JP2001097670A - Container position detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a container position detecting device for connecting a hoisting accessory of a container crane and a container allowing to solve problems of a large work load for an operator and a long handling working time caused by performing fine control of the handling work manually operated by the operator of the crane. SOLUTION: This container position detecting device is provided with a CCD camera 10 vertically downwardly provided to the hoisting accessory 4 to take a picture of a corner fitting 9 on an upper surface of the container 21 followed by outputting an image signal, an image processing device 11 performing image processing from the image signal to output a position signal of the corner fitting 9, and a calculating device 12 calculating relative position of the hoisting accessory 4 and the corner fitting 9 based on the image position signal to guide the hoisting accessory to a position of the corner fitting 9 and engage thereto. The handling work of the corner fitting and the hoisting accessory can be thereby performed without the operator, the crane is easily semi- automated, service efficiency of a container ship 2 can be improved, and a transferring time of the container can be shortened.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container crane or a transfer crane which is provided with a hanger in a handling operation for accurately positioning the hanger with a container and engaging the container with the hanger. The present invention relates to a container position detecting device for accurately positioning an engaged engagement device at a hanging position of a container.

[0002]

2. Description of the Related Art FIG. 1 shows an example of a container crane for suspending and transferring containers between a container ship moored on a quay and a quay loading or unloading from a container ship. It is a block diagram. As shown in FIG. 1, the container crane 1 moves the container 19 between the container ship 2 and the quay 8 as described above.
It is provided for carrying the paper.

[0003] In detail, a rail 18 is laid on the quay 8 along the direction of the bow at the mooring position of the container ship 2 → the stern, on which the sea-side leg 14 and the land-side leg 1 are mounted.
5 travels in the direction from the bow of the container ship 2 to the stern of the container ship 2, that is, is provided so as to be able to travel in a vertical direction. Also,
On the upper part of the sea-side leg 14 and the land-side leg 15, the girder 1 which is orthogonal to the direction of the rail 18 and is arranged toward the sea-side →→ land-side direction.
The girder 16 is provided with a sea-side end extending beyond the width of the container ship 2 toward the sea, and a machine room 17 is provided at the land-side end of the girder 16.

The girder 16 is provided with a trolley 3 and an operator's cab 5 on which a crane operator is mounted so as to be able to travel in a so-called traverse direction in which the trolley 3 travels in the sea-side → land-side direction. It is supposed to. The trolley 3 is provided with a winding device (not shown), and the rectangular hanging device 4 can be hoisted or unwound by winding and unwinding a hanging cable suspended from the winding device. It has become.

That is, this container crane 1
A crane operator rides on one side of the trolley 3 on which the longitudinal direction of the hanging device 4 is arranged, in other words, the operator cab 5 provided on the quay 8 side of the trolley 3 traveling in a transverse direction, and usually all containers are manually operated. 19 transport operations are performed. This transport operation is performed by transporting the containers 19 placed on the chassis 7 to the quay 8 by a trailer, a straddle carrier, or the like, and loading the containers 19 onto the container ship 2 from the chassis 7 and from the container ship 2 to the quay 8. The operation is to be unloaded onto the chassis 7 waiting at the position 8.

For simplicity of explanation, here, the quay 8
The transport operation of the container crane 1 will be described by taking as an example the operation of loading the container 19 onto the container ship 2 from the upper chassis 7. The crane operator in the operator's cab 5 first moves the container crane 1 longitudinally based on a command from a central command room (not shown) which generally manages the container terminal, and transfers the container 19 to the container ship 2.
The container crane 1 is arranged at the position where the cargo is loaded, and the position of the container crane 1 in the bow ← → stern direction is implemented.

Next, the crane operator visually confirms the container 19 set on the quay 8 on the chassis 7 such as a trailer or a straddle carrier, and moves the trolley 3 on the girder 16 so as to fly over the container 19. A so-called traversing movement operation is performed in which the ship is stopped in the width direction. After the completion of the traversing operation, the crane operator pulls out a hanging cable from a winding device installed in the machine room 17 and performs a lowering operation of lowering the hanging tool 4 to about 1 m above the container 19 on the chassis 7. After the completion of the lowering operation, the hanging member 4 and the container 19 are visually observed.
, And a handling operation for engaging the container 19 with the hanging member 4 is performed.

After the completion of the handling operation, the crane operator performs a hoisting operation to wind up the container 19 together with the hoisting tool 4 to a height that does not hinder the transfer of the container 19 by winding up the hanging rope with a winding device. After the completion of the hoisting operation, the trolley 3 is traversed by moving the container 19 along a locus indicated by a substantially dotted line to a position above the target position 20 where the container 19 is to be loaded on the container ship 2.

After the traversing operation is completed, the crane operator performs a lowering operation of lowering the container 19 together with the hoisting tool 4 to about 1 m above the target position 20 by pulling out the hanging cable again. After the lowering work is completed, the container 19 hung by the hanging device 4 and the target position 20 are more accurately positioned relative to each other, and the container 19 is further lowered to land on the target position 20.
A handling operation for separating the container 19 from the hanging tool 4 is performed.

Thus, one loading operation is completed, and thereafter, the crane operator repeats the loading operation in the same manner based on the command of the central command room, and places the containers 19 in an order considering the unloading at the destination. ,
In addition, at the port where the container ship 2 is calling from now, the container loading operation in the container loading shape in consideration of further loading is completed. The above is the outline of the loading operation by the container crane 1. Conventionally, this loading operation is a manual operation by the crane operator, including the handling operation, as described above.

