connection or part of the same.

The distance sensor 26 Thus, at measurement intervals, continuous distance measurements lead to the radio beacons fixedly arranged on the crane side 28 . 29 and thus determines - very accurately - the distance of the transport vehicle 9 relative to the container crane 5 ,

The transponder 23 at the transport vehicle 9 works with a preferably stationary arranged reading device 24 together, which in turn the received data with the absolute crane position data.

As 1 shows are first in the crane-side GPS receiver 20 the four satellite signals in a specific data format 21 received and over an issue 22 entered a computer. According to 3 the billing of the crane coordinates takes place 21 about the issue 22 with the help of a calculation of the current position of the crane in the calculation block 31 ,

This absolute position of the crane becomes a calculator 32 fed and with the data of the distance measuring device 26 connected by adding this to a computational 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 in the calculator 32 and with the absolute location coordinates of the container crane 5 will be charged. About an issue 35 this calculation is in a computational block 36 pass and finally in the computational 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 2 shows, can be in a row 13 . 14 . 15 either a double container 12 be arranged or two single containers 12a . 12b but always together or separately from the transport vehicle 9 be taken or sold.

If according to 2 the transport vehicle 9 just above the row 13 arranged double containers 12a . 12b is located, the distance measurement is performed and charged in the procedure described above with the absolute location coordinates of the container crane, which then the absolute spatial position of the two containers 12a . 12b in row 13 is known and thus can be tracked exactly, to which storage space the transport vehicle 9 spends these two containers.

Are also conceivable variants in which z. B. the position of the transport vehicle 9 is determined shortly before or after and by means of an offset the real position is determined.

At any given time, the absolute spatial position of the container picked up or removed by the transport vehicle is thus possible, even if the transport vehicle is in the GPS receiving shadow of the container crane 5 surgery.

The 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 embodiment shown are two adjacent container cranes 5a . 5b arranged, which operate with a certain distance at the wharf. At every container crane 5a . 5b are the radio beacons necessary for distance measurement 28 . 29 arranged, and the distance measurement then takes place between the radio beacons of both a container crane 5a as well as the other container crane 5b instead of. In this way it is possible to carry out a distance measurement of the transport vehicle, even if this is not below a container crane 5 but next to such a container crane.

Likewise, the invention is not limited to carry out a distance measurement via radio beacons, which are attached to two spaced-apart container cranes 5a . 5b are arranged.

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

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 distance measurement working with a wire-bubble communication, it is also possible to carry out ultrasonic distance measurements, optical or laser-based distance measurements.

LIST OF REFERENCE NUMBERS

1

Container

2

ship

3

storage area

4

crane bridge

5

Container crane

6

trolley

7

arrow

8th

Container storage

9

Transport Vehicle

10

gripping device

11

lifting device

12

Container

13

line

14

line

15

line

16

17

reception shadow

18

satellite

19

transmission beam

20

GPS receiver

21

data format

22

output

23

transponder

24

reader

25

data transfer

26

Distance sensor

27

measuring beam

28

radiobeacon

29

radiobeacon

30

crane base

31

Rechenblock

32

computer

33

Rechenblock

34

relative coordinates

35

output

36

Rechenblock

37

Rechenblock

Claims (8)

Method for georeferenced localization of containers ( 1 . 12 ), especially in the loading area of container cranes ( 5 ), whereby a satellite-supported location determination of the container crane ( 5 ) and the container ( 1 . 12 ) receiving and depositing transport vehicle ( 9 ), characterized in that for detecting the absolute position coordinates of the satellite in the reception shadow ( 17 ) container ( 12 ) in a first method step, a distance measurement between at least one measuring point on the transport vehicle ( 9 ) and one or more measuring points on the container crane ( 5 ) takes place, that in a second method step, the position coordinates of the container crane obtained by satellite-supported position determination ( 5 ) relative to the relative coordinates of the transport vehicle obtained by the distance measurement ( 9 ) and that in a third method step from the absolute crane coordinates and the relative position coordinates of the transport vehicle ( 9 ) the absolute position position of the transport vehicle ( 9 ) and / or the container under the transport vehicle ( 12 ; 12a . 12b ) is determined. A method according to claim 1, characterized in that the distance measurement between the transport vehicle ( 9 ) and the container crane ( 5 ) via a wireless communication. Method according to claim 1 or 2, characterized in that on the transport vehicle ( 9 ) at least one transponder ( 23 ) / Reader, which measures the relative position of the container crane ( 5 ) and to a reader ( 24 ) / Transponder, which is connected to a data processing system (computer 32 ). Method according to one or more of the preceding claims, characterized in that the determination of the relative position of the transport vehicle ( 9 ) to at least two spaced-apart container cranes ( 5a . 5b ) he follows. Device for the georeferenced localization of containers ( 1 . 12 ), especially in the loading area of container cranes ( 5 ), whereby a satellite-supported location determination of the container crane ( 5 ) and the container ( 1 . 12 ) receiving and depositing transport vehicle ( 9 ), characterized in that at least one distance measuring device for detecting the relative position coordinates of the satellite in the receiving shadow ( 17 ) container ( 12 ) and the container crane ( 5 ) on the container crane ( 5 ) and / or on the transport vehicle ( 9 ), that the position coordinates of the container crane obtained by satellite-supported localization ( 5 ) in relation to the crane ( 5 ), obtained by the distance measurement, relative coordinates of the transport vehicle ( 9 ) are processed in a data processing system and that from this the absolute position of the position under the transport vehicle ( 9 ) container ( 12 ; 12a . 12b ) is determined. Apparatus according to claim 5, characterized in that on the transport vehicle ( 9 ) at least one transponder ( 23 ) arranged with a reader ( 24 ) communicates via wireless communication and that the reader ( 24 ) with the data processing system (computer 32 ) is in data connection. Apparatus according to claim 5 or 6, characterized in that the measuring points on the crane ( 5 ) as a radio beacon ( 28 . 29 ) and that the distance measuring device ( 26 ) on the transport vehicle ( 9 ) as a transponder ( 23 ) is trained. Use of a device according to one of claims 5 to 7, characterized in that it is suitable for carrying out the method according to at least one of the method claims 1 to 4.

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