JPH0797179A - Position detecting device for crane - Google Patents

Abstract

PURPOSE:To perform automatic operation by reducing a working burden of a crane operator. CONSTITUTION:A trolley 11 is moved along a traversing track, and a spreader 12 is lifted to be hung down from the trolley 11 to clamp a container 10 which is a clamping target. The first/second cameras 1, 2 are provided in the trolley 11 to photograph a downward direction in the perpendicular direction. Based on an image signal of the spreader 12 and the container 10 photographed by the cameras 1, 2, a characteristic point of the spreader 12 and the container 10 is obtained, and further a position of the trolley 11 is detected. Based on the characteristic point and the trolley position, a traversing track position and winding height position of the spreader 12 and the container 10 are obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane device detecting device for detecting the position of a spreader and the shake and the position of a target for gripping the spreader, which is applied to (semi) automatic operation of a container crane or a transfer crane.

[0002]

2. Description of the Related Art The contents of conventional cargo handling work by a container crane will be described with reference to FIG. FIG. 4 is an overall view of the container crane.

The cargo handling work by the container crane 15 is
Container 14 from landside quay 20 to seaside container ship 1
The work is roughly divided into two: the work of loading the container 9 and the work of unloading the container 14 from the container ship 19 to the quay 20. A trolley 11 and a driver's cab 16 that moves in conjunction with the trolley 11 are provided on the traverse path of the container crane 15, and the trolley 11 is equipped with a spreader 12 that can be raised and lowered (hoisting and hoisting) as a suspending tool. . The operator 18 of the crane 15 rides in the operator's cab 16 and operates the operation panel 17 to operate the crane 15.

The contents of the conventional cargo handling work of the container crane 15 will be described below by taking the work of loading the container 14 from the quay 20 onto the container ship 19 as an example.

The container 14 is set on the quay 20 under the traverse path of the container crane 15 from above the container yard by a trailer, a straddle carrier or the like. The driver 18 moves the trolley 11 over the container 14 set on the quay 20.

[0006] Next, the spreader 12 is unwound, fixed on the container 14 and fixed to the container 14, and then hoisted, and the trolley 11 is moved above the loading target position 10 of the container ship 19.
After stopping the trolley 11 above the target position 10, the spreader 12 is unwound and the unwinding is temporarily stopped above several tens cm of the target position 10. Therefore, the driver 18 finely adjusts the lateral traveling position and rotation (skew) of the spreader 12 with respect to the target position 10, and then gradually unwinds the spreader 12 to land the container 14 on the target position 10. The above-mentioned work is performed by a driver 18 in the cab 16 by manual operation while directly looking at the spreader 12 and the target position 10 with the naked eye.

By repeating this, the loading operation of the container 14 from the quay 20 to the container ship 19 is completed. The operation of loading and unloading the container 14 from the container ship 19 to the quay 20 basically has the same content. The above is the contents of the conventional cargo handling work of the container crane.

[0008]

One of the reasons that conventional container cranes and transfer cranes have not been able to be fully automatically operated is that the position, runout, and target position of the spreader, which the driver directly detects with his / her eyes, are detected. It was mentioned that there was no sensor for quantitatively detecting.

Therefore, the present invention has been made in view of the above situation, and the position, runout, and target of the spreader necessary for realizing the reduction of the work load of the crane operator (semi-automatic operation) and the realization of automatic operation. An object is to provide a device for quantitatively detecting a position.

[0010]

In order to achieve the above object, the structure of the present invention comprises a trolley that moves along a traverse path, and a lifting tool that is provided on the trolley and that holds a load and moves up and down. In the crane, a first camera provided on the trolley for photographing the hanging device and a gripping target of the hanging device in a vertically downward direction, and a vertical camera provided at a position symmetrical with respect to the trolley with the hanging device sandwiched therebetween A second camera for capturing an image of the suspending tool or a gripping target of the suspending tool, and a first feature point detection for detecting a feature point of the suspending tool or the gripping target based on a video signal of the first camera. An apparatus, a second feature point detection device for detecting a feature point of the hanger or the gripping target based on a video signal of the second camera, and a video signal of the first and second cameras And the two feature points detected by La and a calculation device for calculating the position of the traverse trajectory and the winding height of the suspension target or the gripping target of the suspension tool based on the position data of the traverse trajectory of the trolley when taken by the second camera. Is characterized by.