On the other hand, recently, a semi-automatic operation of the container crane 1 has been attempted for the purpose of reducing the burden on the crane operator. This is because, in advance, information such as the stowage position of containers on the container ship 2 is input to a central command room computer (not shown), and based on a command from the central command room,
In addition to the handling operation of the container 19, the trolley 3 traverse operation and the lifting and lowering operation of the hanging tool 4 are automatically performed. With this semi-automatic operation, the crane operator can perform travel positioning work and container ship 2
Only the handling operation of the container 19 on the upper side and the quay 8 needs to be performed manually, so that the load on the crane operator in the transport operation of the container crane 1 can be greatly reduced.

However, as is apparent from the above description, in the operation of the container crane 1, handling operations such as engagement and disengagement of the container 19 and the hanging member 4 and the like are performed.
In particular, the operation of moving the hanger 4 to the position of engagement with the container 19 placed on the container ship 2 or the quay 8 is difficult even in operation by a moderately skilled crane operator. It has become a bottleneck.

That is, the crane operator moves the girder 16 and the trolley 3 together with the trolley 3 from a high altitude cab and lifts the lifting jigs 4 from the container 19 about 1 hour above the container 19.
m, and after finely adjusting the relative position between the hanging member 4 and the container 19 at this height, the hanging member 4 is further lowered, and is an elongated device which is an engaging device that is projected downward from the lower end of the hanging member 4. Twist lock pin with large ratio
Are inserted into the holes having the increased slenderness ratio formed in the corner fittings provided at the four corners, and the twist lock pin is further rotated around the axis so that the container 19 and the hanging tool 4 are engaged. Therefore, the work load of the crane operator who finely adjusts and moves the hanging tool 4 to the engagement position with the container 19 increases, and the time required for engaging the hanging tool 4 with the container 19 increases. There is a problem that the working time becomes longer.

In addition, the hanging tool 4 is pulled out from a winch provided in the machine room or is unwound by a hanging cable, and
Since the lowering and the position adjustment are performed, the transport operation is greatly affected by the wind, and the size of the container 19 is variously large, such as 20 feet, 30 feet, and 40 feet. The container 19
There is a problem that the work time required for fine adjustment of position and engagement between the hook and the hanging tool 4 becomes longer. The prolonged operation time degrades the operation efficiency of the container ship 2 and causes a prolonged transfer time of the container 19.

[0015]

SUMMARY OF THE INVENTION According to the present invention, in a semi-automated operation of a container crane or the like which has been attempted to reduce the burden on a crane operator, it is possible to prevent a reduction in work time and to reduce the work load on the crane operator. In order to eliminate problems associated with handling of the container such as the work of engaging and disengaging the hanging tool and the container, the position of the hanging tool is determined based on the image taken near the corner fitting of the container. An object of the present invention is to provide a container position detecting device for accurately positioning a container at a hanging position.

[0016]

For this reason, the container position detecting device of the present invention has the following means.

(1) Provided on a container crane or a transfer crane, installed vertically downward on a rectangular hanging device, provided on the upper surface of a container loaded on a container ship or the upper surface of a container on a container terminal, and suspended. C which outputs a video signal by photographing a corner fitting which is engaged with the fitting so as to lift and lower the container.
A CD camera was provided.

(2) An image processing apparatus is provided for processing the image signal of the corner fitting from the CCD camera, detecting the position of the corner fitting on the upper surface of the container, and outputting a position signal.

(3) The three-dimensional position of the upper surface of the container with respect to the hanging tool is calculated based on the position signal of the corner fitting on the upper surface of the container detected and output by the image processing apparatus, and the relative position between the hanging tool and the corner fitting is calculated. In order to detect the angle and to engage the hanging tool with the corner fitting, an arithmetic unit capable of guiding an engaging device of the hanging tool to the corner fitting position based on the relative position is provided.

(A) The container position detecting device of the present invention comprises:
By means of the above (1) to (3), handling in the conventional semi-automatic operation system of the container crane for the operator to perform the engagement and disengagement of the container and the hanging tool on the container ship and the quay, which has been manually performed. Work can be performed automatically. In particular, the relative position adjustment between the container and the hanging device for engaging the container and the container at the target position mounted on the quay and the hanging device is performed by the CCD camera regardless of the operation of the crane operator. Can be performed based on the information obtained by the image processing of the video signal of the corner fitting, and can be performed by the output signal from the arithmetic unit, and the cargo handling work of the container crane can be performed in a short time with stable work efficiency be able to.

Accordingly, the work load on the crane operator is reduced, the time required for handling the container can be shortened, the operation efficiency of the container ship can be improved, and the time required for transferring the container can be shortened.

Further, the container position detecting device of the present invention comprises:
In addition to the above-mentioned means (1) to (3), the following means was used.

(4) The CCD cameras of the above-mentioned means (1) are provided at four corners of a rectangular hanging member, and photograph four corner fittings provided at four corners of the upper surface of the container, respectively. It outputs a video signal.

(5) The image processing device of the above-mentioned means (2) is provided corresponding to each of the four CCD cameras, and the four corner fittings on the upper surface of each container from the four CCD cameras are provided. Image processing is performed on the video signal to detect the position of each of the four corner fittings on the upper surface of the container, and image processing for outputting a position signal is performed.

