JP4421352B2 - Container spreader positioning display device - Google Patents

Description

  The present invention relates to a container spreader positioning display device, and in particular, a container spreader positioning display for efficiently positioning a container spreader suspended from a trolley provided on a crane with respect to a storage container, a storage mark written on the ground or a chassis. Relates to the device.

  A crane that handles containers mainly traverses along a yard crane that runs along a rail provided in a container yard or a yard crane that has a tire at the bottom, and a garter that has an upper part of the yard crane. It is composed of a trolley and a container spreader suspended from the trolley. The trolley is provided with a cab, and an operator looks down from the cab and visually recognizes the position of the container, chassis, and storage mark for storing the container in the container yard, and performs cargo handling.

Then, a CCD camera is installed vertically downward on the container spreader, the corner bracket on the upper surface of the container is imaged, the image signal of the captured video signal is processed, the center position of the corner bracket is calculated, and the result of this calculation is applied to the container spreader. There is an apparatus that can automatically align a container spreader with a container by obtaining a three-dimensional relative position of the container at the target position (see Patent Document 1).
JP 2001-97670 A

  By the way, since the length of the container for marine transportation in the longitudinal direction is about 6 to 12 m, the length in the longitudinal direction of the chassis and the storage mark is also about 6 to 12 m. For this reason, in order for the operator to see the storage container, the storage mark written on the ground, or both corners of the chassis, there is a problem that the line of sight must always be moved from side to side at a considerable angle. In addition, the operator cannot handle the container unless he / she is sitting on the chair in the operator's cab and looks down, and the operator tends to get tired because he / she keeps an unnatural posture.

  In addition, there is no method for quantitatively judging the skew even though the position of the container spreader and the storage container, the storage mark written on the ground or the chassis is shifted due to a slight skew. For this reason, there is a problem that it is difficult to carry out cargo handling work unless it is a skilled operator.

  Further, when cargo handling is performed in the valley of the storage container stored in the container yard, there is a problem that the field of view of the operator is limited because the storage container is located on both sides of the container spreader. For this reason, in the operation in the valley, there is a possibility that the container spreader or the handling container and the storage container come into contact with each other during winding and lowering, and there is a possibility that the container spreader or the container is damaged. In addition, since it is difficult to confirm the loading position after placing the container in the valley, there is a problem that a safe and efficient cargo handling operation cannot be performed unless a skilled operator.

  Also, when placing a container on the chassis, especially when placing on a foreign chassis, it is necessary to place the container corner on the pin installed in the corner of the chassis, but the pin is small compared to the distance from the cab. It was difficult to see from the cab and it was difficult to align.

  Further, the position detection device disclosed in Patent Document 1 functions when the container spreader reaches about 0.5 to 5 m above the container, and therefore does not function when the distance between the container spreader and the container is 5 m or more. . Therefore, the operator has to manually bring the container spreader close to about 5 m from the container, so that the unloading work is performed in an unnatural posture or the container spreader and handling container are stored in the storage container. It has the above-mentioned problems such as the possibility of contact with the container.

The present invention has been made to solve the above-described problems. The container spreader, the storage container, the storage mark, and the chassis are accurately positioned to perform cargo handling efficiently and reduce operator fatigue. An object of the present invention is to provide a container spreader positioning display device.

In order to achieve the above object, a container spreader positioning display device according to the present invention is a loading container installation location obtained by installing imaging means for imaging the lower side from a trolley of a crane handling a container. A display unit that cuts out an image including both corners of the storage container, the storage mark on the ground, or the chassis, and displays the image by arranging them symmetrically, the mark of the locus of the spreader corner, and the locus of the spreader corner It is characterized in that a locus generation unit is provided for displaying a mark of an allowable value of deviation at the time of deviation on the display unit.

  And an error detection unit that detects an error in a traverse direction, a traveling direction, and a skew between the trolley and the container spreader, and includes a correction unit for correcting the container lifting guide locus displayed on the display unit by the error detection unit. It is characterized by that.

