EP2043940B1 - Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à containers, installation de grue à containers et programme de commande - Google Patents

Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à containers, installation de grue à containers et programme de commande Download PDF

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Publication number
EP2043940B1
EP2043940B1 EP08775259A EP08775259A EP2043940B1 EP 2043940 B1 EP2043940 B1 EP 2043940B1 EP 08775259 A EP08775259 A EP 08775259A EP 08775259 A EP08775259 A EP 08775259A EP 2043940 B1 EP2043940 B1 EP 2043940B1
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EP
European Patent Office
Prior art keywords
container
container crane
crane system
installation
crane installation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08775259A
Other languages
German (de)
English (en)
Other versions
EP2043940A1 (fr
Inventor
Hans-Peter Kagerer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
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Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2043940A1 publication Critical patent/EP2043940A1/fr
Application granted granted Critical
Publication of EP2043940B1 publication Critical patent/EP2043940B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • Newer container crane systems have a very high degree of automation.
  • automation solutions encounter limits in certain areas of a container crane system.
  • human intervention is still required due to large distances, weather influences, material movements and deformations.
  • measuring systems must be constantly maintained and calibrated at regular intervals.
  • Control units for transport facilities of a container crane system are therefore supplied with cartographic data so that lanes can be reliably detected.
  • the cartographic data for the control units must hitherto largely be tracked manually.
  • Control systems for container cranes usually work with fixed reference points within the container crane system.
  • a system coordinate system is defined, such a container crane system is of the US-A-5780826 disclosed. Position details of individual container cranes then refer to corresponding coordinates.
  • floor plans of a container crane system are available at the operator. However, these plans often deviate from the real world or are not precise enough to accommodate positioning accuracy requirements in the range of a few centimeters.
  • the present invention has for its object to provide a method for automatically providing cartographic data in a container crane system and to provide a suitable implementation of the method and an adapted container crane system.
  • An essential aspect of the method according to the invention is that for the automatic provision of cartographic data in a container crane system at least one satellite image of the container crane system is created with a predefinable resolution.
  • a container arrangement in the container crane system descriptive features are extracted from the satellite image. From the extracted features, a container crane-specific topographical map is generated.
  • the card is at least for a control unit of the container crane system made available, which is associated with at least one transport device.
  • the satellite image is provided by an internet-based service.
  • an internet-based service In this way, a particularly economical access to required for generating cartographic data starting material results.
  • the extracted features are checked for plausibility by comparison with reference values.
  • reference values are determined during at least one crane crossing over at least one container stack.
  • the reference values can be queried in an inventory management system in which container inventories are recorded.
  • the method according to the invention is preferably implemented by a control program for automatically providing cartographic data in a container crane system.
  • the control program has at least one code section which can be loaded into a main memory of a computer, and in the execution of which the above-described steps are executed or initiated when the control program runs in the computer.
  • An absolute position determination of transport devices and containers within a container crane system has hitherto been carried out by complex manual measurement.
  • DGPS differential GSP position determination method
  • the transport devices used are supplied with surveying results determined in this way. Due to a high manual processing component results in an increased error rate.
  • DGPS uses a fixed reference station that receives signals sent by GPS satellites. Since the geographical position of the reference station is known with very high accuracy, an error of a GPS position determination can be calculated. For this purpose, a respective error contribution of a GPS satellite whose signals can be received, individually determined and transmitted by the reference station by radio to DGPS receiver within a given region.
  • a DGPS receiver decodes received GPS satellite signals and, in addition, reference station correction signals. With the latter, the DGPS receiver corrects GPS satellite signal errors, increasing the accuracy of position detection. In many cases, a receiving antenna for the correction signals is already integrated in a GPS antenna. If the radio disconnects from the DGPS transmitter, the receiver switches to a normal GPS mode without correction, but then loses the accuracy advantage. Depending on the quality of the receiver and the correction data, the achievable accuracy is between 0.3 and 2.5 m in relation to length and width data and between 0.6 and 5 m in relation to height information. High-quality systems additionally evaluate a carrier phase and achieve accuracies of only a few mm.
  • the correction signals of a reference station are usually transmitted by radio in the VHF range or by mobile phone connection to the DGPS receiver. Since the erroneous determined transit times of the GPS satellite signals change only slowly, a transmission of the correction signals via VHF or mobile radio connection is non-time critical.
  • geostationary satellites can emit correction signals which are generated by local reference stations, for example continent-specific. Examples include the systems EGNOS in Europe, WAAS in America and MSAS in Japan.
  • position data can be determined by "learning trips" with a transport device. For example, a crane can be moved manually in its operating area. The position data along the route are detected and stored.
  • FIG. 1 shows an exemplary arrangement of a container stack 102 within a container crane system.
  • a crane operator positions a crane 101 on a starting point 111 at the beginning of a stacking area.
  • the crane operator stores a first reference position via an input device, for example push-button or control panel.
  • the crane driver drives with the crane 101 along the container stacks and thereby detects several intermediate positions 112-114. This is especially important if the container stacks are not arranged along a straight line.
  • an end position 115 of the container stacks is stored.
  • a desired route for the crane 101 along the container stack considered here is detected.
  • the "learning trips” must be repeated.
  • other cranes used along the container stack considered here are to be supplied with information about the detected target route. Otherwise, separate "learning trips” would have to be carried out for the other cranes.
  • position corrections can be made by position sensors installed in transport vehicles or by absolute encoders provided in drive units.
  • a satellite image of the container crane system with a predefinable resolution is initially created (step 201).
  • Features describing a container arrangement in the container crane facility are then extracted from the satellite image by means of a pattern recognition process (step 202).
  • a container crane-specific topographical map is generated (Step 203).
  • the card is finally made available for a control unit of the container crane system, which is assigned to a transport device, for example a crane.
  • the method is preferably implemented by means of a control program which has at least one code section which can be loaded into a main memory of a computer and in the execution of which the above-described steps are carried out when the control program runs in the computer.
  • a container crane system with a unit for retrieving at least one satellite image of the container crane system can be realized with a predefinable resolution.
  • the container crane system has a unit for the extraction of a container arrangement in the container crane descriptive characteristics from the satellite image and a unit for generating a container crane-specific topographic map.
  • a unit for providing the card is present at least for a control unit of the container crane system.
  • the acquired satellite image is segmented by generating contiguous regions and grouping adjacent pixels according to a specific homogeneity criterion.
  • each pixel is assigned to at least one segment.
  • each pixel is assigned at most one segment.
  • each pixel is assigned to exactly one segment. If each segment forms a coherent area, there is a coherent segmentation.
  • Automatic segmentation can be pixel, edge or region oriented.
  • model-based methods are based on a specific shape of objects to be detected, or, in the case of texture-based methods, additionally or alternatively, an internal homogeneous structure of objects to be recognized is taken into account.
  • the approaches to automatic segmentation mentioned here can also be combined with each other.
  • the decision is made for each individual pixel as to whether it is to be assigned to a selected segment. This decision may be influenced by the environment of the respective pixel.
  • Edge-oriented segmentation searches for edges or object transitions in the image to be segmented. Depending on the algorithm used, discrete edge sequences may be combined to form closed edge features that include objects.
  • Pixels belonging to an edge can be determined by means of the Sobel operator, the Laplace operator or a gradient search.
  • the determined pixels are subsequently completed by means of an edge tracking algorithm.
  • An example of an edge tracking algorithm is the live wire method developed by E. Mortensen, WA Barrett and JK Udupa. This method determines an optimal path from a start point to a destination point. Optimal in this context means that the path between start and end point always leads over the strongest edge pixels. This problem can be solved, for example, with a breadth-first search known in computer science.
  • a region-oriented segmentation sets of points are considered as a whole in order to find contiguous objects in this way.
  • region-oriented segmentation the region Growing, Region Splitting, Pyramid Linking or Split and Merge can be used.
  • Model-based segmentation is based on a model of objects to be recognized; in the present case, for example, containers or cranes.
  • the Hough transformation is preferably used. Using the Hough transformation, points are combined into lines or circles by mapping them in a parameter space.
  • texture-oriented segmentation use is made of the fact that, although some image objects do not have a uniform color, they have a uniform texture. For example, an object may have grooves that appear in a photograph as alternating streaks of dark and light color.
  • the satellite image acquired for automatically providing cartographic data in a container crane system is preferably provided by an internet-based service.
  • a service such as Google Earth could be used in principle provided the up-to-dateness of the provided image material is guaranteed.
  • the features extracted from the satellite image can additionally be checked for plausibility by comparison with reference values.
  • the reference values can be determined during a crane crossing over a container stack or stored in an inventory management system.
  • automation systems in a container crane system can be constantly kept up to date with the described method.
  • sensory devices can also be functionally reduced to a minimum to safeguard safety-relevant functions, such as collision protection.
  • FIG. 3 shows a satellite image of a container crane system. Dotted lines 301-303 exemplify a selected stack area that can be recognized by the method described above.
  • the present invention is not limited to the application example described here.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (7)

