KR101058594B1 - System and method for loading/unloading container - Google Patents

Abstract

PURPOSE: Container handling system and method are provided to facilitate precise control using a CCD(Charge Coupled Device) camera since a spreader is located within an optimal area coupled to a container. CONSTITUTION: A container handling system comprises laser scanners(111,112) and a main controller. The laser scanners obtain the position coordinates of the edge of a target container(150) by scanning each edge of the target container and form a virtual membrane on a space by continuously irradiating laser to the position coordinates. When the spreader descends, the laser scanner compares the distance of a transfer container(140) with that of a target container, senses in real time whether the transfer container gets out of the virtual membrane and supplies a sensed signal.

Description

Container unloading system and its method {SYSTEM AND METHOD FOR LOADING / UNLOADING CONTAINER}

The present invention relates to a container unloading system and a method thereof, and more particularly, to a system and a method for loading / unloding a container using a gantry crane or a transfer crane, and more particularly. The present invention relates to a container unloading system and method using a laser scanner and a camera.

In general, container cranes, such as gantry cranes or transfer cranes, are the equipment required to unload (or ship) containers in ports, ships to trucks, or trucks to ships. The unloading speed of container cranes is a key factor in determining the limits of handling speed and handling capacity of cargo. As a result, ships and containers have become larger in recent years, increasing the amount of cargo to be unloaded to or from ships, and the concept of mobile hobors that unload cargoes at sea has begun to emerge. This became even more important.

Conventionally, the container unloading method using a container crane is a method in which a container crane operator directly operates a crane and a spreader to move a trolley of a container crane to a position of a container to be unloaded, lowers the spreader, and then combines the spreader with the container. Was done. As described above, since the operation of the container crane depends on the manual labor of the operator, the efficiency is inevitably dependent on the skill of the operator. In addition, the efficiency of work varies depending on the physical condition and concentration of the worker, so the efficiency of the work in the container unloading or shipping is not guaranteed.

As part of solving the problems of the container unloading method according to the prior art, Korean Patent No. 10-0447911 (patent filed on February 6, 2004, and registered and published on September 8, 2004 by the present applicant) Date of registration: August 31, 2004, has been proposed. Registered Korean Patent No. 10-0447911 relates to "Container Unloading System and Method," which relates to a three-dimensional form of a trailer and a container using a three-dimensional laser scanner and a CCD (Charge Coupled Device) camera. Knowing the location has the advantage that more accurate and faster work can be done when unloading containers.

As described above, in the container unloading method according to the prior art, there is an advantage that the logistics processing speed can be improved by improving the working speed during the container unloading operation, but the part of the container unloading process still consumes work time. There exists a limit to double the logistics speed by increasing the unloading work time. Accordingly, there is a need for a study on the container unloading (or shipping) method that can double the logistics processing speed by minimizing the consumption of working time during container unloading.

Therefore, the present invention has been proposed to solve the problems according to the prior art, by optimizing the container unloading operation process to minimize the consumption of the unloading work time, thereby doubling the logistics processing speed through a large amount of containers in the shortest time The object of the present invention is to provide a container unloading system and a method for providing the same.

In accordance with an aspect of the present invention, there is provided a system for unloading a container using a crane including a trolley and a spreader, wherein one or more are installed on the trolley or the upper frame of the crane, and the spreader Scanning the respective edges of the target container to which the transport container mounted on the target container is to be loaded, obtaining position coordinates of each edge of the target container, and continuously irradiating a laser to the position coordinates with the focusing on the acquired position coordinates A laser scanner that forms a virtual boundary film in space and detects in real time whether the transport container leaves the virtual boundary film when the spreader descends, and provides a corresponding detection signal according to the detection signal provided from the laser scanner Position the spreader By adjusting the virtual boundary into the film area to control the descent and positioning of the spreader repeatedly provides a container handling system having a main controller for controlling such that the transfer container onto the target container landing.