  In addition, a distance measuring unit that measures the pile height of the storage container is provided, and the remaining distance of container unloading is displayed on the display unit based on the measured distance.

  The container spreader positioning display device according to the present invention as described above is written on the container and the ground when the horizontal direction of the trolley and the container spreader, that is, the transverse direction, the traveling direction, and the skew deviation amount are larger than the allowable values. Since the storage mark and the corners of the chassis are not displayed symmetrically, the operator can check whether or not a deviation has occurred by checking the video displayed on the display unit. In addition, by operating the crane, trolley and container spreader, align the mark (container lifting guide trajectory) displayed on the display unit with the corners of the container, storage mark or chassis, as well as both corners of the container, storage mark or chassis. If the image of the part is displayed symmetrically, it is possible to accurately align the position of the important container spreader during cargo handling.

  Further, an error (displacement) in the horizontal direction may occur between the trolley and the container spreader due to a shake generated between the container spreader and the trolley, an extension of the rope, or the like. In order to quantitatively measure this error and correct the position of the mark, an error detection unit and a correction unit are provided. Thus, the error detecting unit can quantitatively detect the error between the trolley and the container spreader, and the position of the mark can be corrected based on the detected error amount. Therefore, the position of the container spreader can be adjusted more accurately.

  In addition, by calculating the distance from the container spreader to the storage container, the ground or the chassis, and combining and displaying this distance on the display unit, the operator simply confirms the display unit and the container spreader and storage container, the ground or the chassis. Can be confirmed.

Hereinafter, a preferred embodiment of a container spreader positioning display device according to the present invention will be described.
First, the first embodiment will be described. FIG. 1 shows a front view showing an outline of a yard crane provided with a container spreader positioning display device, and an explanatory diagram when an image taken by an imaging means is displayed on a display unit. The figure shown on the left side of FIG. 1 shows an outline of the yard crane, and the figure shown on the right side shows an image displayed on the display unit. FIG. 1A shows an image of the storage container, FIG. 1B shows an image of the storage mark, and FIG. 1C shows an image of the chassis. FIG. 2 is a block diagram of the container spreader positioning display device.

  The yard crane 10 has a portal crane structure that travels in the container yard 12. A trolley 16 that traverses along the garter 14 is provided on the garter 14 that lays the upper portion of the portal crane. A container spreader 18 as a hanging tool is suspended from the trolley 16 by a winding drum (not shown) so as to be lifted and lowered via a wire. The container spreader 18 is connected to the top plate portion of the container 20 and serves as a jig for lifting the container 20. The trolley 16 is provided with a cab, and an operator performs operations such as running the yard crane 10, traversing the trolley 16, and raising and lowering the container spreader 18.

  Such a yard crane 10 is provided with a container spreader positioning display device 30 including an imaging means 22, a locus generation unit 24, a video processing unit 26 and a display unit 28. The image pickup means 22 images the container 20 below the trolley 16, the container yard 12, the storage mark 32 serving as a mark for storing the container 20, and the chassis 34 that carries the container 20. The image pickup means 22 is directed downward, and when the horizontal direction of the trolley 16 and the container spreader 18, that is, when the running direction, the transverse direction, and the skew deviation are less than the allowable values, the container 20 below the container spreader 18 is stored. The trolley 16 is provided so as to image both corners of the mark 32 or the chassis 34. For this reason, the imaging means 22 has an angle of view for imaging one side in the longitudinal direction of the container 20, one side connecting the storage marks 32 in the longitudinal direction, and one side in the longitudinal direction of the chassis 34. When the angle of view of the image pickup means 22 is small and one image pickup means 22 cannot pick up images, the two image pickup means 22 are connected to the container 20 below the container spreader 18, the storage mark 32, or both corners of the chassis 34 (hereinafter referred to as “the image pickup means 22”). The trolley 16 may be provided so as to image a target portion). Further, the image pickup means 22 may be provided with a zoom function.

  In addition, the locus generation unit 24 detects the locus of the corner portion of the container spreader 18 when the container spreader 18 is moved up and down, and the displacement when the container spreader 18 is displaced with respect to the container 20, the storage mark 32, or the chassis 34 (positioning target). The image of the mark (container raising / lowering guide locus) and / or one of the permissible values is generated.

