EP2193334A1 - Procédé de calibrage d'un dispositif de détection et dispositif de détection - Google Patents

Procédé de calibrage d'un dispositif de détection et dispositif de détection

Info

Publication number
EP2193334A1
EP2193334A1 EP08804729A EP08804729A EP2193334A1 EP 2193334 A1 EP2193334 A1 EP 2193334A1 EP 08804729 A EP08804729 A EP 08804729A EP 08804729 A EP08804729 A EP 08804729A EP 2193334 A1 EP2193334 A1 EP 2193334A1
Authority
EP
European Patent Office
Prior art keywords
coordinate system
sensor
crane
coordinate
ground
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.)
Withdrawn
Application number
EP08804729A
Other languages
German (de)
English (en)
Inventor
Wendelin Feiten
Gisbert Lawitzky
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
Original Assignee
Siemens AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2193334A1 publication Critical patent/EP2193334A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • a sensor assembly for example mounted on a crane, is used to measure (or estimate) the position and attitude of moving objects, such as the crane itself or a cargo, e.g. a container.
  • Other uses include the measurement of the position and position of a vehicle or a movable component of the crane itself into consideration.
  • the crane may be, for example, a loading crane.
  • Loading cranes are used at freight transhipment points, warehouses, in assembly halls and shipyards as well as in track construction.
  • the floor is inclined relative to the loading crane, so that water can drain.
  • tracks for trucks are marked on the ground under the loading crane.
  • a loading crane is a gantry crane. This spans a loading and working area like a portal. As a rule, its sidewalls with wheels run on two parallel rails. On the crane bridge, the horizontal part of the gantry crane, a trolley moves with a hoist.
  • a rail slewing crane can be mounted on the crane bridge.
  • gantry crane a gantry crane, a gantry crane, a gantry crane and a gantry crane are also possible.
  • Moving parts of a crane are z.
  • the trolley or the spreader - a hoist with which containers can be grabbed.
  • sensor array measurements serve as a basis to signal truck drivers where to stop them. Furthermore, due to such measurements, the crane itself can be controlled.
  • the sensor arrangement may, for example, be composed of one or more of the following elements: a 3D laser scanner, a pivotable 2D laser scanner or a video camera.
  • the elements of the sensor arrangement are usually mounted in such a way in the structure of the crane that - in the case of a gantry crane - several tracks for trucks or railroad railroad tracks are covered.
  • the sensor coordinate system of one or more laser scanners installed in the sensor arrangement,
  • the camera coordinate system of one or more cameras provided that they are installed in the frame of the sensor arrangement,
  • the calibration is achieved in the prior art, for example, in that a specially prepared and prepared for this purpose calibration body is placed on the ground in the area of the crane and measured manually with respect to the crane or the crane coordinate system by a surveyor.
  • lanes can be measured manually with respect to the crane or to the calibration body.
  • the sensor arrangement subsequently detects the calibration body, from which coordinate transformations between the sensor coordinate system and the other coordinate systems can be obtained.
  • the disadvantage here is that the ongoing operation of the crane for calibration longer time must be interrupted.
  • structuring features can be found in the surroundings of the loading crane system, which can only be detected optically.
  • An example of this is ground markings painted on the ground indicating the location of the lanes.
  • Loading crane system is a specific calibration of the sensor arrangement for the respective workflows desirable. Even a manual measurement of the lane markers means additional effort here.
  • a first sensor and a second sensor are mounted on a carrier, whereby the sensor assembly is formed. Subsequently, a coordinate transformation between a first coordinate system of the first sensor and a second coordinate system of the second sensor is determined. In a third step, the sensor assembly is mounted on a site. Finally, the sensor arrangement is calibrated in relation to an environment at the place of use, wherein the determined coordinate transformation between the first coordinate system and the second coordinate system is used.
  • the sensor arrangement has a carrier on which a first sensor with a first coordinate system and a second sensor with a second coordinate system are mounted.
  • the sensor arrangement has a computing unit on which a coordinate transformation between the first coordinate system and the second coordinate system is stored.
  • the sensor assembly thus formed can already be calibrated during manufacture. As a result, a pre-calibrated multi-sensor system is formed. This considerably simplifies later calibration at the place of use.
