JP2007230707A - Monitoring system for port - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring system for a port capable of reducing facility cost. <P>SOLUTION: This monitoring system is characterized by having a yard crane 3 having at least two cameras 4a and 4c separately arranged in either one of the front side and the rear side in the advancing direction and photographing the other, and at least two cameras 4b and 4d separately arranged in the other and photographing the one. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a port monitoring system used for monitoring, for example, a container yard in a container terminal.

In the container yard, a yard crane and a chassis are used for container handling. In order to check the position of these yard cranes and chassis, etc. for efficient operation and to prevent collision accidents of yard cranes and chassis, a container yard is provided with a port monitoring system.
The port monitoring system is also used to prevent unsafe behavior of workers in the container yard and to prevent a suspicious person from entering the container yard.
As such a harbor monitoring system, there are those described in Patent Documents 1 and 2, for example.
JP 2005-239357 A JP 2005-280940 A

The yard crane of the harbor surveillance system disclosed in Patent Document 1 is equipped with a plurality of surveillance cameras. And the picked-up image image | photographed with these surveillance cameras is utilized only for monitoring the surrounding condition. Therefore, in order to measure the distance between the yard cranes, there is a problem that an expensive distance measuring device is required and the equipment cost increases.
In addition, the container terminal management system disclosed in Patent Document 2 is intended to monitor the storage state of containers. When managing the position of a yard crane that moves in a yard, the yard crane is a single camera. When another yard crane is hidden behind the camera, it cannot be recognized, and the processing is complicated, for example, it is necessary to perform processing that matches the image of a separately installed camera.

  This invention is made | formed in view of the said subject, and aims at providing the monitoring system for harbors which can aim at reduction of an installation cost.

The present invention employs the following means in order to solve the above problems.
The port monitoring system according to the present invention is provided at least two cameras which are provided separately on either the front side or the rear side in the traveling direction and photograph the other, and are provided separately on the other side. And a yard crane having at least two cameras for photographing the one.
According to such a port monitoring system, the yard cranes arranged adjacent to each other can be calculated using a calculation formula based on the principle of binocular parallax (stereo vision) using at least two relatively inexpensive cameras. Therefore, an expensive distance measuring device that measures only the distance between the yard cranes can be eliminated, and the cost can be reduced.
In addition, using these cameras, for example, it is possible to obtain information such as the status of cargo handling work in the container yard and the presence / absence of unsafe actors / suspicious persons. Since it can be used for monitoring a suspicious person, cargo handling efficiency can be improved, accidents in the container yard can be prevented, and security in the container yard can be improved.

In the harbor monitoring system described above, it is more preferable that an identification marker is attached to a position of the adjacently arranged yard crane that can be photographed by the camera.
According to such a harbor monitoring system, since the size of the identification marker (or the size of the identification number and / or the identification figure drawn on the identification marker) and the installation location (position) are known in advance, The distance from the camera to the identification marker (that is, the distance between the yard cranes) can be measured more accurately, and the collision between the yard cranes can be more reliably prevented.

In the harbor monitoring system, it is further preferable that an identification marker is attached to a front surface of a chassis that conveys a container delivered to and from the yard crane and at a position where the camera can take a picture. It is.
According to such a harbor monitoring system, the identification marker (or the identification number and / or identification figure drawn on the identification marker) is photographed with a camera and the chassis is specified, so that the yard crane and the container are delivered. If a chassis that does not carry out an accident, or a chassis that has entered accidentally approaches, the chassis can be passed through without stopping temporarily under the yard crane. A decrease can be prevented.

In the harbor monitoring system, it is more preferable that a warning sound is generated when a suspicious person is photographed by the camera.
According to such a harbor monitoring system, a suspicious person can be detected and captured at an early stage, and the security in the container yard can be further improved.

In the port monitoring system described above, in cooperation with the port cargo handling work management system, the presence or absence of cargo handling work in the monitored area is grasped in advance, and the necessity of entry of workers or work equipment into the monitored area It is more preferable that it is constructed so that it can be grasped in advance.
According to such a port monitoring system, it is possible to determine in advance the necessity of an operator, a yard crane, a chassis, or other work equipment entering the monitoring target area. In this case, it is possible to more accurately determine whether or not this is an unauthorized intrusion.