(6) Based on the position signals of the four corner fittings from the image processing apparatus which has performed the image processing for detecting the position of the corner fittings on the upper surface of the container, the arithmetic unit of the means of (3) above. Calculating the three-dimensional relative position of the engaging device provided on the hanging tool corresponding to each of the four corner fittings, and engaging the hanging tool with the corner fitting based on this relative position, The engaging device provided on the hanging tool can be guided corresponding to each of the four corner fitting positions.

(B) The container position detecting device of the present invention comprises:
In addition to the above means (1) to (3), the above (4) to (6)
Therefore, in addition to the above (a), the engaging device composed of a twist lock pin or the like provided on the hanging device is accurately guided to the corner fittings provided at the four corners of the container, and The handling operation for engaging with the container is performed automatically and quickly, and the container is engaged with the four corners of the rectangular hanging device, and is stably and reliably hung. Transfer work can be performed.

Further, the container position detecting device of the present invention comprises:
In addition to the above-mentioned means (1) to (3), the following means was used.

(7) The CCD camera of the above-mentioned means (1) is provided on the driver's cab side, usually provided on the land side of the trolley, on which the crane operator is mounted, and is provided on both sides of one side of a rectangular hanging member. Two corner fittings provided at two corners and provided at two corners on the upper side of the container on the cab side are respectively photographed, and video signals are output.

(8) The image processing device of the above-mentioned means (2) is provided corresponding to each of the two CCD cameras, and the two corner fittings on the upper surface of each container from the two CCD cameras are provided. Image processing is performed on the video signal to detect the position of each of the two corner fittings on the upper surface of the container, and image processing for outputting a position signal is performed.

(9) Based on the position signals of the two corner fittings from the image processing apparatus which has performed the image processing for detecting the position of the corner fittings on the upper surface of the container, the arithmetic unit of the means of (3) above. Calculating the three-dimensional position of the engaging device provided on the hanging tool corresponding to each of the two corner fittings and engaging the hanging tool with the corner fitting based on the relative position; The engaging devices provided on the hanging tool can be guided correspondingly to the corner metal fitting positions.

(C) The container position detecting device of the present invention
In addition to the above means (1) to (3), the above (7) to (9)
Therefore, in addition to the above (a), at least the engaging device of the hanging tool on the cab side on the upper surface of the container is accurately guided to the two corner fittings on the same side, and connects the hanging tool and the container. Combined handling is performed automatically. In addition, since the two corner fittings on the driver's cab side and the suspending tool are accurately engaged with each other, the two corner fittings on the opposite side to the driver's cab are also accurately engaged with the suspending tool, and the above-mentioned ( The same operation and effect as in the case b) can be obtained.

Further, according to the present invention, the above (4) to (4)
Compared with the invention of the means (6), the number of CCD cameras and image processing devices can be halved, and the cost can be reduced.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a container position detecting device according to the present invention will be described below with reference to the drawings. FIG.
FIG. 2 is an overall configuration diagram of a container crane to be installed according to the first embodiment of the container position detecting device of the present invention, FIG.
2A is an outline view of a container to be measured in the first embodiment of the container position detecting device of the present invention, FIG. 2A is a plan view, FIG. 2B is a perspective view, and FIG. FIG. 3A is a side view showing an example in which a CCD camera constituting a first embodiment of the container position detecting device according to the present invention is installed on a hanging device, and FIG. 3
3 (b) is a plan view of FIG. 3 (a), FIG. 3 (c) is a side view showing an example of installation on a 40-foot container hanging device, and FIG.
3D is a plan view of FIG. 3C, FIG. 4 is a block diagram showing a first embodiment of the container position detecting device of the present invention, FIG.
FIG. 6 is a view for explaining a relative positional relationship between a CCD camera on a hanging tool and a target position in a horizontal direction and a vertical direction, which constitutes a first embodiment of the container position detecting device of the present invention. FIG. 4 is a diagram illustrating a relative positional relationship between a CCD camera on a hanging tool and a target position in a traversing direction and a winding direction, which constitute a first embodiment of the container position detecting device.

The function of the container position detecting device of the present embodiment is to measure the relative position of the target position 20 with respect to the hanging member 4 in FIG. The configuration of the container position detecting device according to the present embodiment will be described with reference to FIGS.
As shown in FIG. 2, the outer shape of the container 19 to be measured by the container position detecting device according to the present embodiment has a substantially rectangular parallelepiped cross section, and corner fittings 9 are fixed to each corner of the upper surface of the rectangular container 19. ing.

Therefore, as shown in FIG.
CCD cameras 10 are installed vertically downward at the four corners of the hanging member 4 having a length substantially the same as the length of the hanging tool 4, and provided on the upper surface 21 of the container corresponding to each of the CCD cameras 10a, 10b, 10c and 10d. The corner fitting 9 is photographed. Then, as shown in FIG. 4, the video signals photographed by the respective CCD cameras 10a, 10b, 10c, and 10d are respectively provided to the respective image processing devices 11a, 10a, 10b, 10c, and 10d. 11b, 11c, 11
The center position of each corner fitting on the upper surface 21 of the container is detected by the processing performed by the image processing apparatus 11 comprising d. Further, the detected center position of each corner fitting is processed by the arithmetic unit 12, and the three-dimensional relative position of the container 19 at the target position 20 with respect to the hanging tool 4 is calculated.