  A video processing unit 26 is connected to the output side of the imaging means 22 and the locus generation unit 24. Since the image pickup means 22 is picking up the target portion, only the target portion is cut out at the same angle of view in the video processing portion 26, and the mark generated by the trajectory generation portion 24 is combined with the cut out video. In addition, when the target part is imaged by the imaging unit 22 in two units, the cutting step may not be performed.

  A display unit 28 is connected to the output side of the video processing unit 26. The display unit 28 is provided in the driver's cab at a position that is easy for the operator to see. The display unit 28 displays the respective corners of the target unit cut out by the video processing unit 26 side by side. In other words, a corner image is cut out from the entire image of the container 20, the storage mark 32, or the chassis 34, and is displayed as an image in which the middle of the storage mark 32 or the chassis 34 is omitted.

  Next, the operation of the container spreader positioning display device 30 will be described. First, the container spreader 18 is moved above the positioning target. Then, the imaging unit 22 images the positioning target. At this time, if the image pickup means 22 is provided with a zoom function, it can be controlled to wide angle or telephoto according to the distance to the positioning target. FIG. 3 shows an explanatory diagram of an image displayed on the display unit 28 when the container 20 is imaged with a zoom function. 3A and 3B show an image when displayed at a wide angle, and FIG. 3C shows an image when imaged at a telephoto position. When the zoom function is provided, when handling a target portion close to the trolley 16, the wide angle is used (see FIG. 3A), and when handling a target portion far from the trolley 16, the telephoto is set (see FIG. 3C). do it. Moreover, what is necessary is just to make it a wide angle when confirming the whole positioning object (refer FIG.3 (b)). When two imaging units are provided on the trolley 16 and the target unit is imaged, the imaging magnifications of the respective imaging units 22 may be the same.

  Further, the generation of the container lifting guide locus is performed as follows. First, the container spreader 18 is accurately positioned with respect to the target portion, and the amount of positional deviation between the container spreader 18 and the target portion is made zero. Then, the container spreader 18 is rolled up from the state in which the container spreader 18 is in contact with the target portion, and the position (trajectory) through which the corner portion of the container spreader 18 passes on the image displayed on the display unit 28 is confirmed. By connecting the positions through which the 18 corners of the container spreader pass with a straight line, the position of the mark with zero displacement on the display unit 28 is obtained. By measuring the start point and end point positions (coordinates) of the mark and inputting the measurement data to the trajectory generator 24, a mark with zero deviation is generated. If the imaging magnification of the imaging means 22 is the same and the container spreader 18 is accurately aligned with the target portion, the corner portion of the container spreader 18 always moves on the mark where the deviation amount is zero. . Accordingly, the trajectory generation unit 24 may store the coordinates of the mark, read the coordinates for each cargo handling, and generate the mark. Further, by storing the coordinates of the mark at a plurality of imaging magnifications, the mark can be generated according to the imaging magnification of the imaging means 22. The mark may be directly written on the display unit 28.

  The shape of the mark is, for example, a straight line or an L-shaped symbol displayed at a certain interval on the locus of the 18 corners of the container spreader. Further, in order to make the mark easy to recognize or to make positioning accurate, the color of the mark may be changed, the shape may be changed, blinking, or a movement may be performed according to the type of the target portion. . When the mark is blinked or a motion is given, an animation generation device (not shown) is provided in the trajectory generation unit 24, and an image such as blinking or movement of the mark may be generated by the animation generation device. . FIG. 4 shows an explanatory diagram when the mark blinks or a movement is given. Each figure in FIG. 4 illustrates that the target position is made conspicuous by blinking the mark or giving a motion, and FIG. 4A changes the size of the mark. (C) and (d) rotate the mark, (e) blinks the mark or changes color, and (f) moves the mark (trajectory). is there.