  • the calibration of the sensor arrangement thus takes place in two steps:
  • the coordinate systems of the sensors contained in the sensor assembly are calibrated to each other in the factory. This can be done, for example, with reference to each other calibrated calibration and calibration.
  • the upstream calibration is done in relation to the new environment. This makes the procedure for calibration particularly robust and accurate.
  • the ongoing operation at the site is less disturbed by the switching on of the sensor arrangement.
  • the upstream calibration it is possible by the upstream calibration to include a video camera in the sensor array, as this does not have to be recalibrated after installation at the site.
  • the use of a video camera supports the modeling of other aspects of the respective application, such as persons, previously unmodeled vehicles or freights.
  • the sensor arrangement is mounted on an object at the place of use and acquires measurement data of its surroundings.
  • the measured data identifies soil measurement data for parts of a soil underneath the object as well as object measurement data for parts of the object.
  • the object measurement data are used to determine a soil coordinate system from the soil measurement data.
  • a coordinate transformation between the first coordinate system and the ground coordinate system is calculated.
  • the sensor array is calibrated relative to the field environment using the coordinate transformation between the first coordinate system and the second coordinate system and the coordinate transformation between the first coordinate system and the ground coordinate system.
  • this is set up for mounting on an object. It has an arithmetic unit, which is set up for the identification of soil measurement data for parts of a soil under the object as well as object measurement data for parts of the object in the measurement data.
  • the arithmetic unit is further configured to determine a ground coordinate system from the ground measurement data using the object measurement data, to calculate a coordinate transformation between the first coordinate system and the ground coordinate system, and to calibrate the sensor array based on the coordinate transformation between the first coordinate system and the second coordinate system and the coordinate transformation between the first coordinate system and the ground coordinate system.
  • the refinements have the advantage that it is possible to dispense with a separate calibration body for calibrating the sensor arrangement. This saves costs. Furthermore, eliminates the burden of creating, interim storage, placement and clearing the calibration. The connection of the sensor arrangement thus requires less effort and causes a lower disturbance of the current operation.
  • the object is a crane, in particular a loading crane, gantry crane, bridge crane, semi-portal crane, gantry crane or portal crane, or any movable or static object on which the sensor arrangement can be mounted.
  • a gantry crane offers the advantage that its pronounced symmetry properties can be used for the calibration.
  • the sensor arrangement comprises one or more pivotable 2D laser scanners.
  • the use of a tiltable 2D laser scanner offers the advantage of its large field of view that in addition to vehicles in the working area of the crane, large parts of the supporting structure of the crane itself can be detected.
  • the sensor arrangement comprises a camera, for example a video camera. This has the advantage that on the ground mounted lane markers can be detected by the camera and included in the calibration.
  • the parts of the object are side walls of a gantry crane. This offers the advantage that the orientation of these side walls can be used to determine the object coordinate system.
  • FIG. 2 shows distance measurement data of the sensor arrangement
  • FIG. 3 shows a crane coordinate system, a sensor coordinate system and a ground coordinate system
  • FIG. 4 is a flowchart of the method
  • Figure 5 shows a sensor arrangement in which a plurality of sensors are pre-mounted on a support.
  • Figure 1 shows a crane 10.
  • a sensor assembly 11 On the crane 10, a sensor assembly 11 is mounted, which consists of two elements in the case shown in Figure 1.
  • a cargo 12 such as a container on a truck, which is detected by the sensor assembly 11.
  • wheels 14 Also seen in Figure 1 are wheels 14 with which the crane 10 can be moved on rails.
  • a floor 15 under the crane 10 is inclined, so that water can flow away.
  • lane markers 13 are attached, which mark tracks for vehicles.
  • FIG. 2 shows measurement data of the sensor arrangement 11, in this case distance measurement data of a laser scanner.
  • ground measurement data 21 of parts of the floor 15 under the crane 10 and crane measurement data 22 of parts of the crane 10 can be identified. This allows a geometric measurement of the crane and its working space.