  1. Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à conteneurs, dans lequel
    - on élabore au moins une image satellite de l'installation de grue à conteneurs à une résolution pouvant être prescrite,
    - on extrait de l'image satellite au moyen d'un procédé de reconnaissance de forme des caractéristiques décrivant un agencement de containers dans l'installation de grue à conteneurs,
    - on produit à partir des caractéristiques extraites une carte topographique spécifique de l'installation de grue à conteneurs,
    - on rend la carte disponible au moins à une unité de commande de l'installation de grue à conteneurs, qui est associée à au moins un dispositif de transport.
  2. Procédé suivant la revendication 1, dans lequel on met à disposition l'image satellite par un service fondé sur l'internet ou dans un réseau de données.
  3. Procédé suivant la revendication 1 ou 2, dans lequel on contrôle la plausibilité des caractéristiques extraites en les comparant à des valeurs de référence.
  4. Procédé suivant la revendication 3, dans lequel on détermine les valeurs de référence pour au moins un trajet de grue au-dessus d'au moins une pile de conteneurs.
  5. Procédé suivant la revendication 3 ou 4, dans lequel on mémorise les valeurs de référence dans un système de gestion d'inventaire.
  6. Installation de grue à conteneurs comprenant :
    - une unité pour appeler au moins une image satellite de l'installation de grue à conteneurs à une résolution pouvant être prescrite,
    - une unité d'extraction de l'image satellite, au moyen d'un procédé de reconnaissance de forme, de caractéristiques décrivant un agencement de conteneurs dans l'installation de grue à conteneurs,
    - une unité de production d'une carte topographique spécifique de l'installation de grue à conteneurs à partir de caractéristiques extraites,
    - une unité de mise de la carte à disposition d'au moins une unité de commande de l'installation de grue à conteneurs, qui est associée à au moins un dispositif de transport.
  7. Programme de commande pour la mise à disposition automatique de données cartographiques dans une installation de grue à conteneurs, ayant au moins une partie de code qui peut être chargée dans une mémoire de travail d'un ordinateur et dans l'exécution duquel
    - une élaboration d'au moins une image satellite de l'installation de grue à conteneurs à une résolution pouvant être prescrite est provoquée,
    - des caractéristiques décrivant un agencement de containers dans l'installation de grue à conteneurs sont extraites de l'image satellite au moyen d'un procédé de reconnaissance des formes,
    une carte topographique spécifique de l'installation de grue à conteneurs est produite à partir des caractéristiques extraites,
    - la carte est rendue disponible à au moins une unité de commande de l'installation de grue à conteneurs, qui est associée à au moins un dispositif de transport,
    lorsque le programme de commande se déroule dans l'ordinateur.
EP08775259A 2007-07-26 2008-07-21 Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à containers, installation de grue à containers et programme de commande Not-in-force EP2043940B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007035034A DE102007035034A1 (de) 2007-07-26 2007-07-26 Verfahren zur automatischen Bereitstellung kartographischer Daten in einer Containerkrananlage, Containerkrananlage und Steuerungsprogramm
PCT/EP2008/059534 WO2009013271A1 (fr) 2007-07-26 2008-07-21 Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à containers, installation de grue à containers et programme de commande