  The video imaged by the imaging means 22 and the video image of the mark generated by the trajectory generator 24 are output to the video processor 26. The video processing unit 26 cuts out the target portion from the video imaged by the imaging means 22 and synthesizes the video of only the mark with the cut out video. The synthesized video is output to the display unit 28 and displayed with the respective corners of the target unit arranged side by side. At this time, since the images displayed side by side are cut out at the same angle of view, the size of the target portion displayed on the display unit 28 is the same on the left and right. In the diagram shown on the right side of FIG. 1, the horizontal direction, travel direction, and skew amount of the target unit and container spreader 18 or the target unit and trolley 16 are less than the allowable values, so they are displayed on the left and right images. The target portion is symmetric in size and position. In the state where the amount of deviation of the target portion and the container spreader 18 or the target portion and the trolley 16 in the transverse direction, the traveling direction, and the skew is less than the allowable value, the size and position of the target portion displayed on the display portion 28 are as follows. The angle of the imaging means 22 is adjusted so as to be symmetrical.

  The display unit 28 displays an image in which the locus of the 18 corners of the container spreader and the mark of the allowable value of the locus are combined. FIG. 5 shows an explanatory diagram when the video of the target unit and the video of the mark are synthesized and the video is displayed on the display unit 28. In FIG. 5, as the mark, a straight line extending along the side in the height direction of the container 20, a mark when the locus of the 18 corners of the container spreader coincides, that is, a mark when the shift amount is zero, and the straight line A mark of an allowable value of deviation when the locus of the 18 corners of the container spreader is displaced is synthesized. When the deviation amount becomes zero, the side extending in the height direction of the container 20 overlaps the mark of the deviation amount zero (see FIG. 5A). Further, when a shift in the traveling direction occurs between the target unit and the container spreader 18, the shift occurs along the longitudinal direction of the container 20. For this reason, the side extending in the height direction of the container 20 is in a state of being out of the mark of the allowable value (see FIG. 5B). Further, when a shift in the transverse direction occurs, the shift occurs in a direction orthogonal to the longitudinal direction of the container 20. For this reason, the side extending in the height direction of the container 20 is in a state of being out of the mark of the allowable value (see FIG. 5C). In FIG. 5, the longitudinal direction of the container 20 is the left-right direction toward the drawing. Further, when a skew deviation occurs, a deviation occurs in which the container 20 rotates in a horizontal plane. For this reason, a shift occurs in the side extending in the longitudinal direction of the container 20 (see FIG. 5D).

Therefore, when the operator operates the yard crane 10, the trolley 16, and / or the container spreader 18 while confirming the display on the display unit to superimpose the mark on the target unit and display the target unit symmetrically, The spreader can be positioned accurately.
Note that the image of the chassis 34 does not become a symmetrical image depending on the shape of the chassis 34, but since the shape of the target portion is similar, cargo handling can be performed similarly.

  When such a container spreader positioning display device 30 is provided in the yard crane 10, the operator operating the yard crane 10 uses the images displayed on the left and right of the display unit 28 to provide an image of the target unit that is important when positioning the cargo. Can be recognized instantaneously simultaneously on the left and right. In addition, the operator operating the yard crane 10 can instantly recognize whether the transverse direction, the traveling direction, and the skew deviation amount of the container spreader 18 are within the allowable values by the mark displayed on the display unit 28. it can. Therefore, even if it is not a skilled operator, the container 20 and the container spreader 18 can be accurately aligned by matching the target portion displayed on the display portion 28 with the mark, and efficient cargo handling can be performed.

Further, since the display unit is attached at an arbitrary position, the operator can confirm the target unit without moving the line of sight, and the operator's fatigue can be reduced.
In addition, since the target portion can be reliably displayed when cargo handling between the 20 valleys of the container is performed, it is possible to check the loading position and also prevent contact with the storage container 20 during the winding and unwinding operations. Can do.

Further, by using the zoom function, it is possible to easily check the pins of the external chassis 34 that are difficult to see from the cab.
In addition, since the device on the trolley 16 is only a camera, it is possible to construct a very inexpensive and highly reliable system.