  • the measurement data can be obtained, for example, by pivoting a 2D laser scanner over the parts of the crane 10 and the parts of the floor 15.
  • the crane measurement data 22 are here as rectangles in 3D out-segmented side walls of the crane 10. Measured data 21 are accordingly outsourced ground points. Of these, only a subset may need to be used to achieve sufficient accuracy; This saves computing time and storage requirements.
  • FIG. 3 again shows the crane 10, its wheels 14, the sensor arrangement 11 as well as the floor 15 and the lane markings 13. Additionally shown are a ground coordinate system 16, a crane coordinate system 17 and a sensor coordinate system 18 of the sensor arrangement 11.
  • FIG. 4 shows a flowchart for calibrating the sensor arrangement 11.
  • the sensor arrangement 11 acquires measurement data of its surroundings as shown in FIG. These are distance measurement data.
  • the ground measurement data 21 shown in FIG. 2 and the crane measurement data 22 are identified in the measurement data. This can be done computer-aided using plan drawings, which are accurate enough with respect to the mounting position of the sensor assembly 11 and its elements and other elements of the crane 10.
  • the measurement data are given here as 3D measurement points, which are all initially present in the sensor coordinate system 18 of the sensor arrangement 11.
  • a third step 3 the crane measurement data 22 are used to determine a ground coordinate system 16 from the ground measurement data 21.
  • a coordinate transformation between a sensor coordinate system 18 of the sensor arrangement and the ground coordinate system 16 is calculated, by means of which the sensor arrangement 11 is calibrated.
  • the method for calibrating the sensor arrangement 11 uses symmetries, such as surface symmetries or translation symmetries in three-dimensional space.
  • symmetries such as surface symmetries or translation symmetries in three-dimensional space.
  • the crane 10 on - especially in the design as a gantry crane.
  • the symmetries are extracted from the crane measurement data 22 and possibly the ground measurement data 21.
  • a surface of 3D measurement points represented by the crane measurement data 22 has a normal vector that can be used as the y direction vector of the crane coordinate system 17.
  • the x-direction vector of the ground coordinate system 16 can be selected to be identical to the x-direction vector of the crane coordinate system 17.
  • This x-direction vector is both parallel to the ground 15 and parallel to a surface represented by the crane measurement data 22. This becomes clear with the example of the gantry crane. As it travels on rails, they run parallel to the ground as well as parallel to the inner walls of the gantry crane. The x-direction vector of both the ground coordinate system 16 and the crane coordinate system 17 can thus be selected parallel to the rails.
  • the x-direction vector is perpendicular both to the normal vector of the area of 3-D measurement points represented by the ground measurement data 21 and to the normal vector of the area of 3-D measurement points represented by the crane measurement data 22.
  • these coordinate systems can be successively developed.
  • the algorithm calculates the crane coordinate system 17, which is used for the derivation of the ground coordinate system 16.
  • 3D measurement points are identified as crane measurement data that belong to the sidewall (the so-called "sill bar"), on the one hand 3D measurement points belonging to the seaward side wall and, on the other hand, 3D measurement points that belong to the landside side wall.
  • the sidewall the so-called "sill bar”
  • 3D measurement points belonging to the seaward side wall the 3D measurement points belonging to the seaward side wall
  • 3D measurement points that belong to the landside side wall 3D measurement points that belong to the landside side wall.
  • a normal vector is formed on the 3D measurement points in the ground measurement data 21 and selected as z direction vector of the ground coordinate system 16.
  • the x direction vector of both the ground coordinate system 16 and the crane coordinate system 17 is obtained from the cross product of the y direction vector of the crane coordinate system 17 and the z direction vector of the ground coordinate system 16.
  • the z direction vector of the crane coordinate system is calculated from the cross product of the x direction vector and the y direction vector of the crane coordinate system 17. Accordingly, the y-direction vector of the ground coordinate system 16 results from the cross product of the z-direction vector and the x-direction vector of the ground coordinate system 16.
  • the center between the base points of the normal vectors formed from the crane measurement data 22 is first selected. Subsequently, the 3D measurement points in the crane measurement data 22, which belong to the seaward side wall and the side wall on the landside, are transformed into the crane coordinate system 17. In the course of this, their expansion into x-