In addition, the first camera and the second camera are mounted on a carriage that can traverse independently on a traverse orbit independently of the trolley, instead of being provided on the trolley.

[0012]

The first camera captures an image of the hanger or the gripping target of the hanger, and the first feature point detection device detects the feature point of the hanger or the gripping target of the hanger. Similarly, the second camera captures an image of the hanger or the gripping target of the hanger, and the second feature point detection device detects the feature point of the hanger or the gripping target of the hanger. Based on these characteristic point information and trolley traverse trajectory position information, the computing device calculates the position of the suspension (traverse trajectory position and winding height) or the position of the gripping target (traverse trajectory position and winding height) with respect to the trolley. To do.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of the equipment of the device of the present invention. 2 and 3 are diagrams showing the principle of detecting the position of the suspending tool or the gripping target of the suspending tool. FIG. 4 is an overall view of the container crane.

First, the block configuration of the equipment of the device of the present invention will be described with reference to FIG. In this embodiment, a first camera 1 and a second camera 2 are provided. As shown in FIG. 4, a spreader 12 that holds and lifts a trolley 11 that moves along a traverse path and a container 14 provided on the trolley 11.
In the container crane 15 including the first crane 1, the first camera 1 extends vertically downward on the land side of the trolley 11 and the spreader 12 and the grip target 10 of the spreader 12.
Is set up to shoot. The second camera 2 photographs the spreader 12 and the gripping target 10 of the spreader 12 vertically downward on the sea side, which is a plane symmetrical position with respect to the camera 1, with the spreader 12 sandwiched in the trolley 11. Is installed.

The A / D converter 3 A / D-converts the video signal of the camera 1, and the A / D converter 4 A / D-converts the video signal of the camera 2.

The first feature point detecting device 5 is a device for detecting a feature point of the spreader 12 or the grip target 10 from the A / D converted video signal of the camera 1. Similarly, the second feature point detection device 6 is a device that detects a feature point of the spreader 12 or the grip target 10 from the A / D-converted video signal of the camera 2.

The arithmetic unit 7 includes characteristic point information of the spreader 12 and the gripping target 10 of the spreader 12 detected by the characteristic point detection apparatus 5 and the characteristic point detection apparatus 6, and the trolley detected by the trolley traverse position detection sensor 8. This is a device for calculating the position of the spreader 12 (transverse orbit position and winding height) or the position of the gripping target 10 (transverse orbit position and winding height) with respect to the trolley 11 based on the traverse position information of 11.

The above is the block configuration of the device of the present invention. Other related devices include a trolley traverse position detection sensor 8 and a host computer 9.

The trolley traverse position detection sensor 8 comprises a trolley 1
This is a sensor for detecting the position on the traverse track of No. 1, and in the conventional container crane 15, for example, an encoder is used as a sensor.

The host computer 9 is based on the position of the spreader 12 (transverse track position and winding height) or the position of the gripping target 10 (transverse track position and winding height) relative to the trolley 11 which is an output signal of the arithmetic unit 7. In addition, it is a device for calculating and outputting the traverse position of the trolley 11, the operation (control) amount of the winding height of the spreader 12, and the like.

Now, the operation of the apparatus of the present invention will be described on the assumption that the trolley 11 is roughly positioned above the preset gripping target 10.

First, as shown in FIG. 2, a case where there is no obstacle when the grip target 10 is observed vertically downward from the trolley 11 in the sky will be described.

In FIG. 2, it is assumed that the spreader 12 is in a position outside the visual fields of the cameras 1 and 2 as shown by the solid line. Then, the camera 1 can take an image of the point M on the edge line of the upper surface of the container 10 which is the grip target. Similarly, the camera 2 can take an image of the point N on the edge line of the upper surface of the container 10 which is the grip target.