In addition, the present invention according to another aspect for achieving the above object is a system for unloading a container by using a crane including a trolley and a spreader, one or more are installed on the trolley or the upper frame of the crane, Scan the respective edges of the target container to be picked up by the spreader to obtain positional coordinates of each edge of the target container, and continuously irradiate a laser to the positional coordinates with the positional coordinates of each obtained edge as the focal point. A laser scanner configured to provide a detection signal corresponding to the virtual barrier in real time and detect the spreader leaving the virtual boundary in real time when the spreader descends, and a detection signal provided from the laser scanner. Position of the virtual barrier Provided is a container unloading system having a main controller that controls the spreader to pick up the target container by repeatedly controlling the lowering and positioning of the spreader in a manner that adjusts into an area.

In addition, the present invention according to another aspect for achieving the above object is a method for unloading a container by using a crane including a trolley and a spreader, the target to be loaded on the transport container mounted on the spreader using a laser scanner Scanning the respective edges of the container to obtain the position coordinates of each edge of the target container, and continuously irradiating a laser to the position coordinates of each edge with the focus on the position coordinates of each edge of the target container. Setting a virtual boundary layer in the; and detecting in real time whether the transport container leaves the virtual boundary layer on the basis of the virtual boundary layer when the spreader descends, and providing a corresponding detection signal according to the detection signal; The position of the spreader is zero of the virtual boundary film. Comprising the steps of: repeatedly controls the descent and positioning of the spreader to the adjusting manner into, there is provided a cargo container comprising the step of landing the transfer container onto the target container.

In addition, the present invention according to an aspect to achieve the above object is a method for unloading a container using a crane comprising a trolley and a spreader, each edge of the target container to be picked up by the spreader using a laser scanner Scanning position and obtaining position coordinates of each edge of the target container, and irradiating a laser to position coordinates of each edge successively by using the position coordinates of each edge of the target container. And setting, in real time, whether the spreader leaves the virtual boundary layer based on the virtual boundary layer when the spreader descends, providing a corresponding detection signal, and positioning the spreader according to the detection signal. In a manner that adjusts into the area of the virtual barrier. It provides the step of iteratively controlling the descent and positioning of the machine and the spreader, container handling method comprising picking up the target container.

Therefore, according to the present invention, before lowering the spreader toward the target container, a virtual boundary film is formed in the space by measuring the position coordinates of each edge of the target container through a laser scanner, and the virtual boundary film formed as described above is used to By adjusting the position, the position of the spreader is confined within the virtual boundary and within the optimized area for combining with the target container, so that it is easy to precisely control the CCD camera later, the position of the spreader is easy, and the landing / pickup operation It can save time.

1 is a view showing a container unloading system according to an embodiment of the present invention.
FIG. 2 shows a spreader 130 of the crane 100 shown in FIG. 1.
3 is a view illustrating a recognition area of a laser scanner, an optical sensor, and a spreader camera installed in the crane 100.
4 is a configuration diagram showing the configuration of a container unloading system according to an embodiment of the present invention as an example.
FIG. 5 is a diagram for explaining a position where laser scanners 111-1, 112-1, 111-2, and 112-2 are installed; FIG.
6 is a view showing image information obtained through the spreader camera (131 ~ 134).
FIG. 7 is a diagram illustrating image information acquired during a container landing / pickup operation through the spreader cameras 131 to 134. FIG.
FIG. 8 is a view showing position coordinates acquired during container landing / pickup operation through the laser scanners 111 and 112; FIG.
9 is a flowchart illustrating a landing method of a container unloading method according to an embodiment of the present invention.
10 is a view for explaining a landing method of the container unloading method shown in FIG.
11 is a flowchart illustrating a pickup method of a container unloading method according to an example of the present invention.
12 is a flowchart illustrating a landing method of a container unloading method according to another embodiment of the present invention.
13 is a flowchart illustrating a pickup method of a container unloading method according to another embodiment of the present invention.
14 is a flowchart illustrating a landing method of a container unloading method according to a comparative example.
15 is a flowchart illustrating a pickup method of a container unloading method according to a comparative example.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms.

The embodiments herein are provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art. And the present invention is only defined by the scope of the claims. Thus, in some embodiments, well known components, well known operations and well known techniques are not described in detail in order to avoid obscuring the present invention.