In the port monitoring system described above, it is more preferable that images at each time taken by the camera are stored and these images are managed in time series.
According to such a monitoring system for harbors, when an intruder or an intruding object is detected by a camera attached to a certain yard crane, the intruder or the intruding object is checked by collating with a record of a monitoring image of another yard crane. The trajectory that has been moved can be reproduced along the time, and the security of the port can be improved.

  According to the present invention, there is an effect that it is possible to reduce the facility cost related to the safety and security of cargo handling work at a port.

Hereinafter, a first embodiment of a harbor monitoring system according to the present invention will be described with reference to FIGS.
The port monitoring system according to the present embodiment is used for monitoring, for example, a container yard 1 in which the container C is stored in the container terminal T shown in the overhead view of FIG.

First, the container yard 1 to which the harbor monitoring system according to the present embodiment is applied will be described in detail.
As shown in FIG. 1, the container yard 1 is provided with a plurality of strip-like container installation spaces S in parallel. Here, although a part is omitted in FIG. 1, a total of 11 rows of container installation spaces S are provided in this embodiment.
In each container installation space S, the containers C are aligned and arranged in the longitudinal direction and the short direction of the container installation space S with the long sides substantially parallel to the longitudinal direction of the container installation space S. In addition, a plurality of stages can be stacked in the vertical direction as necessary.
Here, in each container installation space S, the container C is arranged with a gap between the container C adjacent to the short side direction.

  In the container yard 1, a plurality of chassis 2 are operated as a transfer device (transfer machine) for transferring the container C. Further, in the container yard 1, a plurality of transfer cranes 3 (yard cranes) are operated as a cargo handling device that transports the container C and unloads the container C to and from the chassis 2.

  The port monitoring system according to the present embodiment includes a camera 4a to 4d (see FIG. 2) attached to each transfer crane 3, and a cargo handling and transportation in the container yard 1 obtained from captured images of these cameras 4a to 4d. Images taken by the cameras 4a to 4d between the base station 5 that centrally manages information such as work status and the presence / absence of unsafe activists / suspicious persons, and each cargo handling / conveying device and the base station 5 It has a communication facility (not shown) for transmitting and receiving various information such as operation commands to the cargo handling / conveying equipment.

In the present embodiment, as a communication facility, a radio communication device (not shown) is provided for each of the base station 5 and each cargo handling / conveying device.
In the container yard 1, for example, coaxial leakage cables (not shown) are laid along the longitudinal direction of each container installation space S. The radio communication device of the base station 5 is configured to use the coaxial leaky cable as a transmission / reception antenna, and thereby, between the base station 5 and each cargo handling / conveying device throughout the container yard 1. Wireless communication can be performed.

Next, details of the harbor monitoring system according to the present embodiment will be described.
First, the transfer crane 3 will be described.
In the present embodiment, the transfer crane 3 is a remote operation type transfer crane that is remotely operated by an operator stationed at the base station 5 using communication equipment. Further, the transfer crane 3 is an automatic operation type transfer crane 3 that can be automatically moved in the container yard 1 in accordance with a command of a control device provided in the base station 5. The container yard 1 can be patrolled even during times when cargo handling is not performed.

The transfer crane 3 has a pair of traveling aircraft bodies 11 as shown in the side view of FIG. 3, and the upper sides of the pair of traveling aircraft bodies 11 are connected to each other by a girder 12 as shown in the plan view of FIG. 2. It has a portal structure. The transfer crane 3 is movable in a direction substantially perpendicular to the arrangement direction of the traveling machine bodies 11, and can move in a state of straddling the container C stored in the container yard 1.
The transfer crane 3 is configured to be movable in any direction substantially orthogonal to the arrangement direction of the traveling machine bodies 11.

  The traveling machine body 11 includes a pair of leg portions 11a and 11b arranged along the traveling direction, an upper beam portion 11c connecting the upper portions of the leg portions 11a and 11b, and a lower portion of the leg portions 11a and 11b. And a lower girder portion 11d to be connected. A plurality of wheels 11e fitted with rubber tires are provided in the lower part of the traveling machine body 11, and the transfer crane 3 can move in the container yard 1 using the wheels 11e. That is, in this embodiment, RTG (Rubber Tired Gantry Crane) is used as the transfer crane 3.