When the cameras 1 and 2 are mounted on a carriage that can traverse a traverse path independently of the trolley 11, if the trolley 11 is not near the camera-mounted carriage, the spreader 12 will be installed. The container 10 that is the gripping target can be photographed without the winding height position and the load relationship.

The video signal of the camera 1 is A / D converted by the A / D converter 3. Next, the feature point detection device 5 detects the coordinates of the point M from the video signal of the A / D conversion camera 1. As a specific detection method, since the shape of the container is generally a rectangular parallelepiped and is composed of straight lines, the point M on the edge line on the upper surface of the container can be detected by Hough transform which is a straight line detection process. As another method, the video signal of the camera 1 is displayed on the CRT screen, and the operator 18 of the container crane 15 designates a point M on the edge line of the container upper surface using a mouse or the like and inputs it. There is also a way to get it. For convenience of explanation, it is assumed here that the point M can be detected as the angle α ₁ of incidence with respect to the optical axis of the camera 1.

Similarly, by the feature point detection device 6, A /
The coordinates of the point N are detected from the D-converted video signal of the camera 2. As a specific detection method, since the shape of the container is generally a rectangular parallelepiped and is composed of a straight line, the point M on the edge line on the upper surface of the container can be detected by the Hough transform which is a straight line detection process. As another method, the video signal of the camera 2 is displayed on the CRT screen, and the operator 18 of the container crane 15 uses a mouse or the like to designate and input a point M on the edge line of the container upper surface. There is also a way to get it. Now, for convenience of explanation,
It is assumed that the point N can be detected as an angle α ₂ incident on the optical axis of the camera 2.

Then, by the arithmetic unit 7, the trolley 11
The traverse position x ₀ of the container 10 and the winding height h, which are the gripping targets with respect to, can be calculated.

The specific calculation method will be described below. Figure 2
From this, the following relational expression is obtained. tan α ₁ = p / h (1) tan α ₂ = q / h (2) p + q + W = C (3) x ₀ = (C−W) / 2−p (4) Here, two on the trolley 11 The middle point of the camera is the origin 0. The symbols are as follows. C: Distance between two cameras (known) W: Width of container (known) p: Horizontal distance between point M on top of container and optical axis of camera 1 (unknown) q: Point N on top of container and optical axis of camera 2 Horizontal distance (unknown)

The following equations are obtained by solving the equations (1) to (3) simultaneously and solving for h. h = (C−W) / (tan α ₁ + tan α ₂ ) (5) Substituting equation (5) into equation (1) to obtain p, and substituting into equation (4), the following equation is obtained.

[0030]

[Equation 1]

As described above, the traverse position x of the container 10 which is the grip target with respect to the trolley 11 is calculated by the equations (5) and (6).
₀ and the winding height h are calculated. When this calculation result is sent to the host computer 9, the host computer 9 starts the unwinding of the spreader 12. As the spreader 12 is unwound, when the spreader 12 reaches the position shown by the dotted line in FIG. 2, the spreader 12 enters the field of view of the camera 1 and the camera 2. The spreader 12 is photographed by the cameras 1 and 2. The video signals are A / D converted by the A / D converters 3 and 4, respectively, and the characteristic points S and T on the upper surface of the spreader are detected by the characteristic point detecting devices 5 and 6, respectively. The detection method is the same as the points M and N on the edge line on the upper surface of the container.

It is assumed that the point S can be detected as an angle γ ₁ incident on the optical axis of the camera ₁ and the point T can be detected as an angle γ ₂ incident on the optical axis of the camera 2. Then, the arithmetic unit 7
Thus, the transverse position x ₁ of the spreader 12 with respect to the trolley 11 and the winding height y ₁ can be calculated.