The container position detecting device according to the present embodiment
With the above-described structure, the positioning of the container crane 1 and the hanger 4 of the transfer crane (not shown) is performed. The operation and effect thereof will be described below. As shown in FIG. 1, the container position detection device according to the present embodiment is a device that functions when the hanging tool 4 reaches a range of about 0.5 to 5 m above the target position 20. That is, the hanging tool 4
Reaches a range of about 0.5 to 5 m above the container 19 at the target position 20, the CCD cameras 10 installed vertically downward at the four corners of the hanging tool 4 are used to move the container 19 placed at the target position 20. The corner fittings 9 provided at the four corners are photographed.

Each of the CCD cameras 10a, 10b, 10c,
The video signal photographed by 10d is transmitted to each of the corresponding image processing devices 11a, 11b, 11c and 11d, and the position of the corner fitting 9 in the field of view of the CCD camera 10 in the image processing device 11 is determined. Coordinates (Xi, Y
i) (i = 1, 2, 3, 4) is detected. As a method of detecting the coordinates (Xi, Yi) (i = 1, 2, 3, 4) of the position of the corner fitting 9, the image data of the corner fitting 9 is previously photographed and stored as a reference pattern, and the current image is stored. There is a pattern matching processing method in which a correlation process is performed on the data and the reference pattern, and a region where the correlation value becomes maximum is detected as the position of the corner fitting 9.

The coordinates (Xi, Yi) of the position of each corner fitting 9 detected by the image processing apparatus 11 (i = 1, 2, 3, 4)
Is sent to the arithmetic unit 12, and the arithmetic unit 12 calculates the three-dimensional relative position of the container 19 at the target position 20 with respect to the hanging member 4.

FIG. 5 shows each of the CCD cameras 10a to 10 on the hanging member 4 constituting the container position detecting device of the present embodiment.
The figure explaining the relative positional relationship of 0d and the container 19 of the target position 20 in the horizontal direction and the vertical direction is shown. FIG. 6 is a view for explaining the relative positional relationship between the CCD cameras 10a and 10b on the hanging device 4 and the container 19 at the target position 20 in the transverse direction and the winding direction, which constitute the container position detecting device of the present embodiment. Is shown.

Hereinafter, as an example, FIG. 5 and FIG.
A method of calculating the traversing positions x1 and x2 of the corner fitting 4 on the container upper surface 21 of the target position 20 with respect to the positions of the D cameras 10a and 10b and the winding direction distance h will be described.

In FIG. 5, the origin of the hanger 4 in the horizontal plane is defined as the origin 0, and the width direction (horizontal direction) of the hanger 4 is represented by x.
An xyz three-dimensional orthogonal coordinate system is set, in which the axis, the longitudinal direction (vertical direction) is the y-axis, and the unwinding direction is the z-axis. Also, as shown in the figure, the CCD cameras installed at the four corners of the hanging device 4 are parallel to the xyz three-dimensional orthogonal coordinate system, and the origin is (xa, ya, 0). Unit: mm] and xb with the origin at (xb, yb, 0)
ybzb three-dimensional rectangular coordinate system [unit: mm], xcyczc three-dimensional rectangular coordinate system [unit: mm] with origin (xc, yc, 0), and xdy with origin (xd, yd, 0)
A dzd three-dimensional orthogonal coordinate system [unit: mm] is set.

The explanation of the symbols in FIG. 5 is as follows. D: Interval [mm] between CCD cameras in the width direction (horizontal direction x) of the hanging tool 4, W: Interval [mm] between corner fittings 9 in the width direction of the container 19 at the target position 20, x1: xayaza of the CCD camera 10a The coordinates [mm] in the xa direction of the corner fitting 9 of the container 19 at the target position 20 in the three-dimensional rectangular coordinate system, y1: yaya of the corner fitting 9 of the container 19 at the target position 20 in the xayaza three-dimensional rectangular coordinate system of the CCD camera 10a. Coordinates [mm], x2: xbybzb coordinates of the corner fitting 9 of the container 19 at the target position 20 in the xbybzb three-dimensional orthogonal coordinate system of the CCD camera 10b, y2: xbybzb three-dimensional orthogonal coordinates of the CCD camera 10b Coordinates [mm] in the yb direction of the corner fitting 9 of the container 19 at the target position 20 in the system, x3: the CCD camera 10b The coordinates [mm] of the corner fitting 9 of the container 19 at the target position 20 in the cyczc three-dimensional rectangular coordinate system in the xc direction, y3: The coordinates of the corner fitting 9 of the container 19 at the target position 20 in the xcyczc three-dimensional rectangular coordinate system of the CCD camera 10b. coordinates in the yc direction [mm], x4: coordinates in the xd direction of the corner fitting 9 of the container 19 at the target position 20 in the xdydzd three-dimensional orthogonal coordinate system of the CCD camera 10b, y4: xdydzd three-dimensional orthogonal in the CCD camera 10b The coordinates [mm] of the corner fitting 9 of the container 19 at the target position 20 in the coordinate system in the yd direction.

