JPH066451B2 - Container crane automation device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automation means of a container crane device for carrying out cargo handling work of loading and unloading containers on a ship docked, for example.

Generally, a container crane device of this type is constructed such that a container 10 of a ship 10, which is docked as shown in FIG.
In the case of loading and unloading (hereinafter, referred to as chassis), first, an operator in the movable operator's cab 14 of the container crane 13 operates an operation unit (not shown) to move the crane transport unit 15 (hereinafter, referred to as a spreader). Is moved onto the container 11.
(In this case, the operator's cab 14 and the spreader 15 are always moved by the same amount at the same time.) Here, the worker lowers the spreader 15 onto the container 11 to dock it, and then The spreader 15 is moved up again and moved to the land along with the container 11 right above the chassis 12. Therefore, the worker uses the spreader 15
After the container 11 is lowered and placed on the chassis 12, the docking of the container 11 and the spreader 15 is released and the container 11 is detached from the container 12, thereby completing one loading / unloading process.

However, in the container crane device, the spreader 15 and the container 11 are used for loading and unloading work.
Docking work and container 11 to chassis 12
There is a problem that the workability is very poor because the work to be placed on the top is supported by experience and the like, and the work is very difficult due to the feeling of the work.

The present invention has been made in view of the above circumstances, and in a container crane automation device that automatically controls the cargo handling of a container by controlling the crane transport section of the container crane, the container crane or the chassis is provided above the container crane. A television camera that captures the image, an image processing unit that compares the image signal of the television camera with a prestored image signal to detect the center position coordinates and tilt angle of the container or chassis with respect to the camera coordinate axis, and this image By loading and unloading the container by including an operation signal combining unit that calculates and controls the moving direction and distance of the crane transport unit of the container crane according to the center position coordinates and the tilt angle of the processing unit. This is done automatically so that it can contribute to the improvement of cargo handling workability. And to provide a Tenakuren automated device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 2 shows a container crane automation device according to the present invention. However, here, the same parts as those of the container crane device described in FIG.

That is, 16 in the figure is a television camera (hereinafter, referred to as a TV
This TV camera 16 is disposed, for example, above the container crane 13 just above the position where the chassis 12 should be. As shown in FIG. 3, the TV camera 16 has its video signal output terminal connected via an image processing section 17 to an operation signal synthesizing section 18 which outputs an operation signal for operation control of the spreader 15.

As shown in FIG. 4, the images of the chassis 12 and the container 11 taken by the TV camera 16 have a coordinate system in which the transverse direction of the spreader 15 is the x axis and the moving direction of the container crane 13 is the y axis. It is displayed on the screen 20. The chassis 19 on the screen of the CRT screen 20 is shown in FIG.
Displayed as shown in (a), the shift amount γ _c (0,0) of the center position of the chassis 12 and the shift amount θ _c = 0 of the tilt angle are obtained. Further, the chassis 19 on the screen of the CRT screen 20 is displayed as shown in FIG. 5 (b) when the chassis 12 is not in the proper position (normal working condition).
The shift amount γ _c (x _c , y _c ) of the center position and the shift amount θ _{c of the} tilt angle are obtained.

Here, the shift amounts γ _c and θ _c are the values when the chassis 12 is in the normal position as shown in FIG. 5 (a) (γ _c (0,0), θ _c
= 0) is the ideal one, but in reality it is always Fig. 5 (b).
As shown in, the state (γ _c (x _c , y _c ), which is not in the normal position,
θ _c ), therefore, the shift amounts γ _c , θ _c
Is required to be detected.

The image processing unit 17 performs the image processing by, for example, an image differential processing and a pattern processing method. Here, the differential processing method will be described as a representative.

That is, the input video signal is processed in the procedure as shown in FIG.
For example, in the case of stepwise data, a differential image that becomes triangular data is obtained by performing spatial differentiation. In the feature point extraction 22, the maximum point (feature point) in the differential image is extracted. Then, in the line configuration 23, these characteristic points are connected to each other, and a linear equation corresponding to each side is obtained. Ask for. Next, in the position detection 24 of the end point of the chassis, the above formulas (1), (2), (3), and (4) are solved simultaneously to solve the chassis 1
Position coordinates (x ₁ , y ₁ ), (x ₂ , y ₂ ), of the four end points of ₂
Find (x ₃ , y ₃ ), (x ₄ , y ₄ ). Then, the shift amount r _c ,
The calculation 25 of θ ₄ is based on the above four end points (x ₁ , y ₁ ), (x ₂ , y
₂ ), (x ₃ , y ₃ ), (x ₄ , y ₄ ) For example, (x ₁ , y ₁ )
The amount of deviation between the midpoints of and (x ₃ , y ₃ ) Therefore, the amount of deviation is determined by the slope of the equation of the straight line including the end points (x ₁ , y ₁ ) and (x ₂ , y ₂ ). Ask for.