The girder 12 has a trolley 13 that can move on the girder 12 in the arrangement direction of the traveling machine bodies 11 (a direction substantially orthogonal to the moving direction of the transfer crane 3), and a container C suspended from the trolley 13. A hanger 14 to be fixed and a hoisting device (not shown) for hoisting and lowering the hanger 14 with respect to the trolley 13 are provided.
And the transfer crane 3 hold | maintains the container C with the hanging tool 14, raises / lowers the container C by hoisting / lowering the hanging tool 14 with a hoisting device, and moves the trolley 13 to be described later. The container C is moved between the container installation space S and the cargo handling lane L1, and the container C is transferred between the container installation space S of the container yard 1 and the chassis 2.

Here, as shown in FIG. 2, a pair of crane passages W <b> 1 and W <b> 2 extending along the longitudinal direction of the container installation space S are provided on both sides of each container installation space S.
Between these crane passages W1 and W2, a traffic lane L1 is provided between one crane passage W1 and the container installation space S so as to be substantially parallel to the crane passage W1. A cargo handling lane L2 is provided between the container installation space S and the container installation space S.

The crane passages W1 and W2 are passages through which the traveling machine body 11 of the transfer crane 3 having a portal structure passes. The transfer crane 3 is configured such that one traveling machine body 11 is located in the crane passage W1 provided on both sides of the container installation space S and the other traveling machine body 11 is located in the crane passage W2 (that is, the container installation space). (In a state straddling S, the traffic lane L1, and the cargo handling lane L2), it moves in the longitudinal direction of the container installation space S.
The traffic lane L1 is a passage through which the chassis 2 carrying the container C passes, and the cargo handling lane L2 is a space where the chassis 2 is stopped when cargo handling to the chassis 2 is performed.

  Of the traveling machine body 11 of the transfer crane 3, the traveling machine body 11 that moves on the crane passage W1 is provided with a first camera 4a and a second camera 4b, and the traveling machine body 11 that moves on the crane passage W2. Are provided with a third camera 4c and a fourth camera 4d. The first camera 4a and the third camera 4c are attached to the lower part of the one leg part 11a of the traveling machine body 11 and at a position for photographing the other leg part 11b side, and the second camera 4b and The 4th camera 4d is attached to the position which image | photographs the one leg part 11a side under the other leg part 11b of the traveling body 11. That is, the first camera 4a to the fourth camera 4d are configured to photograph one side and the other side in the traveling direction of the transfer crane 3, respectively, and further, the first camera 4a and the second camera 4d. The area between the camera 4b and the area between the third camera 4c and the fourth camera 4d can also be photographed.

Here, in FIGS. 2 and 3, the shooting ranges of the first camera 4a and the third camera c are indicated by broken lines.
As shown in FIG. 3, the first camera 4 a (and the third camera 4 c) has a direction in which not only the front side or the rear side in the traveling direction of the transfer crane 3 but also the feet of the traveling machine body 11 are within the imaging range. It is installed. Further, as shown in FIG. 2, the first camera 4a and the third camera 4c are not only the front in the traveling direction of the transfer crane 3, but also the traffic lane L1, the cargo handling lane L2, on the front side or the rear side in the traveling direction. In addition, the container installation space S is also installed in a direction that falls within the photographing range.

Similarly, in FIGS. 2 and 3, the shooting ranges of the first camera 4 a and the third camera c are indicated by alternate long and short dash lines.
As shown in FIG. 3, the second camera 4 b (and the fourth camera 4 d) is oriented such that not only the front side or the rear side in the traveling direction of the transfer crane 3 but also the feet of the traveling machine body 11 are within the imaging range. It is installed. Further, as shown in FIG. 2, the second camera 4b and the fourth camera 4d are not only the front in the traveling direction of the transfer crane 3, but also the traffic lane L1, the cargo handling lane L2, on the front side or the rear side in the traveling direction. In addition, the container installation space S is also installed in a direction that falls within the photographing range.