The description of the symbols in FIG. 6 is as follows. D: distance [mm] between the CCD cameras 10a and 10b in the width direction (horizontal direction x) of the hanging member 4, W: distance [mm] between the corner fittings 9 in the width direction of the container 19 at the target position 20, x1: CCD camera Coordinates [mm] in the xa direction of the corner fitting 9 of the container 19 at the target position 20 in the xayaza three-dimensional rectangular coordinate system 10a, x2: Corner fittings of the container 19 at the target position 20 in the xbybzb three-dimensional rectangular coordinate system of the CCD camera 10b. 9 in the xb direction [mm], X1: on the light receiving surface of the CCD camera 10a, the image forming position [pixel] of the corner fitting 9 of the container 19 at the target position 20 in the xa direction, X2: on the light receiving surface of the CCD camera 10b Image formation position [pixel] of the corner fitting 9 of the container 19 at the target position 20 in the xb direction, a1: length of the light receiving surface of the CCD camera 10a in the xa direction [m
m], a2: Length of the CCD camera 10b in the direction of the light receiving surface xb [m
m], g1: Number of pixels [pixels] in the light receiving surface xa direction of the CCD camera 10a, g2: Number of pixels [pixels] in the light receiving surface xb direction of the CCD camera 10b, β1: View angle [ra] of the CCD camera 10a in the xa direction
d], β2: viewing angle [ra of CCD camera 10b in xb direction
d], α1: Container 1 at target position 20 of CCD camera 10a
Xa direction detection angle [rad] of the corner fitting 9 at 9, α 2: container 1 at the target position 20 of the CCD camera 10 b
The detection angle [rad] of the corner fitting 9 in the xb direction [rad], h: the interval [mm] in the winding direction of the container 19 between the CCD cameras 10a, b and the target position 20.

Equation 1 is derived from FIG.

[0045]

(Equation 1)

Solving Equation 1 simultaneously gives x1, x2, h
Is given by Equation 2.

[0047]

(Equation 2)

Similarly, in FIG.
a and 10c, the distance [m between the CCD cameras 10a and 10c in the longitudinal direction (longitudinal direction y) of the hanging member 4;
y1, y3, and h can be calculated based on the distance [mm] between [m] and the corner fitting 4 in the longitudinal direction of the container 19 at the target position 20 (container).

The above processing is performed for each adjacent CCD camera 1
When all the cases are performed for 0a to 10d, (x
1, y1), (x2, y2), (x3, y3), (x
4, y4) and h can be obtained by calculation. Now, for example, the CCD camera 1 in the xyz three-dimensional orthogonal coordinate system
Corner metal 9 of container 19 at target position 20 detected at 0a
Are (xp, yp, zp) and the coordinates of the corner fitting 9 of the container 19 at the target position 20 detected by the CCD camera 10c are (xq, yq, zq).

[0050]

(Equation 3)

Then, from these, the three-dimensional relative position (x,
y, z) and the rotation angle θ in the horizontal plane are given by Expression 4.

[0052]

(Equation 4)

As described above, the three-dimensional relative position (x, y, z) of the container 19 at the target position 20 with respect to the hanging tool 4 and the rotation component θ in the horizontal plane can be obtained by the calculation device 12.

The configuration and operation of the container position detecting device according to the present embodiment have been described above. The container position detecting device according to the present embodiment uses the container 19 at the target position 20 with respect to the hanging device 4 of the container crane 1. The relative position (x, y, z) of the dimension and the rotation component θ in the horizontal plane can be measured.
It can be expected that the positioning operation of the hanger 4 to the container 19 can be automatically realized by feedback control.

More specifically, in a conventional semi-automatic operation system of a container crane, the container 1 on the container ship 2 and the quay 8 which has been manually operated by the operator.
It is possible to automatically perform a handling operation for engaging and disengaging the hook 9 and the hanging member 4.

As described above, a handling operation for engaging and disengaging the container 19 and the hanging member 4 in the container crane 1, particularly, the hanging operation with the container 19 at the target position placed on the container ship 2 or the quay 8. In the handling work for finely adjusting the relative position between the container 19 and the hanging tool 4 for engaging with the tool 4, the cargo handling work of the container crane can be performed with stable work efficiency without depending on the crane operator. Can be expected. Accordingly, the work load on the crane operator is reduced, and the time required for the engagement is shortened. Therefore, the work time can be shortened, the operation efficiency of the container ship 2 can be improved, and the transfer time of the container 19 can be shortened.

Next, FIG. 7 is a diagram showing a second embodiment of the container position detecting device of the present invention, and shows an example of installation of a CCD camera constituting a container position detecting device of the present embodiment on a hanging device. FIG. 7A is a side view showing an example of installation on a 20-foot container hanging device, and FIG.
FIG. 7 (a) is a plan view, FIG. 7 (c) is a side view showing an example of installation on a 40-foot container hanging device, and FIG.
(C) is a plan view, FIG. 8 is a block diagram showing a second embodiment of the container position detecting device of the present invention, and FIG. 9 is a view on a hanging device constituting the second embodiment of the container position detecting device of the present invention. FIG. 10 is a view for explaining a relative positional relationship between a CCD camera and a target position in a horizontal direction and a vertical direction, and FIG. 10 is a view showing a CCD camera on a hanging device constituting a second embodiment of the container position detecting device of the present invention; FIG. 4 is a diagram illustrating a relative positional relationship between a traversing direction and a winding direction of a target position.

In the container position detecting device according to the present embodiment, as shown in FIG. 7, CCD cameras 10b and 10d are respectively installed vertically at any two of the four corners of the hanging member 4, and each of the CCD cameras 10b , 10d correspond to the corner fittings 9 on the upper surface 21 of the container shown in FIG. That is, in FIG. 7, specifically, the CCD cameras are installed only at two corners on the cab 5 side provided on the land side of the trolley 3 of the container crane 1 among the four corners of the hanger 4.