  • the center of gravity of the 3D measurement points in the ground measurement data 21 is first determined. Subsequently, the z-axis of the crane coordinate system 17 is cut with the plane formed by the 3D measurement points in the ground measurement data 21. The intersection chosen as the origin of the ground coordinate system 16.
  • Tracks on which the wheels 14 of the crane 10 run are measured.
  • the position of the center between the tracks relative to the sensor arrangement 11 results from the previously determined coordinate systems.
  • FIG. 5 shows a crane 10 which can be moved on wheels 14 via a floor 15. On the floor lane markers 13 are located. Furthermore, two sensor arrangements 11 are shown in FIG. The left sensor assembly 11 is shown enlarged within the dashed circle. The sensor arrangements 11 have a sensor coordinate system 18. The sensor arrangement 11 shown enlarged consists of a carrier 30, on which a first Sensor 32 and a second sensor 35 are mounted. The first sensor 32 is mounted via a rotary drive 31 on the carrier 30, whereby the first sensor 32 is pivotally mounted. Furthermore, the first sensor 32 has a first coordinate system 181 and the second sensor has a second coordinate system 182. In the following, it is assumed that the sensor coordinate system 18 coincides with the first coordinate system 181.
  • the first sensor 32 is a 2D laser scanner, for example, which can be pivoted via the rotary drive 31 and used to record a two-dimensional environment image.
  • the second sensor 35 is approximately a camera, e.g. a video camera.
  • the video camera is particularly suitable for detecting the lane markers 13 on the floor 15 under the crane 10.
  • the carrier 30 may for example be designed as a mounting frame.
  • the first sensor 32 and the second sensor 35 are mounted on the carrier 30, whereby the sensor assembly 11 is formed. Subsequently, a coordinate transformation between the first coordinate system 181 of the first sensor 32 and the second coordinate system 182 of the second sensor 35 is determined. This can be done, for example, with reference to each other calibrated calibration and calibration.
  • the sensor assembly 11 or the carrier 30 is mounted on the site, such as the crane bridge.
  • the sensor arrangement 11 is calibrated in relation to its surroundings at the place of use according to the method described above, wherein the determined coordinate transformation between the first coordinate system 181 and the second coordinate system 182 is used.
  • the visible in the video image of the video camera lane markers 13 with be known methods of image processing are extracted, which are initially present in the second coordinate system 182.
  • the position of the lane markers 13 in the first coordinate system 181 can be determined. Although no distance information is included in the video image. However, these can be determined by the boundary condition that the lane markings 13 must lie in the plane of the floor 15 spanned by the x and y direction vector of the ground coordinate system 16. Since the coordinate transformation between the sensor coordinate system 18 (identical to the first coordinate system 181 above) and the ground coordinate system 16 has previously been determined, the position of the lane markers 13 in the first coordinate system 181 can be calculated herewith.
  • the lanes can be detected automatically under the crane system and included in an environmental model of the crane system.
  • an environment model allows modeling and control of the plant.
  • the position of the lane markings 13 or of the lanes is thus also determined computer-aided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Selon l'invention, différents détecteurs tels que des dispositifs de balayage laser (32) et des caméras vidéo (35) sont fixés sur un support (30) commun et calibrés entre eux. Cela simplifie considérablement le calibrage ultérieur du système multi-détecteurs (11) ainsi formé sur son site d'utilisation. L'intégration d'une caméra vidéo qui est précalibrée de cette manière, permet, lors de l'utilisation d'une installation de grue de chargement (10), l'extraction automatique assistée par ordinateur de l'emplacement des voies de déplacement de l'image vidéo prise par la caméra vidéo. Cela rend inutile la présence de corps de calibrage placés manuellement. Cela permet également de diminuer les entraves au fonctionnement continu lorsqu'intervient le système multi-détecteurs.
EP08804729A 2007-09-27 2008-09-25 Procédé de calibrage d'un dispositif de détection et dispositif de détection Withdrawn EP2193334A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007046287A DE102007046287B4 (de) 2007-09-27 2007-09-27 Verfahren zur Kalibrierung einer Sensoranordnung
PCT/EP2008/062832 WO2009043789A1 (fr) 2007-09-27 2008-09-25 Procédé de calibrage d'un dispositif de détection et dispositif de détection