Thus, a total of four cameras 4 a to 4 d are installed in one transfer crane 3.
The captured images of the cameras 4a to 4d are converted into VHF radio waves (or radio waves in other frequency bands) by a wireless communication device provided in the transfer crane 3, and transmitted.

  On the other hand, on the legs 11a and 11b of the transfer crane 3, for example, identification markers 20 as shown in FIG. The other cranes 4a to 4d of the transfer crane 3 are attached at positions where they can be captured (captured). The identification marker 20 includes an identification number 21 that identifies the transfer crane 3 and an identification graphic 22 that is used to measure the distance from the cameras 4 a to 4 d to the identification marker 20. The identification figure 22 is not limited to the shape shown in FIG. 4, and may be a polygon or a star as long as it is a figure that can be easily processed for distance measurement such as calculation of center of gravity coordinates.

Next, a measurement method for measuring the distance from the cameras 4a to 4d to the identification marker 20 will be described with reference to FIG.
In the present invention, of the cameras 4a to 4d, two cameras (for example, a second camera attached to the leg portion 11a) attached to the leg portions 11a and 11b on the same side (the front side or the rear side in the traveling direction). 4b and the fourth camera 4d) can be used to measure the distance from these cameras to the identification marker 20 (that is, the distance between the transfer cranes 3) y1. This distance y1 is calculated based on the principle of the so-called binocular parallax method (stereo vision method) (that is, the parallax is calculated from moving images photographed by at least two cameras arranged at predetermined intervals, and this is expressed in three-dimensional coordinates Based on what is used as the Z-axis, in other words, based on images observed from at least two different points separated by a predetermined distance, a method for measuring the distance to the observation object in a passive three-dimensional space) It can be easily calculated by using an equation.
y1 = fx (L / (X1-X2))
Here, f is the focal length of the camera (the cameras having the same characteristics are used in this embodiment, so the focal length of each camera is the same), and L is the inter-camera distance (the second camera 4b in this embodiment). X1 is the position of the second camera 4b on the x coordinate, and X2 is the position of the fourth camera 4d on the x coordinate.

Since the size of the identification figure can be determined in advance, the distance between the transfer cranes 3 can be roughly grasped from the size of the identification figure reflected in the image even with a single camera, but by applying the binocular parallax method, It can be measured more accurately.
Also, even when an unknown foreign object exists in the container yard, the distance can be measured more accurately than in the case of a single camera by the principle of the binocular parallax method.
If the camera is installed at a fixed point in the yard, the transfer crane 3 may not be able to measure the distance by blocking another transfer crane 3, or it may not be possible to measure without processing images from multiple cameras, and the processing may be complicated. By installing the camera on the transfer crane 3, the mutual distance can be measured without any obstacles. Further, even when there is a foreign object between the two transfer cranes 3, the distance can be measured without obstructing the field of view.
In addition, when the distance between the transfer cranes 3 approaches a predetermined threshold value or less, the rotation lamp attached to the transfer crane 3 is rotated and the port monitoring system is configured to sound the siren attached to the transfer crane 3. Can be configured (constructed).

In the harbor monitoring system configured as described above, the safety in the container yard 1 can be improved because it can be measured more accurately using a camera that measures the distance between the transfer cranes 3.
The distance between the transfer cranes 3 is a relatively inexpensive 2 that is attached to an identification marker 20 attached to one transfer crane 3 and another transfer crane 3 arranged adjacent to the transfer crane 3. Therefore, an expensive distance measuring device that measures only the distance between the transfer cranes 3 can be dispensed with, and the cost can be reduced.

Further, since the transfer crane 3 is an automatic operation type transfer crane 3 that can automatically move in the container yard 1, the transfer crane 3 can be circulated in the container yard 1 while not handling cargo. For example, it is possible to monitor a place where cargo handling is not performed. Moreover, if it is set as the structure which makes the transfer crane 3 patrol in the time slot | zone when cargo handling is not performed, for example at night, the monitoring of the container yard 1 can be performed for 24 hours.
Furthermore, the cameras 4a to 4d are provided on the transfer crane 3 that moves on the container yard 1 and can photograph various ranges as the transfer crane 3 moves. Compared with the case where a monitoring camera is provided in the camera 4, the blind spots of the cameras 4 a to 4 d are small, and the container yard 1 can be monitored more reliably.