Like reference numerals refer to like elements throughout. In addition, the terms used (discussed) herein are for the purpose of describing particular embodiments only and are not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. Also, components and acts referred to as " comprising (or comprising) " do not exclude the presence or addition of one or more other components and operations.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. In addition, the terms defined in the commonly used dictionary are not ideally or excessively interpreted unless they are defined.

Throughout the specification, 'unloading' should be interpreted to include unloading and shipping. In addition, 'unloading' is a landing operation that combines, ie, loads, a container onto a target container or ground using a spreader, and a pick-up to lift the container loaded on the target container to be transported elsewhere. (pick-up) work.

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

1 is a view showing a container unloading system according to an embodiment of the present invention, Figure 2 is a view showing a spreader 130 of the crane 100 shown in Figure 1, Figure 3 is a crane 100 A diagram illustrating a recognition area of an installed laser scanner, an optical sensor, and a camera.

Referring to Figure 1, the container unloading system according to an embodiment of the present invention includes a crane (100). For example, in the present embodiment, the crane 100 has been described with an example of a Rubber Tired Gantry Crane (RTGC), but the present invention is not limited thereto, and the rail mounted Gantry Crane (RMGC), Automatic Stacking Crane (ASC), and OHBC. (Over Head Bridge Crane). In addition, the trolley structure may also include a hoist type, a crab type, a rope trolley type, a man trolley type, a swing man trolley type, and the like. In addition, the hoist type may include a single hoist or a dual hoist type.

1 to 3, the crane 100 includes a trolley 110. The trolley 110 is installed to move in the horizontal direction along the guide rail 120 of the crane (100).

Spreader 130 is connected to the trolley 110 through the rope 101 in the ground direction, that is, the vertical direction. Laser scanners 111 and 112 are provided on both sides of the trolley 110.

In the laser scanners 111 and 112, a three-dimensional laser scanner is used to three-dimensionally represent an object to be scanned to ensure accuracy of position coordinates of the object. In this case, the position coordinate of the object includes a distance value between the laser scanner and the object.

The laser scanners 111 and 112 are installed at both sides in the moving direction of the trolley 110 as shown in FIG. 1. However, the position where the laser scanners 111 and 112 are installed is not limited to the position shown in FIG. 1, and the position coordinates of the target container 150, preferably the position coordinates of the edge, can be accurately measured and measured. The location is all right. For example, as shown in FIGS. 5A and 5B, the laser scanners 111-1, 112-1, 111-2, and 112-2 are in a direction parallel to the upper frame of the crane 100. Can be installed. In addition, the number of the laser scanners 111 and 112 is not limited to two, and the number may be increased in consideration of the installation cost and the position coordinate accuracy of the object to be obtained.

Image information obtained through the laser scanners 111 and 112 of the present invention is shown in FIG. 8. 8 (a) is a view showing the position coordinates obtained by scanning during the container landing operation, (b) is a view showing the obtained position coordinates obtained by scanning during the container pickup operation.

In the upper frame of the trolley 110 or the trolley 110, cameras 161a and 161b (hereinafter referred to as trolley cameras) are installed adjacent to the laser scanners 111 and 112 in pairs or separately as shown in FIG. Can be. A charge coupled device (CCD) camera may be used as the trolley cameras 161a and 161b and may be used to recognize a moving mark of the trolley 110 or a specific mark (not shown) installed on the spreader 130. In addition, the trolley cameras 161a and 161b may be used together with the laser scanners 111 and 112 to photograph the target container 150, the transfer container 140, or the spreader 130. The image information obtained through the target container 150, the transport container 140, or the coordinates of the target container 150, the transport container 140, or the spreader 130 obtained through the laser scanners 111 and 112 may be obtained. It is used to locate the spreader 130.

As described above, the spreader 130 is connected to the trolley 110 through the rope 101 and moves in a horizontal direction in association with the trolley 110. In addition, the spreader 130 is moved in the vertical direction through the vertical movement of the rope 101. As shown in FIG. 2, cameras 131 ˜ 134 (hereinafter, referred to as spreader cameras) are installed at respective edge portions of the spreader 130.