Publications (1)

Publication Number Publication Date
EP2193334A1 true EP2193334A1 (fr) 2010-06-09

Family

ID=40184863

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08804729A Withdrawn EP2193334A1 (fr) 2007-09-27 2008-09-25 Procédé de calibrage d'un dispositif de détection et dispositif de détection

Country Status (3)

Country Link
EP (1) EP2193334A1 (fr)
DE (1) DE102007046287B4 (fr)
WO (1) WO2009043789A1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2448036C1 (ru) * 2010-08-04 2012-04-20 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Устройство безопасности машины с графическим дисплеем
FI130426B (fi) 2014-06-30 2023-08-23 Konecranes Oyj Kuorman kuljettaminen kuormankäsittelylaitteella
CN106210616A (zh) * 2015-05-04 2016-12-07 杭州海康威视数字技术股份有限公司 集装箱图像信息的采集方法、装置和系统
CN106629394B (zh) * 2015-10-28 2018-01-16 上海振华重工电气有限公司 应用于轨道吊吊具位姿检测的相机外参数标定系统及方法
CN105480864B (zh) * 2016-01-20 2017-05-10 上海振华重工电气有限公司 一种集装箱起重机自动化检测标定系统及方法
DE102017112661A1 (de) * 2017-06-08 2018-12-13 Konecranes Global Corporation Automatisch geführtes Portalhubgerät für Container und Verfahren zum Betrieb eines solchen Portalhubgeräts
DE102017213362A1 (de) 2017-08-02 2019-02-07 Siemens Aktiengesellschaft Bewerten einer Kalibrierung eines Sensorsystems
CN109405804B (zh) * 2018-11-05 2021-02-09 徐州重型机械有限公司 作业辅助方法及系统
FI130196B (en) 2019-10-04 2023-04-17 Cargotec Finland Oy GRIPPER POSITION CONTROL
CN113587811B (zh) * 2021-07-24 2023-06-23 中交四公局（北京)公路试验检测科技有限公司 桥梁测点定位方法、控制装置、系统和介质
CN115616610B (zh) * 2022-12-19 2023-03-21 陕西欧卡电子智能科技有限公司 船舶通过桥梁的检测方法、装置、计算机设备及存储介质

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3816988A1 (de) * 1988-05-18 1989-11-30 Tax Ingenieurgesellschaft Mbh Containerkrananlage
DE19519741A1 (de) * 1995-06-02 1996-12-05 Siemens Ag Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran
US20020014533A1 (en) * 1995-12-18 2002-02-07 Xiaxun Zhu Automated object dimensioning system employing contour tracing, vertice detection, and forner point detection and reduction methods on 2-d range data maps
DE10136398A1 (de) * 2001-07-26 2003-03-06 Siemens Ag Betriebsverfahren für einen Containerkran und hierfür bestimmte Komponenten
DE10202399A1 (de) * 2002-01-19 2003-08-07 Noell Crane Sys Gmbh Einrichtung und Verfahren zur Positionierung von Transportfahrzeugen
DE10251910B4 (de) * 2002-11-07 2013-03-14 Siemens Aktiengesellschaft Containerkran
DE102004033114A1 (de) * 2004-07-08 2006-01-26 Ibeo Automobile Sensor Gmbh Verfahren zur Kalibrierung eines Abstandsbildsensors
JP2006151125A (ja) * 2004-11-26 2006-06-15 Omron Corp 車載用画像処理装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2009043789A1 *

