EP3000762B1 - Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr - Google Patents

Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr Download PDF

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Publication number
EP3000762B1
EP3000762B1 EP14186240.9A EP14186240A EP3000762B1 EP 3000762 B1 EP3000762 B1 EP 3000762B1 EP 14186240 A EP14186240 A EP 14186240A EP 3000762 B1 EP3000762 B1 EP 3000762B1
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EP
European Patent Office
Prior art keywords
container
lifting device
target position
holding device
container lifting
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.)
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Application number
EP14186240.9A
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German (de)
English (en)
French (fr)
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EP3000762A1 (de
Inventor
Thomas Dobler
Jörg Meyer
Tobias Müller
Stephan Wöbse
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Siemens AG
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Siemens AG
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Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP14186240.9A priority Critical patent/EP3000762B1/de
Priority to ES14186240.9T priority patent/ES2627498T3/es
Priority to CN201510613626.4A priority patent/CN105438993B/zh
Publication of EP3000762A1 publication Critical patent/EP3000762A1/de
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Publication of EP3000762B1 publication Critical patent/EP3000762B1/de
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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
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • the invention relates to a method for automatic, optical determination of a target position in which a container is to be set up by means of a loading crane on a carrier vehicle.
  • Loading cranes are used on freight transhipment sites, storage areas, in assembly halls and shipyards as well as in track construction.
  • a loading crane is a gantry crane. This spans a loading and working area like a portal. Typically, its sidewalls with wheels run on two parallel rails between which motor vehicles or so-called AGVs (Automated Guided Vehicles) on i.d.R. be loaded or unloaded marked tracks.
  • AGVs Automate Guided Vehicles
  • a trolley moves with a hoist.
  • a rail slewing crane can be mounted on the crane bridge.
  • a container harness (English term “spreader”) is a hoist, with which ISO-standardized containers can be gripped. It is known both a rigid container dishes, which is intended only for a container size, as well as a telescoping container dishes whose several tons heavy telescopic frame can be flexibly adjusted to the length of different standardized containers (standard sizes 20 'to 45'). For further consideration, the maximum height of a "high-cube" container of 2,896 m is especially relevant.
  • Gantry trucks, gantry forklifts, forklifts or cross-forklifts can also be equipped with a container harness.
  • the container harness is also here an attachment, whose so-called twist locks engage in the four upper standardized corner fittings of a container or the latter of grab the page. In this case, an element of the twistlock is rotated by 90 °, whereby a positive connection is ensured for locking.
  • the size of the twistlocks is standardized and is about 104 mm in length and 56 mm in width.
  • Twistlocks are used again.
  • the standardized corner fittings of the container must be positioned exactly above the twistlocks of the truck or train wagon.
  • the required accuracy for the positioning can be estimated here with 25 mm, the height accuracy is less critical.
  • a method for finding potential twistlock locations is known which is based on having a 3D mounted on a separate mast from above Laser scanner for at least a portion of the top of the host vehicle, a series of measurement points are obtained, which are then compared to a virtual test specimen. From the set of potential twistlock locations, the actual twistlock is determined based on known and given design details.
  • EP 2574587 A1 For example, a method is known which uses 3D cameras on the spreader to determine the twistlock locations. As far as the spreader cameras are 2D video cameras, an additional line laser attached to the spreader head is to be used, which scans the surface of the carrier vehicle in a previously staked area and in this way supplies necessary profile information for the twistlock locations. The line curvatures of the laser light, as they arise when elevations or depressions are located on the surface of the carrier vehicle, are evaluated by the 2D cameras in order to identify the twistlocks in this way.
  • the JP 2008-168952 discloses a method according to the preamble of method claim 1.
  • a 3D camera preferably laser scanner
  • a 2D camera is to be extended by an additional device, such as the line laser.
  • Under holding device will be understood in this case usually vehicles manned or unmanned type (trailer) on which the container by means of lifting device and the container dishes discontinued or from which containers are taken up.
  • At least one 2D optical camera is attached to the container harness as an imaging sensor.
  • the camera is mounted on the container harness such that at least its sensor receives a substantially vertically downwardly directed field of view.
  • the camera or at least the sensor is attached to the container harness with an overhang.
  • container harnesses are usually equipped with four such camera systems to allow the crane operator a visual assistance in dealing with the loads.
  • the present method now advantageously uses at least one sensor of the already existing camera systems.
  • the sensor delivers video images as measured values from the environment of the container harness to a computing unit, wherein due to its substantially vertically downward viewing range, in particular also measured values from the holding apparatus in plan view are supplied to the computing unit. Because of the overhang, there will also be one side, but at least the foot area of an attached container within the field of view of the sensor.
