EP2724972A1 - Procédé de détermination de position dans lequel un conteneur ISO doit être placé sur un convoyeur, ainsi qu'installation de mesure à scanner laser 3D à cet effet - Google Patents

Procédé de détermination de position dans lequel un conteneur ISO doit être placé sur un convoyeur, ainsi qu'installation de mesure à scanner laser 3D à cet effet Download PDF

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Publication number
EP2724972A1
EP2724972A1 EP20130003911 EP13003911A EP2724972A1 EP 2724972 A1 EP2724972 A1 EP 2724972A1 EP 20130003911 EP20130003911 EP 20130003911 EP 13003911 A EP13003911 A EP 13003911A EP 2724972 A1 EP2724972 A1 EP 2724972A1
Authority
EP
European Patent Office
Prior art keywords
container
carrier vehicle
locations
crane
point cloud
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.)
Granted
Application number
EP20130003911
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German (de)
English (en)
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EP2724972B1 (fr
Inventor
Lars Ambrosy
Michael Boenke
Michael Schikora
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.)
Lase Industrielle Lasertechnik GmbH
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Lase Industrielle Lasertechnik GmbH
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Publication of EP2724972A1 publication Critical patent/EP2724972A1/fr
Application granted granted Critical
Publication of EP2724972B1 publication Critical patent/EP2724972B1/fr
Not-in-force legal-status Critical Current
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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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • containers can be transhipped or loaded onto lorries or railways using stacking or gantry cranes, in particular automated stacking cranes (ASC) operated without a driver.
  • ASC cranes are also available with camera systems which contain cameras directed at the corner fittings of the container in order to be able to place a container semiautomatically on a truck. A fully automatic loading of trucks is hereby not possible.
  • the 3D laser scanner which is preferably formed of a 2D laser scanner pivotally attached to a base by a servomotor, is a transit time infrared laser scanner having a spot diameter between about 10 mm and about 50 mm in 10 meters distance, an angular resolution between about 0.01 ° and about 0.05 ° and a distance resolution of about ⁇ 10mm.
  • the invention also relates to a 3D laser scanning measuring system for use in loading ISO containers on carrier vehicles, which system is set up to carry out the method steps according to the invention or their advantageous developments and in particular the inventive device features or their advantageous developments having.
  • the cross members 12 to 18 and their twist locks 20 are arranged so that either a 20-foot ISO container on the two front cross members 12 and 14 and the two rear cross members 16 and 18 can be discontinued or a 40-foot ISO container on the foremost cross member 12 and the rearmost cross member 18 can be discontinued, wherein the corresponding twist locks 20 engage in the corner fittings of the container in order to lock the container on the carrier vehicle can.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control And Safety Of Cranes (AREA)
EP13003911.8A 2012-10-25 2013-08-05 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 Not-in-force EP2724972B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012020953.3A DE102012020953B4 (de) 2012-10-25 2012-10-25 3D-Laserscan-Messanlage zur Bestimmung der Position, in der ein ISO-Container auf ein Trägerfahrzeug aufzusetzen ist

Publications (2)

Publication Number Publication Date
EP2724972A1 true EP2724972A1 (fr) 2014-04-30
EP2724972B1 EP2724972B1 (fr) 2015-08-12

Family

ID=48951297

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13003911.8A Not-in-force EP2724972B1 (fr) 2012-10-25 2013-08-05 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

Country Status (2)

Country Link
EP (1) EP2724972B1 (fr)
DE (1) DE102012020953B4 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104807418A (zh) * 2015-04-30 2015-07-29 北京科技大学 一种报废机动车零部件识别系统
EP3000762A1 (fr) 2014-09-24 2016-03-30 Siemens Aktiengesellschaft Procédé et système de détermination optique, automatique d'une position cible pour un conteneur
CN108036778A (zh) * 2017-12-26 2018-05-15 清华大学 集装箱自动识别系统和识别方法以及港口设施
WO2019104251A1 (fr) * 2017-11-24 2019-05-31 Tmeic Corporation Procédés et systèmes de production de solutions de débarquement pour conteneurs sur des surfaces de débarquement
CN110542378A (zh) * 2019-09-25 2019-12-06 上海海瞩智能科技有限公司 一种集卡装卸对箱自动检测装置及其检测方法
CN111170154A (zh) * 2019-12-27 2020-05-19 上海新时达机器人有限公司 激光找箱方法、起重系统、控制器及存储介质
EP3653563A1 (fr) * 2018-11-15 2020-05-20 Siemens Aktiengesellschaft Détection fiable des grues à conteneurs et harnais
CN111982075A (zh) * 2020-08-18 2020-11-24 上海振华重工(集团)股份有限公司 一种集卡集装箱对箱自动检测系统及其检测方法
WO2021175403A1 (fr) * 2020-03-02 2021-09-10 LASE Industrielle Lasertechnik GmbH Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier
US20220009748A1 (en) * 2018-11-14 2022-01-13 Abb Schweiz Ag Loading A Container On A Landing Target
CN114719776A (zh) * 2022-04-11 2022-07-08 中车株洲电力机车有限公司 一种轨道车辆车体轮廓检测系统的标定工装和标定方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI127606B (fi) 2015-04-01 2018-10-15 Konecranes Oyj Menetelmä, kuormankäsittelylaite, tietokoneohjelma ja tietokoneohjelmatuote tartuntavälineiden paikantamiseksi
EP3296247A1 (fr) 2016-09-14 2018-03-21 Siemens Aktiengesellschaft Détection de dispositifs de verrouillage
FI129963B (fi) 2017-03-16 2022-11-30 Konecranes Global Oy Kontin siirtolaitteen valvominen konttia laskettaessa kuljetusalustalle tai nostettaessa pois kuljetusalustalta ja optinen tunnistuslaitteisto kontin siirtolaitteen valvomiseksi