As the spreader cameras 131 to 134, a CCD camera may be used, and the target container 150, the transfer container 140, or the spreader 130 may be photographed in real time, so that the target container 150, the transfer container 140, or the spreader ( Acquires image information about the image 130). The image information thus obtained is obtained together with the position coordinates of the target container 150, the transfer container 140, or the spreader 130 obtained through the laser scanners 111 and 112, or the target container 150, the transfer container 140, or the like. It is used to locate the spreader 130.

The spreader cameras 131 to 134 are installed at each edge portion of the spreader 130 as shown in FIG. 2, but the position at which the spreader cameras 131 to 134 are installed is not limited. For example, the spreader cameras 131 to 134 may be installed at central portions of the side surfaces of the spreader 130. In addition, in FIG. 2, four spreaders cameras 131 to 134 are provided, one at each edge, but the number is not limited as an example.

Image information obtained through the spreader cameras 131 to 134 of the present invention are illustrated in FIGS. 6 and 7. FIG. 7A illustrates image information obtained by capturing a container during a landing operation, and FIG. 7B illustrates image information obtained by capturing a container during a pickup operation.

Cameras (not shown) (hereinafter, referred to as gantry cameras) may be installed at both sides in the lengthwise direction of the spreader 130. As a gantry camera, a CCD camera may be used. The CCD camera may be used to check the moving direction of the crane 100 and also recognize a number (container number) marked on the upper portion of the target container 150 or the transfer container 140. For example, the gantry camera may be installed on the left and right sides in the longitudinal direction of the spreader 130 so as to recognize the container number written on the left and right sides of the target container 150 during the landing operation.

Meanwhile, the optical sensors 135 and 136 may be installed at left and right sides in the longitudinal direction of the spreader 130 adjacent to the gantry camera or separately from the gantry camera. The optical sensors 135 and 136 may be installed in place of cameras, in particular gantry cameras. In the case of gantry cameras, the image information obtained according to the daytime and nighttime environment is severe. Therefore, the ground mark displayed on the container number or the ground using an optical sensor with a small deviation according to the external environment such as daylight, nighttime or rainy weather mark).

In an embodiment of the present invention, camera systems including trolley cameras 161a and 161b, spreader cameras 131 to 134, gantry cameras, and the like are used for image capturing, processing methods, etc., in order to reduce the deviation of information already according to the external environment. Can be adjusted.

For example, as illustrated in FIG. 6, image information is obtained by photographing the transport container 140, the target container 150, and the ground mark during the ground landing operation, and horizontal and vertical lines are obtained from the obtained image information. Add (see 'A') to detect X, Y axis error and angle at each site. Based on the obtained image information, X, Y axis displacements, that is, a trim / list / skew state between the target container 150 and the spreader 130 may be detected. In addition, as in 'B', a program in the camera system may be adjusted to prevent light scattering, or a driving polarization filter may be mounted in the camera.

4 is a configuration diagram showing an example of a container unloading system according to an embodiment of the present invention, which processes information obtained through a laser scanner and each camera system, and controls the trolley and the spreader using the processed information. It is a schematic diagram of the unloading system.

Referring to FIG. 4, the container unloading system according to the embodiment of the present invention includes a crane programmable logic control (PLC) 168, a main controller 167a, a hub 166, a main control center 167b, and a local controller 162a. ~ 162e). The display device 169 may include a display device 169, video data processing units 165a and 165b, distributors 164a and 164b, and a switching unit 163.

The crane PLC 168 is connected to the main controller 167a for controlling the overall operation of the crane 100. The main controller 167a controls each of the local controllers 162a to 162e through the hub 166. For example, the crane PLC 168 and the main controller 167a are connected via RS232, and the main controller 167a and the local controllers 162a to 162e are connected by TCP / IP communication.

The local controllers 162a and 162b control the laser scanners 111 and 112 and the trolley cameras 161a and 161b in response to a command signal provided from the main controller 167a. The local controllers 162a and 162b transmit positional coordinates and image information about the target container 150 (or trailer) obtained from the laser scanners 111 and 112 and the trolley cameras 161a and 161b through the hub 166. It is provided to the main controller 167a. In addition, the acquired position coordinates and the image information are provided to the main control center 167b through the distributor 164b as necessary.

The local controllers 162d and 162e control the spreader cameras 131 to 134 and the optical sensors 135 and 136 (or gantry cameras) in response to a command signal provided from the main controller 167a. The local controller 162d controls the operations of the spreader cameras 131 to 134 through the switching unit 163.