The video signals photographed by the respective CCD cameras 10b and 10d are processed by the respective image processing devices 11b and 11d provided for the respective CCD cameras 10b and 10d as shown in FIG. The center position of each corner fitting 9 on the container upper surface 21 is detected. Further, the detected center position of each corner fitting 9 is processed by the arithmetic unit 12 so that
A three-dimensional relative position of the container 19 of the target position 20 with respect to the target position 20 is calculated.

The container position detecting device of the present embodiment
With the above-described structure, the positioning of the container crane 1 and the hanger 4 of the transfer crane (not shown) is performed. The operation and effect thereof will be described below.

The container position detecting device according to the present embodiment
As in the first embodiment, as shown in FIG. 1, the apparatus functions when the hanging tool 4 reaches a range of about 0.5 to 5 m above the target position 20. That is, when the hanger 4 reaches a range of about 0.5 to 5 m above the container 19 at the target position 20, the CCD camera 10 installed vertically downward at any two of the four corners of the hanger 4 moves to the target position. Two of the corner fittings 9 provided at the four corners of the container 19 are photographed.

A video signal projected by each of the CCD cameras 10b and 10d is supplied to an image processing device 1 provided correspondingly.
1b and 11d, and the image processing device 11
The coordinates of the position of the corner fitting 9 in the field of view of the CD camera 10 (X
2, Y2) and (X4, Y4) are detected. As a method of detecting the coordinates (X2, Y2) and (X4, Y4) of the position of the corner fitting 9, the image data of the corner fitting 9 is photographed and stored in advance as a reference pattern, and the current image data and the reference pattern are stored. And a pattern matching process for detecting a region where the correlation value is maximum as the position of the corner fitting 9 is adopted.

The coordinates (X2, Y2) and (X4, Y4) of the position of each corner fitting 9 detected by the image processing device 11 are sent to the arithmetic device 12, where the target position 20 with respect to the hanging member 4 is determined. The three-dimensional relative position of the container 19 is calculated.

FIG. 9 shows the CCD cameras 10b and 10 on the suspenders constituting the container position detecting device according to the present embodiment.
FIG. 3 is a diagram illustrating a relative positional relationship between d, a target position 20, and a container 19, and a relative positional relationship between a horizontal direction and a vertical direction.
Also, in FIG. 10, the CCD cameras 10b, 1 on the hanging members 4 constituting the container position detecting device of the present embodiment are shown.
The figure explaining the relative positional relationship between 0d and the container 19 of the target position 20 in the transverse direction and the winding direction is shown.

Hereinafter, as an example, FIG. 9 and FIG.
Target position 2 for positions of CCD cameras 10b and 10d
0 of the corner fitting 9 on the container upper surface 21 (x2, y
2) and (x4, y4) and the method of calculating the winding direction distance h are described. In FIG. 9, the origin of the hanger 4 in the horizontal plane is defined as the origin 0, the width direction (horizontal direction) of the hanger is defined as the x-axis, the longitudinal direction (vertical direction) is defined as the y-axis, and the unwinding direction is defined as the z-axis. x
Set the yz three-dimensional orthogonal coordinate system. Also, as shown in the figure, the CCD cameras installed at the four corners of the hanging tool 4 are parallel to the xyz three-dimensional orthogonal coordinate system and the origin is (x
b, yb, 0) xbybzb three-dimensional rectangular coordinate system [unit: mm] and xdydzd whose origin is (xd, yd, 0)
A three-dimensional orthogonal coordinate system [unit: mm] is set.

The explanation of the symbols in FIG. 9 is as follows. D ': CC in the longitudinal direction of the hanging device 4 (vertical direction y)
D camera spacing [mm], W ': spacing of corner fittings 9 in the longitudinal direction of container 19 at target position 20 [mm], x2: container 19 at target position 20 in the xbybzb three-dimensional orthogonal coordinate system of CCD camera 10b. The coordinates [mm] of the corner fitting 9 in the xb direction, y2: the coordinates [mm] of the corner fitting 9 of the container 19 at the target position 20 in the xbybzb three-dimensional orthogonal coordinate system of the CCD camera 10b, x4: the coordinates of the CCD camera 10d The coordinates [mm] of the corner fitting 9 of the container 19 at the target position 20 in the xdydzd three-dimensional rectangular coordinate system in the xd direction, y4: The coordinates of the corner fitting 9 of the container 19 at the target position 20 in the xdydzd three-dimensional rectangular coordinate system of the CCD camera 10d. Coordinates [mm] in yd direction.

The explanation of the symbols in FIG. 10 is as follows. D ': CCD in the longitudinal direction (longitudinal direction y) of the hanging tool
Camera interval [mm], W ': Distance [mm] between corner fittings 9 in the longitudinal direction of container 19 at target position 20, y2: Corner of container 19 at target position 20 in xbybzb three-dimensional orthogonal coordinate system of CCD camera 10b. The coordinates [mm] of the metal fitting 9 in the xb direction, y4: the coordinates [mm] of the corner fitting 9 of the container 19 at the target position 20 in the xdydzd three-dimensional orthogonal coordinate system of the CCD camera 10d, y2: light reception of the CCD camera 10b Image formation position [pixel] of the corner fitting 9 of the container 19 at the target position 20 in the surface yb direction, Y4: Image formation of the corner fitting 9 of the container 19 at the target position 20 in the yd direction on the light receiving surface of the CCD camera 10d. Position [pixel], b2: Length [m] of CCD camera 10b in the light receiving surface direction
m], b4: Length [m of the CCD camera 10d in the light receiving surface yd direction]
m], f2: number of pixels [pixels] in the light receiving surface yb direction of the CCD camera 10b, f4: number of pixels [pixels] in the light receiving surface yd direction of the CCD camera 10d, φ2: viewing angle [ra of the CCD camera 10b in the yb direction]
d], φ4: CCD camera 10d yd viewing angle [ra
d], γ2: Container 1 at target position 20 of CCD camera 10b
The detection angle [rad] of the corner fitting 9 in the yb direction [rad], γ4: Container 1 at the target position 20 of the CCD camera 10d
The detection angle [rad] of the corner fitting 9 in the yd direction [rad], h: the distance [mm] between the CCD cameras 10b and 10d and the winding direction of the container 19 at the target position 20.

