JPH0336120A - Detection of cargo handling position - Google Patents

Abstract

PURPOSE:To provide labor saving and automation by taking up the pictures of both the corners of one side of a container or a carriage with picture processing cameras while the carriage is loaded with a container using a crane, and calculating an error between the corner to be picked up and the datum position corresponding to a crane stop position for position correction. CONSTITUTION:The pictures of both corners 4 on one side of a container 1 and the corner guide 5 of a carriage 3 are taken from the above of a crane 2 by a set of picture processing cameras 6 to input them into a control part 8. The control part 8 calculates the error between a datum position 10 corresponding to the stop position of the crane 2 set in advance, and displays it on a monitor 9. According to the results, the position of the crane 2 or the carriage 3 is corrected.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a method of capturing images of the positions of the container and the trolley using a camera to determine the loading position when the container is loaded onto the trolley that transports the container using a crane. The present invention relates to a method for detecting cargo handling positions of containers.

[Prior Art] Conventionally, as an example of loading and unloading containers onto and off a trolley for transporting containers using a crane, the stopping position of the crane is determined in advance, and the trolley is moved in line with the stopping position of the crane. There is a method in which containers are handled by stopping the container. When handling cargo using this method, a stop position mark for the trolley is set on the ground in line with the stop position of the crane, the trolley is guided to the set position and stopped, and the stopping position is checked by a person other than the trolley driver. This was done by visual inspection.

After the cart was stopped at the stop position in this manner, the containers were loaded and unloaded.

[Problem to be solved by the invention] By the way, in a method such as the "double series", when the trolley is stopped at a set mark position, a person is required to send a signal to the trolley driver and guide the trolley. Furthermore, since the stopping position of the cart is confirmed by visual confirmation, even if the cart is stopped at the stopping position, it is difficult to confirm that the cart is stopped in a twisted state. Therefore, the trolley stops at a position shifted from the set stop position, and when loading a container onto this trolley, the person who guided the trolley then sends a signal to the crane operator to position the container to be lowered. 11 on the trolley must be lowered to the loading position using a 8A conductor.

Furthermore, since the setting mark is changed each time the crane's stop position is changed, a person is also required to change the setting of the mark. In this way, the cargo handling position, the guidance of carts and cranes, etc. are performed manually, making it impossible to save the labor of container cargo handling workers and making it difficult to automate container cargo handling.

The present invention was created to solve the above problems, and its purpose is to accurately detect the crane stop aff and the stop position of the truck, and to quickly correct the position of the crane or truck. It is an object of the present invention to provide a method for detecting the position of a combiner row.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an image processing camera installed corresponding to the stop position of the crane when loading and unloading a container onto a trolley using a crane.
This system images both corners of a container or a truck, and calculates and outputs the error between the position of the imaged corner and a reference position corresponding to the stop position of the crane.

[Operation] The image processing camera is installed corresponding to the stop position of the crane, and that position becomes the reference position. The trolley is either maneuvered and stopped at a position corresponding to the crane, or an error is likely to occur between the crane stop position and the actual trolley stop position due to the maneuvering. Therefore, an image processing camera is used to image one corner of a container or a truck, and the error between the detected position and the reference position is calculated and output.

This makes it possible to accurately detect the error between the crane stop position and the cart stop position.

Therefore, it is only necessary to correct the position of the crane or the truck based on this output, and labor saving and automation can be achieved.

For example, the position of the crane may be automatically corrected by feeding back the output to the crane side, or the output may be displayed visually on a display,
The position of the trolley may be corrected by aurally outputting a sound.

[Solid line example] An embodiment of the present invention will be described based on the drawings.

1 and 2 show an example of an apparatus for carrying out the method of the invention. As shown in the figure, the container is suspended by a crane 2, and loaded and unloaded onto a stopped cart 3.

This trolley 3 is made to be movable and transports containers placed thereon, and as shown in the figure, one side and both corners 4 of the container placed on the trolley 3 are provided at both one side and both corners of this truck 3. A corner guide 5 in the shape of a single character is provided at a position corresponding to .

Reference numeral 6 denotes an image processing camera of IMl, and these cameras 6 are provided above the crane 2, and the projection position of this image processing camera 6 is a reference position 10 corresponding to the stop position of the crane.

This camera 6 is connected to a control unit 8 and is configured to photograph both one side and both corners 4 of the container and the corner guide 5 of the truck 3, and output the captured images of these one and both corners 4 and the corner kite 5 to the control unit 8. It has become. This control unit 8 has a built-in computing unit, and a reference position 10 corresponding to the stop position of the crane 2 is set in advance. This reference position 10 and the imaging positions of the one side corner 4 of the container 1 and the corner guide 5 of the trolley 3 taken by the image processing camera 6 are calculated to calculate the error of the container or the trolley 3 with respect to the reference position ]O. , the result of the calculation can be output. This M# section 8 is at the reference position 1
0 and the imaged positions of one and both corners 4 or corner guide 5 can be displayed on a monitor 9.
FfI
The shadow of the reference position 10 output from the I control section 8 (in the figure,
(solid line), and an image (dotted line in the figure) of one and both corners 4 of the container 1 or the corner kite 5 of the truck 3 can be displayed.

Next, the method of the present invention will be explained using the above-mentioned apparatus.

The image processing camera 6 is installed corresponding to the stop position of the crane 2, and that position becomes a reference position 10.

The trolley 3 is maneuvered to a position corresponding to the crane 2 and stopped, but an error is likely to occur between the stopping position of the crane 2 and the actual stopping position of the trolley 3 due to the maneuvering.

Therefore, one side corner 4 of the container 1 or the corner guide 5 of the trolley 3 is photographed using the image processing camera 6, and the error between the detected position and the reference position 10 is calculated by the control unit 8, and the calculated value is calculated. Output.

This makes it possible to accurately detect the error between the crane stop position and the cart stop position.

Therefore, it is only necessary to correct the position of the crane 2 side or the truck 3 based on this output, and labor saving and automation can be achieved.

In the correction, the position of the crane 2 or the truck 3 may be corrected by displaying the output on the monitor 9 and visually controlling the operation on the display.

Note that in the above embodiment, the monitor 8 is provided and the trolley 3
Alternatively, although the crane 2 is visually controlled, for example, the position of the crane 2 may be automatically corrected by feeding back the output to the crane 2I111I, and a voice output device may be used instead of the monitor 8. The vehicle may also be controlled audibly (signals).

[Effects of invention The present invention exhibits the following effects.

Errors in the position of the cart or container relative to the reference position can be accurately detected, and based on this detection, the crane side or the stopping position of the cart can be adjusted, resulting in labor savings and automation.

[Brief explanation of drawings]

FIG. 1 is a basic diagram showing an embodiment of the present invention, and FIG. 2 is a perspective view showing an apparatus for carrying out the method of the present invention. In the figure, 1 is a container, 2 is a crane, 3 is a truck, 4 is both corners of the container, 5 is a corner guide as one and both corners of the truck, 6 is an image processing camera, and 10 is a reference position.

Claims (1)

[Claims] 1. When loading and unloading a container onto a trolley using a crane, an image processing camera installed corresponding to the stop position of the crane images both corners of the container or the trolley, and the position of the imaged corner is determined. A method for detecting a cargo handling position of a container, characterized by calculating and outputting an error between a reference position corresponding to a stop position of a crane.