  Furthermore, the transfer crane 3 includes a second camera 4b and a fourth camera 4d that are provided below the one leg 11a of the traveling machine body 11 and photograph the other leg 11b, and the other leg. There are provided a first camera 4a and a third camera 4c which are provided at the lower part of 11b and shoot the one leg 11a side. That is, the one side and the other side of the moving direction of the transfer crane 3 are photographed by these cameras 4a to 4d, respectively, and further, between the first camera 4a and the second camera 4b. The area and the area between the third camera 4c and the fourth camera 4d are also photographed. As a result, the blind spots of the cameras 4a to 4d can be reduced to ensure monitoring.

Furthermore, in the above-described embodiment, the distance between the transfer cranes 3 is measured using two cameras, but the present invention is not limited to this, and three or more cameras are used. It can also be configured to measure the distance between the transfer cranes 3. Thereby, the distance between the transfer cranes 3 can be measured with higher accuracy.
Furthermore, in the above-described embodiment, an example in which the transfer crane 3 is the RTG is shown. However, the present invention is not limited to this, and as the transfer crane 3, for example, a rail laid in the container yard 1 A transfer crane using any other moving device such as an RMGC (Rail Mounted Gantry Crane) that moves up can be used.
Furthermore, in the above-described embodiment, an example in which the cameras 4a to 4d are provided in the transfer crane 3 that transfers the container C between the container installation space S and the chassis 2 has been described, but the present invention is not limited thereto. The cameras 4a to 4d may be provided in other yard cranes such as a straddle carrier that handles the container C in the container yard T.

Furthermore, in the above-described embodiment, the example in which the shooting directions of the cameras 4a to 4d are fixed is shown, but the present invention is not limited to this, and the shooting range is changed to the cameras 4a to 4d. A tilt function or a pan function may be provided, or a zoom function may be provided. In this case, the operation of the cameras 4a to 4d is performed by a remote operation by an operator stationed in the monitoring room of the base station 5.
Furthermore, in the above-described embodiment, wireless communication using a coaxial leakage cable as a communication facility for transmitting and receiving various types of information between each cargo handling / conveying device including the transfer crane 3 and the base station 5. However, the present invention is not limited to this, and any wireless communication facility such as an SS wireless LAN using the 2.4 GHz band can be used.

A second embodiment according to the present invention will be described with reference to FIG.
More preferably, the identification marker 20 is attached to the front surface of the chassis 2 traveling in the traffic lane L1 or the cargo handling lane L2. Thus, by linking the port monitoring system with the cargo handling work management system, the identification number 21 of the chassis 2 on which cargo handling is performed by the transfer crane 3 can be grasped in advance.
Further, by photographing the identification marker 20 attached to the chassis 2 with the cameras 4a to 4d, the camera enters the chassis 2 that does not deliver the transfer crane 3 and the container C, or the wrong passing lane L1 or cargo handling lane L2. It is possible to easily recognize (identify) the chassis 2 and the like that have passed, and when these chassis 2 approach, the chassis 2 is passed through without being temporarily stopped below the transfer crane 3. Therefore, it is possible to prevent a decrease in cargo handling efficiency.
Further, the chassis 2 that is not handled by the transfer crane 3 can be given a warning or an instruction to the driver of the chassis 2 by using wireless communication means from the monitoring room of the base station 5. .