  • the holding device has at least one mark on its surface. Such markers may be, for example natural markings that result from the construction of the holding device. For example, these holes may be for securing railings to the outer edge of the trailers.
  • markings which are applied to the surface, have a certain size and are designed such that they have a sharp contrast to the environment. Such markings may be glued or painted, for example. For better visibility markings can be used here, which are slightly reflective or light-emitting, thus increasing the contrast and thus the readability of the sensor.
  • the arithmetic unit forms from the recorded measured values, the video images, data from which it calculates target position data for anchoring positions for the container harness.
  • anchoring devices are usually used as they are known, for example, as twistlocks. But it can also be used other anchoring devices such as corner fittings.
  • the anchoring devices on the trailer are located i.d.R. under the container and are concealed by this for the sensor the more centered the container is with its anchors on the associated anchoring devices of the holding device.
  • the target position data are those data that are to be controlled in order to move the container centering exactly over its anchoring position and thus via its anchoring device. The required accuracy for positioning can be approx. 25 - 30 mm.
  • the abovementioned markings which have a defined shape and defined dimension, are made known to the arithmetic unit and are available to them as parameters. This means that the arithmetic unit is thus able to extract the markings from the measured values and to compare them with the marking parameters stored in the arithmetic unit so as to recognize the markings relevant for the further steps. From the two-dimensional survey This marking (s), ie the measurement in the plane in at least one direction, a height information between the sensor and the surface of the holding device and a horizontal offset of the container harness to the mark are calculated by the arithmetic unit, the target position data to the anchoring positions, which then via the crane control can be approached regulated.
  • the container harness is at the target position, it is lowered in a controlled manner and the container harness or container is lowered onto its anchoring device.
  • the measured data recorded by the sensor with respect to the marking are counted on a pixel-by-pixel basis.
  • the pixel distances between the mark or at least one edge of the mark and the current horizontal position of the container harness are evaluated. Since both the dimensions of the mark are known and the offset of the container harness are in the locked state, the target position data for the container harness can be calculated.
  • the method as well as the container harness provide a reliable solution for the automated positioning of the container harness.
  • the accuracy is so high due to the two-dimensional data processing that after positioning twistlocks can be locked automatically in corner fittings of a container.
  • This allows the automated loading of trucks for road traffic or rail cars, in which the container to be transported must be secured with twist locks on the bed.
  • the positioning of the imaging sensor on the container dishes achieved due to the proximity to the objects to be detected high accuracy and consequently high reliability in positioning. The latter is essential to avoid property damage and personal injury. This makes it possible for the first time to automate the loading and unloading of vehicles with twistlock protection without having to use laser units.
  • the use of a simple camera has the advantage that it can be selected in a robust design, whereby the required in view of the violent vibrations on the crane and in particular on the container harness mechanical stability is ensured. Also can be expected in these simple and inexpensive components with a long life. This is advantageous because a frequent component change with recalibration in industrial use is out of the question.
  • the height information between the sensor and the surface of the holding device is calculated by the arithmetic unit from the two-dimensional measurement of the markings.
  • no separate height information would have to be provided.
  • the number of pixels depicting the mark in at least one direction is to be related in the plane to the real extent of the mark in the same direction. This can also be done for several extension directions of the markers.
  • the current height can be extrapolated at least in a certain environment.
  • a measuring device which is preferably the measuring device, within the crane control system anyway directly or indirectly a measurement signal from the height of the container harness supplies this information to the arithmetic unit and this height information is included in the calculation of the offset of the container harness to the anchoring positions.
  • the horizontal deviation of the container harness with attached container is determined by determining the horizontal offset between the lower edge of the container (the foot edge) projected onto the surface of the holder and the marker. Because of the overhanging and downwardly directed field of view of the camera results in attached container a field of view of the camera, which runs at least partially along an outer side of the container and includes the foot edge of the container. This edge can be easily evaluated by image processing methods of edge extraction. Due to the use of a 2D camera, this only sees the projection ("shadow") of this edge on the surface of the holding device.
  • the distance between the projecting on the surface of the holding device edge, and the marking itself or a line that results in the transition from the trailer surface on the marker is measured pixel by pixel, so as to determine the current offset of the container dishes. Any errors that arise because of the overhang of the camera and the projection not perpendicular projection can be compensated for by the arithmetic unit, as this results from the camera arrangement and the flying height of the container (distance from the edge to the surface) and is reproducible.
  • the horizontal deviation of the container harness is determined by receiving a container from the holding device by the horizontal offset between the upper edge of the container projected onto the surface of the holding device and the mark is measured.