Publications (2)

Publication Number Publication Date
EP2043940A1 EP2043940A1 (fr) 2009-04-08
EP2043940B1 true EP2043940B1 (fr) 2010-02-03

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EP08775259A Not-in-force EP2043940B1 (fr) 2007-07-26 2008-07-21 Procédé de mise à disposition automatique de données cartographiques dans une installation de grue à containers, installation de grue à containers et programme de commande

Country Status (4)

Country Link
EP (1) EP2043940B1 (fr)
AT (1) ATE457017T1 (fr)
DE (2) DE102007035034A1 (fr)
WO (1) WO2009013271A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110874544B (zh) * 2018-08-29 2023-11-21 宝钢工程技术集团有限公司 冶金行车安全监控识别方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU699013B2 (en) * 1995-03-27 1998-11-19 Toyo Umpanki Co. Ltd. Container handling apparatus and management system
DE19756297C2 (de) * 1997-12-10 2001-10-18 Ver Energiewerke Ag Verfahren und Anordnung zur Aufbereitung und Bereitstellung von satelliten- und luftbildgestützten Bildkarten für die verkehrstechnische Leitung von Kraftfahrzeugen
JPH11184375A (ja) * 1997-12-25 1999-07-09 Toyota Motor Corp デジタル地図データ処理装置及びデジタル地図データ処理方法
FR2785425B1 (fr) * 1998-11-02 2001-01-05 Suez Lyonnaise Des Eaux Procede de gestion des boues des stations d'epuration d'eaux usees en vue de leur epandage
JP3785061B2 (ja) * 2000-10-27 2006-06-14 三菱重工業株式会社 荷役クレーンにおけるコンテナ位置検知方法及び装置並びにコンテナ着床、段積制御方法
US6577921B1 (en) * 2000-11-27 2003-06-10 Robert M. Carson Container tracking system

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Publication number Publication date
EP2043940A1 (fr) 2009-04-08
DE102007035034A1 (de) 2009-02-05
WO2009013271A1 (fr) 2009-01-29
ATE457017T1 (de) 2010-02-15
DE502008000357D1 (de) 2010-03-25

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