From FIG. 10, Equation 5 is derived.

[0069]

(Equation 5)

When Equation 5 is solved simultaneously, y2, y4, and h are given by Equation 6.

[0071]

(Equation 6)

Similarly, x2 and x4 of the CCD cameras 10b and 10d in FIG.

[0073]

(Equation 7)

Here, a2 is the length [m of the CCD camera 10b in the light receiving surface xb direction.
m], a4: Length [m] in the light receiving surface xd direction of the CCD camera 10d
m], g2: number of pixels [pixels] in the light receiving surface xb direction of the CCD camera 10b, g4: number of pixels [pixels] in the light receiving surface xd direction of the CCD camera 10d, β2: viewing angle [ra of the CCD camera 10b in the xb direction]
d], β4: viewing angle of the CCD camera 10d in the xd direction [ra
d], α2: Container 1 at target position 20 of CCD camera 10b
Xb direction detection angle [rad] of the corner fitting 9 at 9, α4: Container 1 at the target position 20 of the CCD camera 10 d
The detection angle [rad] of the corner fitting 9 in the xd direction [rad], h is the distance [mm] between the CCD cameras 10b and 10d and the container 19 at the target position 20 in the winding direction.

Here, since h can be calculated from Equation 6, x
2, x4 can be calculated from Equation 7. Now, the coordinates of the corner fitting 9 of the container 19 at the target position 20 detected by the CCD camera 10b in the xyz three-dimensional orthogonal coordinate system are represented by (xp, y
p, zp), target position 2 detected by CCD camera 10d
0, the coordinates of the corner fitting 9 of the container 19 are (xq, yq, z
q), they can be expressed by Equation 8.

[0076]

(Equation 8)

Then, from these, the three-dimensional relative position (x, y,
z) and the rotation angle θ in the horizontal plane are given by Expression 9.

[0078]

(Equation 9)

As described above, the three-dimensional relative position (x, y, z) of the container 19 at the target position 20 with respect to the hanging device and the rotational component θ in the horizontal plane can be obtained by the calculation device 12.

The configuration and operation of the container position detecting device according to the present embodiment have been described above. The container position detecting device according to the present embodiment uses the container 19 at the target position 20 with respect to the hanging member 4 of the container crane 1. The relative position (x, y, z) of the dimension and the rotation component θ in the horizontal plane can be measured.
It is expected that the positioning operation of the hanging tool 4 with respect to the container 19 can be automatically realized by feedback control.

More specifically, in the semi-automatic operation system of the conventional container crane, the operator manually operates the container 19 on the container ship 2 and the quay 8.
Can be automatically performed.
Thereby, it can be expected that the cargo handling operation of the container crane can be performed with stable operation efficiency regardless of the operator. In the present embodiment, in addition to the effect of obtaining the same effect as the above-described first embodiment, compared to the first embodiment, the CC
Since the number of the D cameras 10 and the number of the image processing apparatuses 11 can be reduced by half, there is an advantage that a merit that cost reduction can be realized is obtained.

[0082]

As described above, the container position detecting apparatus according to the present invention is a CCD which is installed vertically downward on a rectangular hanger, shoots a corner fitting provided on the upper surface of the container, and outputs a video signal. Image processing device that processes the video signal of the corner fitting from the camera and CCD camera and outputs the position signal of the corner fitting on the upper surface of the container. Based on the position signal from the image processing device, the relative position of the hanging fixture and the corner fitting is determined. In order to detect the position and engage the hanging tool and the corner fitting, an arithmetic unit for guiding the hanging tool to the corner fitting position based on the relative position is provided.

As a result, the handling work for engaging the corner fitting and the hanging tool can be performed without operation of the crane operator, and the semi-automation of the crane is facilitated, and the work load on the operator is reduced. can do. In addition, the influence of wind and the like on the loading and unloading of containers, and the influence of the size of containers are reduced, and the handling efficiency, and consequently the loading and unloading time of containers, can be shortened, thereby improving the operating efficiency of container vessels. While being able to
Container transfer time can be reduced.

Further, the container position detecting device of the present invention
CCD cameras are provided at the four corners of the hanging member having a rectangular shape, and photograph each of the four corner fittings on the upper surface of the container,
An image processing device is provided corresponding to each of the CCD cameras, outputs image signals, and performs image processing on the image signals of the four corner fittings on the upper surface of the container from the CCD cameras, thereby obtaining respective position signals of the corner fittings. Perform image processing to output
An arithmetic unit calculates a three-dimensional relative position of the engaging device provided on the hanging device corresponding to each of the four corner fittings based on the position signals of the four corner fittings from the image processing apparatus. Then, in order to engage the hanging tool and the corner fitting, the hanging tool can be guided to each of the four corner fitting positions.