  Further, the operator can accurately correct the deviation in the transverse direction, the traveling direction, and the skew, and can determine the optimum lowering speed according to the distance between the container 20 and the container spreader 18.

  Next, a second embodiment will be described. In the second embodiment, the container spreader positioning display device 30 described in the first embodiment is provided with an error detection unit that detects an error (shift) of the container spreader 18 with respect to the trolley 16, and the container spreader 18 below the trolley 16. And a distance measuring unit that measures the distance to the positioning target. For this reason, the same number is attached | subjected to the same part as 1st Embodiment, and the description is abbreviate | omitted or simplified.

  FIG. 6 is an explanatory diagram of the error detection unit. FIG. 7 is a block diagram of a container spreader positioning display device according to the second embodiment. The container spreader 18 is suspended from the trolley 16 via the wire 41, and the wire 41 is wound around a winding drum 42 provided on the top of the trolley 16. The winding drum 42 is provided with an encoder, and the encoder detects the number of rotations of the winding drum 42. A distance measuring unit 44 is provided on the trolley 16 at a position that does not overlap with the container spreader 18, for example, on the side surface of the trolley 16. The distance measuring unit 44 includes a laser light source and a light receiver. The distance measuring unit 44 irradiates laser light downward from the trolley 16, receives the laser light reflected by the positioning object below the container spreader 18, and receives the laser light from the trolley 16. It measures the distance to the positioning object. Further, an infrared camera 46 is provided below the trolley 16, and infrared beacons 48 that emit infrared rays are provided at at least two locations above the container spreader 18. The infrared camera 46 is provided at a position corresponding to the midpoint between these infrared beacons 48.

  An image processing unit 50 and a calculation unit 52 are connected to the output side of the infrared camera 46. This image processing unit 50 detects an error of the container spreader 18 with respect to the trolley 16 from the image of the infrared camera 46. The calculation unit 52 is connected to the output side of the image processing unit 50 and is connected to an encoder provided in the winding drum 42 to calculate the error amount of the container spreader 18 with respect to the trolley 16. The infrared beacon 48, the infrared camera 46, the image processing unit 50, and the calculation unit 52 constitute an error detection unit 54. In FIG. 7, the description of the infrared beacon 48 is omitted. A locus generation unit 24 is connected to the output side of the calculation unit 52 and the output side of the distance measurement unit 44. The error detection unit 54 and the trajectory generation unit 24 constitute container up / down guide trajectory correction means.

  Next, the operation of the container spreader positioning display device 40 will be described. FIG. 8 is an explanatory view of an image of the infrared camera 46. Infrared rays are emitted (flashed) from an infrared beacon 48 provided at the upper portion of the container spreader 18, and the infrared rays are captured by an infrared camera 46 provided at the lower portion of the trolley 16. The captured image is input to the image processing unit 50 to detect an error of the container spreader 18 with respect to the trolley 16, that is, an error in the transverse direction, the traveling direction, and the skew. Specifically, when there is no error in the container spreader 18, the infrared beacon 48 is located at the reference position when viewed from the infrared camera 46. In the image processing unit 50 of FIG. 8, the infrared beacon 48 is positioned on the alternate long and short dash line. In the image processing unit 50 of FIG. 8, the time when an error occurs is shown. When an error occurs in the container spreader 18, a deviation occurs in the lateral direction, the traveling direction and / or the skew from the reference position, and thus the error is detected. Since the infrared beacon 48 blinks infrared rays that can be clearly separated from ambient light, it is much more reliable than ordinary image processing. In normal image processing, there is a risk of malfunction due to ambient light.

  When the image processing unit 50 detects an error, the calculation unit 52 calculates the error amount. Specifically, the error of the container spreader 18 with respect to the actual trolley 16 based on the error amount of the infrared beacon 48 in the image processed by the image processing unit 50, the imaging magnification of the infrared camera 46, and the distance between the trolley 16 and the container spreader 18. The amount is being calculated. The distance between the trolley 16 and the container spreader 18 is obtained by obtaining the length of the wire 41 from the trolley 16 to the container spreader 18 from the number of rotations of the winding drum 42 detected by the encoder.