The specific calculation method will be described below. Figure 2
Gives the following relational expression. tan γ ₁ = a / y ₁ (7) tan γ ₂ = b / y ₁ (8) a + b + D = C (9) x ₁ = (C−D) / 2−a (10) where the symbols are as follows: The street. D: Width of spreader (known) a: Horizontal distance between spreader top point S and optical axis of camera 1 (unknown) b: Horizontal distance between spreader top point T and optical axis of camera 2 (unknown)

When the equations (7) to (9) are simultaneously solved to solve for y ₁ , the following equation is obtained. y ₁ = (C−D) / (tan γ ₁ + tan γ ₂ ) (11) The formula (11) is substituted into the formula (7) to obtain a, and the formula (10) is substituted to obtain the following formula.

[0035]

[Equation 2]

From the above equations (11) and (12), the transverse position x ₁ and the height y of the spreader 12 with respect to the trolley 11 are calculated.
₁ can be calculated. By sending the calculation result to the host computer 9 and repeatedly performing the process of detecting the transverse position x ₁ of the spreader 12 and the winding height y ₁ with respect to the trolley 11, the amount of shake of the spreader in the transverse direction can be obtained. Specifically, the transverse position x ₁ of the spreader 12 is the shake amount itself in the transverse direction.

As described above, the traverse position x ₀ of the container 10 and the winding height h and the traverse position x _{1 of the} spreader 12 and the winding height y ₁ which are the gripping targets for the trolley 11 can be calculated by the apparatus of the present invention. Therefore, the required movement amount x of the trolley 11 in the transverse direction and the required movement amount y of the spreader 12 in the winding height direction can be calculated. x = x ₀ (13) y = h−y ₁ (14)

Next, as shown in FIG. 3, a case in which an obstacle 13 (container) is present on one side when the grip target 10 is observed vertically downward from the trolley 11 in the sky will be described.

In this case, as can be seen from FIG. 3, the obstacle 13 interferes and the camera 2 cannot capture the feature point N on the upper surface of the container 10 which is the grip target.

Therefore, first, the trolley 11 is roughly positioned on the land side by a distance e from the sky above the preset grip target 10. In FIG. 3, it is assumed that the spreader 12 is in a position outside the visual field of the camera 1, as indicated by the solid line.
Then, the camera 1 can take an image of the point M on the edge line of the upper surface of the container 10 which is the grip target.

When the cameras 1 and 2 are mounted on a carriage that can traverse a traverse path independently of the trolley 11, if the trolley 11 is not near the camera-equipped carriage, the spreader 12 can be installed. It is possible to capture an image of the container 10 that is the gripping target, regardless of the winding height position.

The video signal of the camera 1 is A / D converted by the A / D converter 3. Next, from the video signal of the camera 1 A / D converted by the feature point detection device 5, a point M
Detect the coordinates of. The detection method is as described above. Now, for convenience of description, it is assumed here that the point M can be detected as the angle α ₁ ′ incident on the optical axis of the camera 1.

Next, the trolley 11 is laterally moved to the sea side by about e, and the trolley 11 is moved above the container 10, which is a grip target. After the trolley 11 stops, the camera 1 captures an image of the point M on the edge line of the upper surface of the container 10 which is the grip target again. Similarly, the video signal of the camera 1 is changed to A
A / D conversion is performed by the / D converter 3. Next, the feature point detection device 5 detects the coordinates of the point M from the A / D converted video signal of the camera 1. The detection method is as described above. For convenience of explanation, it is assumed here that the point M can be detected as the angle α ₁ of incidence with respect to the optical axis of the camera 1.

Then, by the arithmetic unit 7, the trolley 11
The traverse position x ₀ of the container 10 and the winding height h, which are the gripping targets for, can be calculated.