Thus, the engaging devices provided at the four corners of the hanging device are accurately guided to the four corner fittings provided at the four corners of the upper surface of the container. By engaging with the engaging devices provided at the four corners, the container can be stably transferred.

Further, the container position detecting device of the present invention
CCD cameras are provided on the driver's cab side where the crane operator is mounted, are provided at two corners of a rectangular hanging device, take images of two corner fittings provided at two upper corners of the container, and output video signals. An image processing device is provided corresponding to each of the CCD cameras, and performs image processing of image signals of two corner fittings on the upper surface of the container of the CCD camera and outputting respective position signals of the corner fittings. The arithmetic unit calculates the three-dimensional position of the engaging device provided corresponding to each of the two corner fittings based on the position signals of the two corner fittings from the image processing apparatus, and calculates In order to engage with the corner fittings, the hanging tools can be respectively guided to the two corner fitting positions.

Thus, the engagement devices provided at the two corners of the hanging device are accurately guided to the two corner fittings provided at the two corners of the upper surface of the container, and the two corners of the upper surface of the container are brought into contact with the hanging device. By being engaged with the engagement devices provided at the two corners of
The four corners of the upper surface of the container are engaged with the engaging devices provided at the four corners of the hanging tool, so that the container can be stably transferred. Further, the number of CCD cameras and image processing devices constituting the container position detecting device of the present invention can be halved, and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a container crane to be installed according to a first embodiment of a container position detection device of the present invention,

FIGS. 2A and 2B are external views of a container to be measured according to the first embodiment of the container position detecting device of the present invention, wherein FIG. 2A is a plan view, FIG.

FIG. 3 is a diagram showing an example of installation of a CCD camera on a hanging device constituting a first embodiment of the container position detecting device of the present invention, and FIG. 3 (a) shows an example of installation on a 20-foot container hanging device. FIG. 3B is a plan view of FIG.
FIG. 3C is a side view showing an example of installation on a 40-foot container hanging device, FIG. 3D is a plan view of FIG.

FIG. 4 is a block diagram showing a first embodiment of a container position detecting device according to the present invention;

FIG. 5 is a view for explaining a relative positional relationship between a CCD camera on a suspender and a target position in a horizontal direction and a vertical direction, which constitutes the first embodiment of the container position detecting device of the present invention;

FIG. 6 is a view for explaining a relative positional relationship between a CCD camera on a hanger and a traversing direction and a winding direction of a target position, which constitutes the first embodiment of the container position detecting device of the present invention;

FIG. 7 is a diagram showing a second embodiment of the container position detecting device of the present invention, and is a diagram showing an example of installation of a CCD camera constituting a container position detecting device of the present embodiment on a hanging device;
FIG. 7A is a side view showing an example of installation on a 20-foot container hanging device, FIG. 7B is a plan view of FIG.
(C) is a side view showing an example of installation on a 40-foot container hanger, FIG. 7 (d) is a plan view of FIG. 7 (c),

FIG. 8 is a block diagram showing a second embodiment of the container position detecting device according to the present invention;

FIG. 9 is a view for explaining a relative positional relationship between a CCD camera on a hanger and a target position in a horizontal direction and a vertical direction, which constitutes a second embodiment of the container position detecting device of the present invention;

FIG. 10 shows a second embodiment of the container position detecting device according to the present invention.
FIG. 4 is a diagram illustrating a relative positional relationship between a traversing direction and a winding direction of a CCD camera and a target position on a hanging device constituting the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Container crane 2 Container ship 3 Trolley 4 Suspension tool 5 Operator's cab 7 Chassis 8 Wharf 9 Corner fittings 10, 10a, 10b, 10c, 10d CCD camera 11, 11a, 11b, 11c, 11d Image processing device 12 Processing device 14 Ocean side Leg 14 Land side leg 16 Girder 17 Machine room 18 Rail 19 Container 20 Target position 21 Container upper surface

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Noriaki Miyata 4-6-22 Kannonshinmachi, Nishi-ku, Hiroshima City Mitsubishi Heavy Industries, Ltd. Hiroshima Works F-term (reference) 3F204 AA01 BA04 CA01 DA02 DB07 DB09 DC08

Claims (3)

[Claims] 1. An image of a corner fitting provided on a rectangular hanging device provided on a container crane or a transfer crane vertically downward and provided on the upper surface of a container loaded on a container ship or the upper surface of a container on a container terminal. A CCD camera, an image processing device that performs image processing on a video signal from the CCD camera to detect a position of the corner fitting on the container upper surface, and a position of the corner fitting on the container upper surface detected by the image processing device. And a calculating device for calculating a three-dimensional position of the upper surface of the container with respect to the hanging tool. 2. The container according to claim 1, wherein the CCD cameras are provided at four corners of the hanging device, and four corner fittings provided at four corners of the container upper surface are photographed respectively. 2. The container position detecting device according to claim 1, further comprising a calculating device for calculating a three-dimensional position of the upper surface of the container with respect to the hanging device based on the positions of the four corner fittings. 3. The CCD camera is provided at two corners of the hanging device provided on the cab side where a crane operator is mounted, and two corners provided at two corners of the upper surface of the container on the cab side. An arithmetic unit for photographing each metal fitting and calculating a three-dimensional position of the upper surface of the container with respect to the hanging tool based on the positions of the two corner metal fittings detected by the image processing device is provided. 1. Container position detecting device.