The current position signal of the spreader 15 is input to the signal input terminal of the operation signal combining section 18. This current position signal is determined by the distance m between the spreader 15 and the TV camera 16 and the height (falling amount) n of the bottom of the container 11 from the ground, as shown in FIG.
The distance m and the amount of fall n are detected by using a measuring sensor (not shown) such as a narrow directivity ultrasonic sensor.

Then, the container crane automation device configured as described above may, for example, load the container 11 of the ship 10 to the land chassis 1
In the case of loading and unloading 2, the TV camera 16 first images the SHOSHI 12 and outputs the video signal to the image processing unit 17.
Then, the image processing unit 17 obtains the shift amounts γ _c and θ _c with respect to the image by, for example, the above-described method of differentiating the image and outputs it to the operation signal synthesizing unit 18. The operation signal synthesizing unit 18 outputs an operation signal for spreader operation control according to the shift amounts γ _c , θ _c obtained by the image processing unit 17 and the current position signal of the spreader 15, and the spreader 15 is operated by the eighth signal. It is controlled as shown in the figure, and is docked and lifted in the container 11 of the ship 10. Here, the spreader 15 is stopped at a point where its traverse is controlled by a signal of the distance m, for example, and m = 0, and the spreader 15 descends. At this time, the amount of descent n is calculated based on the amounts of deviations γ _c and θ _c , and the container 11 is lowered according to the calculated values and placed on the chassis 12. And spreader 15 here container 1
Complete the loading and unloading work by separating from 1.

Further, when the container 11 on land is loaded on the ship 10, the operation is substantially the reverse of the unloading operation described above, and therefore the description thereof is omitted here.

As described above, the container crane automation device is configured to detect the shift amounts γ _c and θ _c of the chassis 12 and control the operation of the spreader 15 in accordance with the shift amounts. It is not necessary to rely on the feeling of work, and the workability can be improved as much as possible.

As described above in detail, according to the present invention, in the container crane automation device that automatically controls the container transport section of the container crane to load and unload the container, the container crane is provided above the container crane, and the container or chassis is imaged. A television camera, an image processing unit that compares a video signal of the television camera with a prestored image signal to detect center position coordinates and tilt angle of the container or chassis with respect to the camera coordinate axis, and the image processing unit. Automatically loading and unloading containers by including an operation signal combining unit that calculates and controls the moving direction and distance of the crane transport unit of the container crane according to the center position coordinate and the tilt angle. The container container is designed to contribute to the improvement of cargo handling work. It can provide over emissions automated device.

[Brief description of drawings]

FIG. 1 is a structural explanatory view showing a conventional container crane device, FIG. 2 is a structural explanatory view showing a container crane automation device according to an embodiment of the present invention, and FIG. 3 is a circuit showing a main part of FIG. FIG. 4 is a detailed view for explaining the main part of FIG. 2, FIG. 5 is a state explanatory view showing an operating state of the main part of FIG. 2, and FIG. 6 is for FIG. The flow chart shown for explaining the processing state of the video signal is shown in FIG.
FIG. 8 is a configuration explanatory view shown for explaining the main part of the drawing, and FIG. 8 is an operation explanatory view shown for explaining the cargo handling work operation of FIG. 10 ... Ship, 11 ... Container, 12 ... Chassis, 13 ... Container crane, 14 ... Operator's cab, 15 ... Spreader, 1
6 ... TV camera, 17 ... Image processing unit, 18 ... Operation signal synthesizing unit, 19 ... On-screen chassis, 20 ... CRT screen.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masamichi Nakajima, 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Shipyard (56) References JP-A-60-2591 (JP, A) JP-A-57-184090 (JP, A)

Claims (1)

[Claims] 1. A container crane automation device for automatically operating a container by controlling a crane transfer section of the container crane, and a television camera provided above the container crane for photographing the container or the chassis. An image processing unit that detects the center position coordinates and tilt angle of the container or chassis based on the shape characteristics of the container or chassis photographed by the television camera, and the center position coordinate and tilt angle of the image processing unit. A container crane automation device comprising: an operation control operation signal synthesizing unit that calculates a moving direction and a distance of the corresponding container crane transporting unit.