  This error amount is output to the locus generation unit 24, and the position of the mark is corrected according to this error amount. That is, since the actual error direction and distance of the container spreader 18 with respect to the trolley 16 are known, the trajectory generator 24 converts the error amount into a magnification on the mark image, and displays the mark on the image. The coordinates are corrected to correct the mark. The corrected landmark image is combined with the target portion image in the image processing unit 26 and displayed on the display unit 28.

  FIG. 9 is an explanatory diagram when the video of the target portion and the video of the corrected mark are synthesized and the video is displayed on the display portion 28. When the container spreader 18 is displaced with respect to the trolley 16 and the mark is not corrected, the corner of the container spreader 18 is shifted from the mark and displayed on the display unit 28. For this reason, the container 20 and the container spreader 18 cannot be accurately aligned (see FIG. 9A). On the other hand, when the mark is corrected, the mark is displayed in accordance with the corner portion of the container spreader 18, so that the container 20 and the container spreader 18 are accurately aligned when the mark is moved up and down according to the mark. (See FIG. 9B).

  Further, the distance from the trolley 16 measured by the distance measuring unit 44 provided in the trolley 16 to the positioning target below the container spreader 18 is output to the trajectory generating unit 24. Further, the trajectory generation unit 24 inputs the distance from the trolley 16 to the container spreader 18 via the calculation unit 52. The trajectory generation unit 24 includes a calculation unit (not shown), and the distance between the positioning target and the container spreader 18 based on the distance from the trolley 16 to the positioning target and the magnification on the image of the mark, that is, the positioning target upper surface. The distance in the upward direction is calculated, and this distance is displayed on the video together with the mark. Then, the image of the distance to the positioning target and the mark and the image of the target portion are combined by the image processing portion 26 and displayed on the display portion 28.

  FIG. 10 shows an explanatory diagram of a video displaying the distance to the container 20. FIG. 10 shows the container 20 corner, an L-shaped mark, and the distance from the upper surface of the container 20 to the upper direction in the vicinity of the L-shaped mark. FIG. 10A shows a shift in the traveling direction. FIG. 4B shows a case where a deviation occurs in the transverse direction, and FIG. 5C shows a case where a deviation occurs in the skew. The operator operates the yard crane 10, the trolley 16, and the container spreader 18 so that the target portion overlaps the 0.0 m L-shaped mark on the display portion 28, thereby enabling accurate positioning.

  Further, since the distance is displayed on the screen, the distance between the container spreader 18 and the container 20 below the container spreader 18 and the distance between the lower portion of the handling container 20h gripped by the container spreader 18 and the stack container 20s can be known. FIG. 11 shows an explanatory diagram of an image when the handling container 20h is stacked on the stack container 20s. When carrying out cargo handling, the container spreader 18 or the like is operated at a high speed when the distance to the positioning object to be handled is long, and is operated at a low speed when the distance to the positioning object is short. Therefore, for example, when the distance between the handling container 20h and the storage container 20 is long and the handling container 20h is not displayed on the display unit 28, the container spreader 18 may be operated at a high speed (in the case of FIG. 11A). Then, when the distance between the handling container 20h and the stack container 20s becomes short and the handling container 20h is displayed on the display unit 28, the container spreader 18 and the like may be operated at a reduced speed (in the case of FIG. 11B). ). Then, when the distance between the handling container 20h and the stack container 20s becomes extremely close, it may be operated at a low speed for the final alignment (in the case of FIG. 11C). Therefore, when carrying out cargo handling, the operation speed of the container spreader 18 and the like can be determined very easily. Depending on the distance between the handling container 20h and the stack container 20s, it is possible to change the color of the mark, change the shape, blink the method, or give movement.