  • the container harness at a suitable height above the Container led that the upper edge of the container, the view of the marking initially at least partially covered and then releases on further movement. This will increase the horizontal offset between the top of the container projected onto the surface of the fixture and the marker itself.
  • the upper edge can be evaluated by image processing methods of edge extraction. Due to the use of a 2D camera, this only sees the projection (extension) of this edge onto the surface of the fixture.
  • the distance between the projected (extended) edge on the surface of the holding device, and the mark itself or a line that results in the transition from the trailer surface to the mark is measured pixel by pixel, so as to the respective current displacement of the container harness determine.
  • the container harness is controlled and kept under constant recalculation of the current offset until the horizontal deviation of the container harness corresponds to the desired lowering position and lowering to the anchoring position can take place.
  • the aforementioned method is performed with two optical cameras as imaging sensors, the cameras are mounted with their sensors on opposite sides of the container harness and thus also provides readings from the opposite sides of the arithmetic unit.
  • all four cameras (two on each side) with which the container harness can be equipped are integrated into the process.
  • the cameras are mounted with overhang on the container harness and have the aforementioned vertical line of sight down. In this way, markings on either side of the fixture, or even multiple markers on one side, can be incorporated into the process. This will increase the accuracy and robustness of the process even further. Because it results in the adjustment of the deviation of the container harness due to the markers opposite effects; a movement in the direction increasing the deviation between the container and the mark on one side results in the reduction of the deviation between the container and the mark on the other side.
  • the above-described method works particularly stably when the markings have a substantially square geometry and a dimension of greater than 10 cm and less than 20 cm.
  • the accuracy of the camera systems commonly used on the spreader is then sufficient to detect the markers with sufficient pixel resolution from the safety height provided for the terminal and to generate commands for positioning the container harness on the basis thereof. Therefore, such markers are preferably applied with sufficient contrast on the surface of the holding device.
  • markings with a conical or pyramidal head part to the surface of the holding device. If the marking has a height of 5 cm to 10 cm, then it has been shown that the aforementioned influences can already be largely excluded without the markings being perceived as disturbing obstacles to other work on and around the holding device. These markings can then be easily inserted into holes (for example, for railings), possibly already existing, on the holding device or fastened in a different manner. In this type of fastening, a shaft which runs slightly conical and has a circular cross section would be suitable.
  • the present method in which the container harness is moved to the position at which the anchoring devices can be engaged, is characterized by the following three movement sections, wherein for the first movement step is assumed that a visual contact between at least one mark and the imaging sensor has already been made. This should normally be achieved by pre-positioning the vehicle with the holding device and the crane.
  • the first movement section is carried out in a control loop in a substantially vertical offset of the container harness with continuous recalculation of the height information, the marker remains in the visual contact of the sensor.
  • a second movement section begins. In this case, the calculation of the target position takes place in the offset height and a horizontal offset of the container table in a control loop. The target position is continuously recalculated until the horizontal target position is reached.
  • the third movement section is controlled controlled on the horizontal target position.
  • the computer-readable medium stores a computer program which executes the procedure when it is executed in a computer.
  • the computer program is processed in a computer and executes the procedure.
  • Fig. 1 shows a crane 10. On the crane 10 stationary sensors 6 are mounted. Also shown is a cargo 12, for example a container on a truck, which is detected by the stationary sensors 6. Also in Fig. 1 To see 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. On the floor 15 lane markers 13 are attached, which mark tracks for vehicles. On a trolley 4, a container harness 1 is suspended movably. The container harness 1 has Twistlocks 2, which can be used to grip containers.
  • Fig. 2 shows a container harness 1 when approaching a container 12.
  • twist locks 2 of the container harness 1 must be accurately positioned on standardized corner fittings 11 of the container 12.
  • Fig. 3 shows a container 12 when approaching a holding device 21 of a truck 20.
  • corner fittings 11 of the container 10 must be accurately positioned over twist locks 2 of the truck 20.
  • the container 12 is transported by means of a container harness 1 by a crane.
  • Fig. 4 shows a container tableware 1, which is equipped with imaging sensors 3.
  • the container harness 1 is deposited on a container 10.
  • imaging sensors 3 only simple cameras are used.
  • the imaging sensors are externally on the outer frame of the container harness attached so that they - if the container dishes as here in engagement with a container is - have a substantially vertically downwardly directed field of view past the container wall. The distance between frame and sensor axis thus forms an overhang.
  • Fig. 5 shows mounting positions of imaging sensors 3 on a container tableware 1 from different perspectives. Partly also Twistlocks 2 of the container harness 1 are visible.