The image information obtained from the spreader cameras 131 ˜ 134 is distributed through the distributor 164a and then processed through the video data processor 165b which is an image processor. The processed image information is provided to the main controller 167a through the local controller 162d and the hub 166 and displayed on the display device 169, and also provided to the main control center 167b as necessary. Image information acquired through the optical sensors 135 and 136 is provided to the main controller 167a through the local controller 162e and the hub 166 and displayed on the display device 169.

The main controller 167a includes position coordinates (scanning information) and image information obtained through the laser scanners 111 and 112 and the trolley cameras 161a and 161b, and the spreader cameras 131 to 134 and the optical sensors 135 and 136. For example, the image information obtained through the reference information, for example, is provided by analyzing the position coordinates of each edge portion of the target container 150 so that the transport container 140 is seated on the target container 150 and coupled during the landing operation. Alternatively, the transfer container 140 coupled to the target container 150 may be picked up during the pickup operation.

The main controller 167a generates a control signal for controlling the crane PLC 168 based on the provided position coordinates and image information and provides the generated control signal to the crane PLC 168. The crane PLC 168 controls the trolley 110 and the spreader 130 in response to the control signal of the main controller 167a.

This system operation allows the sway of the transfer container 140 to be moved during horizontal movement of the trolley 110 or when the trolley 110 is stopped, or during vertical movement of the spreader 130, or when the spreader 130 is stopped. It can calibrate, correct position and correct skew.

For example, the sway and skew correction method was jointly published by Kim Young-bok and four others in November 2007, Vol. 11, No. 4, Vol. And control, or the method described in "Anti-sway system with image sensor for container cranes" published by "Kourai Hideki et al." In "Journal of Mechanical Science and Technology 23 (2009) 2757-2765". have.

Using the above-described sway and skew correction method, in the present invention, a specific mark is installed on the spreader 130, and the specific mark installed on the spreader 130 is recognized through the trolley cameras 161a and 161b. The current state of the spreader 130 is measured. The current state of the spreader 130 measured by the trolley cameras 161a and 161b includes a sway, a skew, a trim, a wrist, and measures the state of the spreader 130. To the main controller 167a. The main controller 167a adjusts the position of the spreader 130 based on the state of the spreader 130 provided from the trolley cameras 161a and 161b. That is, the sway, skew, trim and list are adjusted.

As described above, in the present invention, the landing or pickup of the container by adjusting the state of the spreader 130 through the trolley cameras 161a and 161b, that is, the sway, the skew, the trim, and the wrist. It can perfectly complement the condition as well as the position of the spreader at work.

FIG. 9 is a flowchart illustrating a container unloading method according to an example of the present invention. FIG. 9 is a flowchart illustrating a landing method. FIG. 10 is a diagram illustrating a spreader position adjustment according to the container unloading method shown in FIG. 9. It is a schematic drawing.

1 to 4, 9 and 10, the crane PLC 168 is controlled through the main controller 167a to move the trolley 110 to the horizontal target point in the horizontal direction (S11 and S12).

Here, the "horizontal target point" is the most suitable position for loading the transport container 140 on the target container 150, overlapping the target container in the vertical direction as possible, and may be the position closest to the target container. have. Preferably, the horizontal target point is preferably a position provided so that the laser scanners 111 and 112 can measure each edge position coordinate of the target container 150 accurately. That is, the horizontal target point is preferably located in the virtual boundary film 113 as shown in FIG. The horizontal target point may be measured in advance through the laser scanners 111 and 112 and the spreader cameras 131 to 134 and stored in the main controller 167a in the form of data, or the trolley camera installed in the trolley 110. Receive real-time image information when the trolley 110 moves through 161a and 161b, and may be an optimal or shortest distance from the target container calculated based on this.

When the trolley 110 reaches the horizontal target point, the trolley 110 is stopped and the position coordinates (scanning information) of each edge of the target container 150 are measured by using the laser scanners 111 and 112. As shown in FIGS. 1 and 3, the virtual boundary layer 113 is set using the position coordinates of the respective edges of the target container 150 (S13 and S14).