  FIG. 12 is an explanatory diagram of an image displayed using the graphic of the storage container 20 as a mark. 12A shows a case where a deviation occurs in the running direction, FIG. 12B shows a case where a deviation occurs in the transverse direction, and FIG. 12C shows a case where a deviation occurs in the skew. The trajectory generation unit 24 can display the graphic of the storage container 20 and the storage mark 32 together with the height from the upper surface of the storage container 20 and the storage mark 32. Then, by superimposing the graphic and the storage container 20, it is possible to accurately align the traversing direction, the traveling direction, and the skew.

  FIG. 13 is an explanatory diagram of an image displaying a graphic of the expected landing position of the container 20. In the case of FIG. 13, the storage container 20 is not present and the storage mark 32 is displayed, so that a graphic of the expected landing position is displayed. Accurate alignment is possible by superimposing this graphic and the storage mark 32.

  When the container spreader positioning display device 40 provided with the error detection unit 54 is used as described above, the position of the mark on the display unit 28 is adjusted in accordance with the transverse direction, traveling direction and / or skew error of the container spreader 18 with respect to the trolley 16. Can be corrected. Further, the error of the container spreader 18 with respect to the trolley 16 caused by the swing of the container spreader 18 or the extension of the wire 41 can be corrected, and the mark for the target portion can be displayed more accurately. Therefore, the container spreader 18 can be more accurately positioned with respect to the target portion. In addition, it is possible to quantitatively determine the transverse direction error, the traveling direction error, and the skew error.

  Further, since the mark 28 and the distance between the target unit and the container spreader 18 or the grasped container 20 are displayed on the display unit 28, the operator who operates the crane can recognize the distance instantly.

  In the first embodiment and the second embodiment described above, the yard crane 10 has been described as an example. However, the present invention is not limited to this. For example, a container crane that handles a container of a container ship that touches a quay is used. Can be applied.

It is the front view which shows the outline | summary of the yard crane provided with the container spreader positioning display apparatus which concerns on 1st Embodiment, and explanatory drawing when the image | video imaged with the imaging means was displayed on the display part. It is a block diagram of the container spreader positioning display device concerning a 1st embodiment. It is explanatory drawing which displayed on the display part the image | video when a zoom function is provided in an imaging means and the container is imaged. It is explanatory drawing when a mark is blinked or a motion is given. It is explanatory drawing when the image | video of a target part and the image | video of the said mark are synthesize | combined and a video | video is displayed on the display part. It is explanatory drawing of the error detection part which concerns on 2nd Embodiment. It is a block diagram of the container spreader positioning display apparatus which concerns on 2nd Embodiment. It is explanatory drawing of the image imaged with the infrared camera. It is explanatory drawing when the image | video of the target part and the image | video of the corrected mark are synthesize | combined and a video | video is displayed on the display part. It is explanatory drawing of the image | video of the display part which displayed the distance to a container. It is explanatory drawing of the image | video when stacking a handling container on a storage container. It is explanatory drawing of the image | video which displayed the graphic of the storage container as a mark. It is explanatory drawing of the image | video which displayed the graphic of the expected idea position of a container.

Explanation of symbols

16 ......... Trolley, 18 ......... Container spreader, 22 ......... Imaging means, 24 ......... Track generation unit, 26 ......... Video processing unit, 28 ......... Display unit, 30, 40 ......... Container Spreader positioning display device 44... Distance measuring unit 54 54 Error detecting unit.

Claims (3)

Install an imaging means to image the lower side from the trolley of the crane that handles the container,
A storage container obtained from the imaging means, a storage container, a display unit that cuts out an image including both corners of the storage mark on the ground or the chassis, and displays it in a symmetrical arrangement; and
A trajectory generator for displaying on the display unit a mark of an allowable deviation when the mark of the trajectory of the spreader corner and the trajectory of the spreader corner is shifted;
A container spreader positioning display device.   An error detection unit that detects an error in a traversing direction, a traveling direction, and a skew between the trolley and the container spreader; and a correction unit for the container lifting guide locus displayed on the display unit by the error detection unit. The positioning display device for a container spreader according to claim 1. 2. The container according to claim 1, further comprising a distance measuring unit that measures a pile height of the storage container, and displaying the remaining distance of container unloading on the display unit based on the measured distance. Spreader positioning display device.

Images