  • FIG. 11 shows a determination of measured values from an environment of a container harness in a side view and the calculation of target position data to the anchoring positions.
  • the container 12 is at the height 8 in engagement with the container harness 1.
  • the height 8 may be the so-called. Safety height, in which the container is to move horizontally. This can vary from terminal to terminal, but is on the order of about 6 m.
  • the imaging sensors 3 span a viewing area A, B bounded by the side lines a, b, a ', b' and deliver video images as measured values from the surroundings of the container harness to a computing unit 22.
  • the holding device 21 is in this case that of an AGV.
  • In the edge area are holes 7, which can serve as a railing attachment, for example.
  • the holes 7 represent insofar natural markings. Preferably also applied markings as in Fig. 7 shown usable.
  • the arithmetic unit 22 forms from the recorded measured values, the video images, data from which it calculates target position data for anchoring positions for the container harness. In the direction of travel, the container position in Fig. 6 currently an offset 23 to the anchoring position. Anchoring position is the position in which the anchoring devices (corner fittings 11 and twistlock 2) would be in engagement.
  • the target position data are those data that are to be controlled to to move the container centering exactly to its anchoring position and thus on its anchoring device.
  • the viewing area A along the generally profiled container wall and over the foot edge 24 of the container 12 generates on the surface of the holding device 21 a picture detail 9.
  • the foot edge 24 is projected onto the surface of the holding device 21.
  • the image section 9 has an extension 25 in the direction of travel, depending on the height 8, and comprises the marking 7.
  • the markings 7 are known in shape and dimensions.
  • the arithmetic unit 22 is thereby enabled to extract the markings from the measured values and to compare them with the marking parameters stored in the arithmetic unit 22 so as to recognize the markings 7 relevant for the further steps.
  • On the silhouette of the image section 9 and the foot edge 24, the corner profile 26 of the container can be seen.
  • the distance 27 between the relevant mark 7 and the corner profile 26 must have a certain target value in the anchoring position. From the current measure, the number of pixels between marking 7 and corner profile 26 at a certain height 8 can be calculated by the arithmetic unit, the target position data to the anchor positions and transferred to the crane control this enabled to lead the container harness over the anchoring position.
  • Fig. 7 shows a determination of measured values of an environment of a container harness in the plan view and the calculation of target position data to the anchorage positions transverse to the direction of travel.
  • the container 12 is again in height 8 in engagement with the container harness 1.
  • the imaging sensors 3 span a limited by the side lines a, a ', a "field of view A and deliver video images as measurements of the environment of the container harness to a Arithmetic unit 22.
  • the holding device 21 is again an AGV In the edge area this time, markings 7 in the form of squares are applied to the surface of the holding device 21.
  • the container 12 has the offset 28 transversely to the anchoring position Driving direction.
  • the twistlocks 2 are visible in the upper edge area, while they are covered by the container in the lower edge area (marked viewing area A).
  • the viewing area A along the profiled container wall over the foot edge 24 of the container 12 generates on the surface of the holding device 21 a picture detail 29.
  • the foot edge 24 is projected onto the surface of the holding device 21.
  • the markers 7 are known in shape and dimensions.
  • the arithmetic unit 22 is thereby enabled to extract the markings from the measured values and to compare them with the marking parameters stored in the arithmetic unit 22 so as to recognize the markings 7 relevant for the further steps. Furthermore, the arithmetic unit is able to determine the offset 30 between projected foot edge 24 and marking 7 from the dimensions of the marking.
  • the mark 7 should have an extension of 10 cm, which should correspond to a pixel height of 500 pixels at a certain height 8. If now 30 200 pixels are measured for the offset, the current offset 30 can be determined to be 4 cm.
  • the foot edge 24 should, so that the anchoring positions in the transverse direction are the same thinking over each other and the container can be discontinued, have a known calculation offset unit offset to mark 7. With knowledge of the current offset and the desired offset, the arithmetic unit can calculate the target position data on which the crane control moves the container harness via the anchoring positions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control And Safety Of Cranes (AREA)
EP14186240.9A 2014-09-24 2014-09-24 Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr Active EP3000762B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP14186240.9A EP3000762B1 (de) 2014-09-24 2014-09-24 Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr
ES14186240.9T ES2627498T3 (es) 2014-09-24 2014-09-24 Método para la determinación óptica, automática, de una posición objetivo para un dispositivo de elevación de contenedores
CN201510613626.4A CN105438993B (zh) 2014-09-24 2015-09-23 自动地光学确定集装箱吊具的目标位置的方法和系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14186240.9A EP3000762B1 (de) 2014-09-24 2014-09-24 Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr

Publications (2)

Publication Number Publication Date
EP3000762A1 EP3000762A1 (de) 2016-03-30
EP3000762B1 true EP3000762B1 (de) 2017-03-08

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EP14186240.9A Active EP3000762B1 (de) 2014-09-24 2014-09-24 Verfahren zur automatischen, optischen Bestimmung einer Zielposition für ein Containergeschirr

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EP (1) EP3000762B1 (zh)
CN (1) CN105438993B (zh)
ES (1) ES2627498T3 (zh)

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EP3000762A1 (de) 2016-03-30
CN105438993A (zh) 2016-03-30
ES2627498T3 (es) 2017-07-28

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