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DE102007055316A1 (de) 2007-08-02 2009-02-05 Siemens Ag Verfahren zur rechnergestützten Bestimmung der Auflageposition einer Last auf einem Lastaufnahmemittel
DE102008014125A1 (de) 2007-08-14 2009-02-26 Siemens Aktiengesellschaft Verfahren zur rechnergestützten Lokalisierung eines Objekts
DE102008026608A1 (de) 2008-06-03 2009-12-10 Siemens Aktiengesellschaft Verfahren zur Erkennung des Typs eines bewegten Objekts mit charakteristischen und wieder erkennbaren Merkmalen
WO2010010977A1 (fr) 2008-07-21 2010-01-28 Seoho Electric Co., Ltd, Appareil pour manipuler un conteneur et son système de résistance à l’inclinaison
DE102008062854A1 (de) 2008-12-23 2010-07-08 Siemens Aktiengesellschaft Bedienvorrichtung zum Öffnen und/oder Schließen einer oder mehrerer handbetätigter Verriegelungen zur Sicherung von Transportcontainern
DE102009037742A1 (de) 2009-08-17 2011-02-24 Harry Halfar Verfahren und Vorrichtung bzw. Sensorik zur Gewinnung von spezifischen Objektinformationen
EP2327652A1 (fr) 2009-11-30 2011-06-01 Siemens Aktiengesellschaft Procédé de détermination de la position et de l'orientation d'un objet tridimensionnel, programme de commande et système de détection du positionnement
WO2012051024A2 (fr) 2010-10-11 2012-04-19 Containertrac, Inc. Procédé de positionnement automatique permettant de charger et de décharger des navires porte-conteneurs dans des terminaux à conteneurs
DE102010060942A1 (de) 2010-12-01 2012-06-06 Sick Ag Sensoranordnung zur Objekterkennung
EP2574587A1 (fr) 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Procédé de détermination d'une position cible pour un palonnier de conteneur et le palonnier de conteneur

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Publication number Priority date Publication date Assignee Title
DE102009060513B4 (de) * 2009-12-23 2013-11-14 Siemens Aktiengesellschaft Verfahren zur Ausrichtung eines Zugfahrzeugs, Steuerungsprogramm und Zielführungssystem

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007055316A1 (de) 2007-08-02 2009-02-05 Siemens Ag Verfahren zur rechnergestützten Bestimmung der Auflageposition einer Last auf einem Lastaufnahmemittel
DE102008014125A1 (de) 2007-08-14 2009-02-26 Siemens Aktiengesellschaft Verfahren zur rechnergestützten Lokalisierung eines Objekts
DE102008026608A1 (de) 2008-06-03 2009-12-10 Siemens Aktiengesellschaft Verfahren zur Erkennung des Typs eines bewegten Objekts mit charakteristischen und wieder erkennbaren Merkmalen
WO2010010977A1 (fr) 2008-07-21 2010-01-28 Seoho Electric Co., Ltd, Appareil pour manipuler un conteneur et son système de résistance à l’inclinaison
DE102008062854A1 (de) 2008-12-23 2010-07-08 Siemens Aktiengesellschaft Bedienvorrichtung zum Öffnen und/oder Schließen einer oder mehrerer handbetätigter Verriegelungen zur Sicherung von Transportcontainern
DE102009037742A1 (de) 2009-08-17 2011-02-24 Harry Halfar Verfahren und Vorrichtung bzw. Sensorik zur Gewinnung von spezifischen Objektinformationen
EP2327652A1 (fr) 2009-11-30 2011-06-01 Siemens Aktiengesellschaft Procédé de détermination de la position et de l'orientation d'un objet tridimensionnel, programme de commande et système de détection du positionnement
WO2012051024A2 (fr) 2010-10-11 2012-04-19 Containertrac, Inc. Procédé de positionnement automatique permettant de charger et de décharger des navires porte-conteneurs dans des terminaux à conteneurs
DE102010060942A1 (de) 2010-12-01 2012-06-06 Sick Ag Sensoranordnung zur Objekterkennung
EP2574587A1 (fr) 2011-09-30 2013-04-03 Siemens Aktiengesellschaft Procédé de détermination d'une position cible pour un palonnier de conteneur et le palonnier de conteneur