Also Published As

Publication number Publication date
WO2009043789A1 (fr) 2009-04-09
DE102007046287B4 (de) 2009-07-30
DE102007046287A1 (de) 2009-04-02

Similar Documents

Publication Publication Date Title
DE102007046287B4 (de) Verfahren zur Kalibrierung einer Sensoranordnung
EP3000762B1 (fr) Procédé de détermination optique, automatique d'une position cible pour un palonnier de conteneur
DE102008019373A1 (de) Messvorrichtung und Verfahren zum Kalibrieren einer Messvorrichtung eines Krans
EP3342932B1 (fr) Fraiseuse automobile et procédé d'évacuation de produit de fraisage
EP2910512B1 (fr) Procédé d'étalonnage de scanners laser sur une grue de manutention de conteneurs
DE60108159T2 (de) Verfahren und vorrichtung zum messen von der position eines containers für ladekräne verfahren zum absetzen/stapeln von cotainern
DE112014006767B4 (de) Gerät zum Erstellen eines Strukturschablonenmessdiagramms oder Strukturschablonenmessdiagrammdaten und Verfahren hierfür
EP2724972B1 (fr) Procédé de détermination de la position dans laquelle un conteneur ISO est à déposer sur un véhicule porteur, ainsi qu'installation de mesure à scanner laser 3D à cet effet
WO2012110343A1 (fr) Procédé de localisation autonome d'un véhicule motorisé sans conducteur
WO2004041707A1 (fr) Grue de transport de conteneurs
WO2000063681A2 (fr) Traitement d'image pour preparer l'analyse d'une texture
AT507618B1 (de) Verfahren zum bestimmen der relativlage eines laserscanners zu einem referenzsystem
DE102006008275A1 (de) Verfahren zur Detektion von Objekten mit einer schwenkbaren Sensoreinrichtung
EP3707569B1 (fr) Étalonnage d'un système de caméra fixe permettant la détection de la position d'un robot mobile
DE102007060856A1 (de) Verfahren und Sensoranordnung zur Ermittlung von Fahrspuren
DE102007046288B4 (de) Verfahren und Sensoranordnung zur Vermessung optischer Merkmale
AT509118B1 (de) Verfahren und vorrichtung zum erfassen der position eines fahrzeuges in einem definierten bereich
EP1244895A1 (fr) Procede pour fixer des emplacements de mesure et procede pour etablir des trajectoires de mesure pour la mesure d'un objet ou d'une partie de celui-ci, ainsi que procede et dispositif pour la mesure d'un objet ou d'une partie de celui-ci
DE102004050690A1 (de) Verfahren, Computer-Programm mit Programm-Code-Mitteln, Computer-Programm-Produkt und Gerät zur Modellierung der Umwelt eines autonomen mobilen Systems
DE10202399A1 (de) Einrichtung und Verfahren zur Positionierung von Transportfahrzeugen
DE102008014125A1 (de) Verfahren zur rechnergestützten Lokalisierung eines Objekts
EP4286790A1 (fr) Dispositif et procédé de détermination de la position spatiale des éléments de réception d'un conteneur
DE102016101701A1 (de) Verfahren zum Überprüfen einer Fahrtroute für ein Transportfahrzeug, insbesondere zum Durchführen eines Großraum- und/oder Schwertransports
DE202021102346U1 (de) Kalibriervorrichtung für Fahrzeuge
DE102020208109A1 (de) Verfahren zur Steuerung eines Fördermittels zur Aufnahme eines Containers

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20100308

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

DAX Request for extension of the european patent (deleted)
RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SIEMENS AKTIENGESELLSCHAFT

17Q First examination report despatched

Effective date: 20130618

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20131029