Furthermore, in the area where the transfer crane 3 exists (that is, the container installation space S), whether or not the cargo handling work is performed in the time zone is as follows: (1) Each container ship (2) It is planned in advance where the container to be loaded on the container ship is stored, and this is recorded in the cargo handling management system. 3) It is planned in advance where the containers unloaded from the container ship will be stored in the yard, and this is recorded in the cargo handling management system. Where the container is stored in the yard and the container unloaded from the container ship Once you have obtained the information of where to what is stored in the soil, it is possible to grasp the fact that if the cargo handling operation is performed from anywhere in what time of the yard until what time.
In addition, the unloading / carrying-in work from the gate is not as clear as the container ship, so the presence / absence of the carrying-out / carrying-in work should be judged by the time when the gate is open and the time when the gate is closed. become. In this case as well, (1) where the container to be loaded on the container ship is stored is planned in advance, and this is recorded in the cargo handling management system, and (2) the container ship is unloaded. Since the location where the container is stored in the yard is planned in advance, and this is recorded in the cargo handling management system, when this information is obtained, from where to what time in the yard can be carried out. You can see if it will be done. However, it is uncertain how many days and when the chassis for carrying in and out the container will arrive, and in general, it will arrive for one to two weeks before and after the container ship enters and leaves the port. is there. Therefore, when a person or a vehicle enters even though the gate is closed in the container installation space for unloading / carrying in, it can be determined that the person is a suspicious person / suspicious object.
As a result, the possibility of a suspicious person / suspicious object can be considered immediately if there is an entry of a person / vehicle, etc., during the time period when the worker or vehicle does not enter the area. Can be improved. And when a suspicious person is image | photographed, it is still more suitable if the monitoring system for harbors is comprised so that the alarm installed in the monitoring room of the base station 5 may sound.
In general, the container ship cargo handling work and the unloading / carrying-in work from the gate are not performed at the same time in the same container installation space. This is because if the cargo handling work of the container ship and the carry-out / carry-in work from the gate are performed at the same time, the movement of the chassis, the transfer crane, etc. will be congested and the work efficiency will be reduced.
The presence / absence of cargo handling work is grasped by a computer of a cargo handling management system (or a port monitoring system) or an operator stationed in a monitoring room of a base station. When the port monitoring system receives information held by the operator (in charge of cargo handling work) stationed in the cargo handling management system or the monitoring room of the base station, it can be used to improve security in the container yard. Furthermore, a suitable system can be configured (constructed).

It is more preferable that the harbor monitoring system according to the present invention is configured to record and manage images taken by the cameras 4a to 4d of the plurality of transfer cranes 3 in time series for each camera.
Thereby, when the suspicious person and the suspicious object are reflected in the cameras 4a to 4d of a certain transfer crane 3, the suspicious person and the suspicious object are checked by collating with images taken by the cameras 4a to 4d of the other transfer crane 3. How the object has moved can be reproduced over time, and the security in the container yard 1 can be further improved.

It is a bird's-eye view which shows the container terminal to which the monitoring system for harbors concerning one Embodiment of this invention is applied. It is a top view of the transfer crane shown in FIG. It is a side view of the transfer crane shown in FIG. It is a front view of the identification marker attached to the leg part of a transfer crane. It is a figure for demonstrating the measuring method which measures the distance from a camera to an identification marker. It is a figure for demonstrating the operation | movement at the time of installing an identification marker in a chassis.

Explanation of symbols

2 Chassis 3 Transfer crane (yard crane)
4a 1st camera 4b 2nd camera 4c 3rd camera 4d 4th camera 20 Identification marker C Container

Claims (6)

  At least two cameras that are provided separately on either the front side or the rear side in the traveling direction and shoot the other, and at least two cameras that are provided separately on the other and shoot the one A harbor monitoring system comprising a yard crane having two cameras.   The harbor monitoring system according to claim 1, wherein an identification marker is attached to a position of an adjacently arranged yard crane that can be photographed by the camera.   2. The identification marker according to claim 1, wherein an identification marker is attached to a front surface of a chassis that conveys a container delivered to and from the yard crane and at a position where the camera can take a picture. Harbor surveillance system.   4. The harbor monitoring system according to claim 1, wherein an alarm sound is generated when a suspicious person is photographed by the camera. 5.   In cooperation with the management system for cargo handling work at the port, it is possible to grasp in advance whether or not there is a cargo handling work in the monitored area and to know in advance whether or not an operator or work equipment should enter the monitored area. The port monitoring system according to any one of claims 1 to 4, wherein the port monitoring system is constructed as described above.   The harbor monitoring system according to any one of claims 1 to 5, wherein images at each time taken by the camera are stored, and these images are managed in time series.

Images