The specific calculation method will be described below. Figure 3
From this, the following relational expression is obtained. tan α ₁ = (p + e) / h (15) tan α ₁ '= p / h (16) x ₀ = (C−W) / 2−p (17) Here, of the two cameras on the trolley 11. The point is the origin 0. The symbols are as follows. C: Distance between two cameras (known, C ₁ = C / 2) W: Width of container (known) p: Horizontal distance between point M on top of container and optical axis of camera 1 (unknown) e: Traverse direction of trolley Movement distance (known)

When equations (15) and (16) are combined to eliminate p and solve for h, the following equation is obtained. h = e / (tan α ₁ −tan α ₁ ') (18) Substituting equation (18) into equation (16) to obtain p, (17)
Substituting into the equation yields the following equation:

[0047]

[Equation 3]

As described above, the traverse position x ₀ and the winding height h of the container 10, which is the grip target with respect to the trolley 11, are calculated by the equations (18) and (19).

The spreader 12 for the trolley 11
Regarding the traverse position x ₁ and the winding height y ₁ of the method, as long as there is no influence of the obstacle 13, the method ((1
It can be obtained by the equations (1) and (12). On the other hand, due to the obstacle 13, the feature point T on the spreader 12
Is no longer measurable, the trolley is traversed so that the required movement amount x of the trolley 11 in the traverse direction becomes zero (assuming x ₁ = 0). Then, the winding height y ₁ of the spreader 12 is given by the following equation. y ₁ = (C−D) / (2tan γ ₁ ) (20)

As described above, by the device of the present invention, the traverse position x ₀ and the winding height h of the container 10, which is the gripping target, with respect to the trolley 11 both with and without the obstacle 13 around the gripping target container 10. Also, the transverse position x ₁ and the winding height y ₁ of the spreader 12 can be calculated.

Therefore, the required movement amount x of the trolley 11 in the transverse direction and the required movement amount y of the spreader 12 in the winding height direction.
Can be calculated, so that the trolley 11 and the spreader 12 can be automatically controlled.

[0052]

With the device of the present invention, the traverse position of the container, which is the gripping target with respect to the trolley, and the winding height and the traverse position and the winding height of the spreader can be calculated, so that the required movement of the trolley in the traverse direction is obtained. It becomes possible to automatically control the trolley and spreader by calculating the amount and the required movement amount of the spreader in the winding height direction. Therefore, it is expected that the work load on the crane operator (semi-automatic operation) and automatic operation can be realized.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a crane position detection device according to an embodiment of the present invention.

FIG. 2 is a principle diagram showing a principle of detecting a position of a suspending tool or a gripping target of the suspending tool.

FIG. 3 is a principle diagram showing a principle of detecting a position of a lifting tool or a gripping target of the lifting tool.

FIG. 4 is an overall configuration diagram showing a container crane.

[Explanation of symbols]

 1 camera 2 camera 3 A / D converter 4 A / D converter 5 feature point detection device 6 feature point detection device 7 arithmetic unit 8 trolley traverse position detection sensor 9 upper computer 10 gripping target 11 trolley 12 spreader 13 obstacle (container ) 14 container 15 container crane 16 operator's cab 17 operation panel 18 driver 19 container ship 20 quay

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hiromitsu Hoshina 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Works

Claims (2)

[Claims] 1. A crane provided with a trolley that moves along a traverse path, and a lifting tool that is provided on the trolley and that lifts and lowers a load by gripping the load. A first camera for photographing a gripping target of a hanging tool, and a second camera which is provided at a position symmetrical with respect to the trolley with the hanging tool sandwiched therebetween and which photographs the hanging tool and a gripping target of the hanging tool in a vertically downward direction. A first feature point detection device that detects a feature point of the hanging tool or the gripping target based on a video signal of the first camera; and the suspension based on a video signal of the second camera. A second feature point detection device for detecting a feature point of a tool or the gripping target, and the first and second feature point detection devices.
Of the hoisting tool and the hoisting tool based on the two feature points detected based on the video signal of the camera and the position data of the traverse trajectories of the trolley when the first camera and the second camera take images. A position detecting device for a crane, comprising: a calculation device that calculates a position of a traverse trajectory and a winding height of a grip target. 2. The vehicle according to claim 1, wherein the first camera and the second camera are mounted on a carriage that can traverse independently on a traverse track independently of the trolley. Position detection device for cranes.