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HEBEZEUGE FÖRDERMITTEL, 2009, pages 324 - 325

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3000762A1 (fr) 2014-09-24 2016-03-30 Siemens Aktiengesellschaft Procédé et système de détermination optique, automatique d'une position cible pour un conteneur
CN104807418A (zh) * 2015-04-30 2015-07-29 北京科技大学 一种报废机动车零部件识别系统
CN104807418B (zh) * 2015-04-30 2018-01-02 北京科技大学 一种报废机动车零部件识别系统
CN111587215A (zh) * 2017-11-24 2020-08-25 东芝三菱电机工业系统有限公司 用于产生集装箱在着陆表面上的着陆解决方案的方法和系统
WO2019104251A1 (fr) * 2017-11-24 2019-05-31 Tmeic Corporation Procédés et systèmes de production de solutions de débarquement pour conteneurs sur des surfaces de débarquement
CN111587215B (zh) * 2017-11-24 2024-10-15 东芝三菱电机工业系统有限公司 用于产生集装箱在着陆表面上的着陆解决方案的方法和系统
US11873195B2 (en) 2017-11-24 2024-01-16 Tmeic Corporation Methods and systems for generating landing solutions for containers on landing surfaces
EP3713866A4 (fr) * 2017-11-24 2021-08-25 TMEIC Corporation Procédés et systèmes de production de solutions de débarquement pour conteneurs sur des surfaces de débarquement
JP2021504262A (ja) * 2017-11-24 2021-02-15 ティーエムイーアイシー コーポレーション 着地面上のコンテナのための着地ソリューションを生成するための方法およびシステム背景
CN108036778A (zh) * 2017-12-26 2018-05-15 清华大学 集装箱自动识别系统和识别方法以及港口设施
CN108036778B (zh) * 2017-12-26 2024-04-02 清华大学 集装箱自动识别系统和识别方法以及港口设施
US20220009748A1 (en) * 2018-11-14 2022-01-13 Abb Schweiz Ag Loading A Container On A Landing Target
US12037223B2 (en) * 2018-11-14 2024-07-16 Abb Schweiz Ag Loading a container on a landing target
WO2020099104A1 (fr) * 2018-11-15 2020-05-22 Siemens Aktiengesellschaft Reconnaissance fiable de grue à conteneurs et d'agrès
CN113039148A (zh) * 2018-11-15 2021-06-25 西门子股份公司 集装箱起重机和索具的可靠识别
CN113039148B (zh) * 2018-11-15 2023-07-04 西门子股份公司 集装箱起重机和索具的可靠识别
US11279597B2 (en) 2018-11-15 2022-03-22 Siemens Aktiengesellschaft Reliable detection of container crane and harness
EP3653563A1 (fr) * 2018-11-15 2020-05-20 Siemens Aktiengesellschaft Détection fiable des grues à conteneurs et harnais
CN110542378A (zh) * 2019-09-25 2019-12-06 上海海瞩智能科技有限公司 一种集卡装卸对箱自动检测装置及其检测方法
CN111170154A (zh) * 2019-12-27 2020-05-19 上海新时达机器人有限公司 激光找箱方法、起重系统、控制器及存储介质
WO2021175403A1 (fr) * 2020-03-02 2021-09-10 LASE Industrielle Lasertechnik GmbH Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier
CN111982075A (zh) * 2020-08-18 2020-11-24 上海振华重工(集团)股份有限公司 一种集卡集装箱对箱自动检测系统及其检测方法
CN114719776A (zh) * 2022-04-11 2022-07-08 中车株洲电力机车有限公司 一种轨道车辆车体轮廓检测系统的标定工装和标定方法

Also Published As

Publication number Publication date
EP2724972B1 (fr) 2015-08-12
DE102012020953B4 (de) 2016-03-10
DE102012020953A1 (de) 2014-04-30

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