Here, the term 'setting the virtual boundary membrane 113' means that the laser scanners 111 and 112 set the position coordinates of the respective edges of the target container 150 as reference coordinates. 112 refers to fixing the laser focus to the set reference coordinates and subsequently irradiating the laser to form a virtual position coordinate in the form of a curtain. In this case, the virtual position coordinate includes a distance value between the laser scanners 111 and 112 and the target container 150.

As shown in FIG. 10A, after the virtual boundary layer 113 is set, the main controller 167a lowers the spreader 130 in the virtual direction 113 in the ground direction (S15).

Thereafter, the main controller 167a analyzes in real time whether the transport container 140 leaves the virtual boundary layer 113 in the process of descending to the ground direction, that is, the target container 150 (S16). The laser scanners 111 and 112 continuously irradiate a laser with a reference coordinate as a focal point to form a virtual boundary film 113. In this state, when the transport container 140 leaves (contacts) the virtual boundary film 113, the laser scanners 111 and 112 detect the transport container 140 leaving the virtual boundary film 113, It provides a corresponding detection signal.

In the above, the method of determining whether the transport container 140 has left the virtual boundary layer 113 may be determined using a distance value measured in real time by the laser scanners 111 and 112 when the spreader 130 descends. have. That is, when the distance value measured by the laser spreader 130 is shorter than the distance value measured corresponding to the position coordinates of the respective edges of the first target container 150, the transport container 140 opens the virtual boundary film 113. Judging by the departure. On the contrary, when the distance values are the same, it is determined that the transport container 140 does not leave.

As shown in (b) of FIG. 10, when the transport container 140 leaves (contacts) the virtual boundary layer 113, the laser scanners 111 and 112 detect this, and detect a detection signal from the main controller 167a. To provide. The main controller 167a controls the crane PLC 168 by determining that the transport container 140 has left the virtual boundary membrane 113 through the detection signals provided from the laser scanners 111 and 112, and spreader 130. ) Position is adjusted (S17). For example, in FIG. 10B, the spreader 130 moves to the left direction.

Thereafter, the lowering and positioning of the spreader 130 is repeatedly performed until the spreader 13, that is, the transfer container 140 reaches the target container 150 (S18, S15, S16, and S17). Here, the 'conveying container 140 reaches the target container 150' means that the transport container 140 can be coupled to the upper portion of the target container 150, that is, the bottom surface of the transport container 140 is a target. It means a state in contact with the upper surface of the container 150.

Thereafter, the transport container 140 is coupled to the target container 150 to complete the landing operation (S19).

11 is a flowchart illustrating a pickup method of a container unloading method according to an example of the present invention.

Referring to FIG. 11, unlike the landing operation, as shown in FIGS. 7 and 8 (b), the pickup operation is a container to be transferred using the spreader 130 to move the container loaded on the ground to another place. In other words, it means to pick up the target container.

In the landing operation illustrated in FIG. 10, the virtual boundary layer 113 is set using the laser scanners 111 and 112, and it is determined whether the transport container 140 mounted on the spreader 130 leaves the virtual boundary layer 113. It detects through the laser scanners 111 and 112. However, as shown in FIG. 11, since the transfer container is not mounted on the spreader 130, the pick-up operation determines the departure based on the spreader 130 to perform position adjustment.

Therefore, in the pickup operation as shown in Fig. 11, the trolley horizontal movement step (S21), the step of determining whether the horizontal target point is reached (S22), the target container (here is the container to be transported) the edge position coordinate measuring step (S23), the step of setting the virtual boundary film using the measured position coordinates (S24), the step of lowering the spreader (S25), the step of adjusting the spreader position (S27) is the same method as the landing operation shown in FIG. Proceeds.

However, in the pick-up operation, it is determined whether the spreader 130 rather than the transport container leaves the virtual boundary membrane 113 in step S26 of determining whether the virtual boundary membrane 113 is separated. In addition, in step S28 of determining whether the target container is reached, it is determined whether the spreader 130 reaches the target container based on the spreader 130 rather than the transport container. In addition, instead of coupling the transfer container onto the target container, step S29 of coupling the spreader 130 onto the target container is performed.

12 is a flowchart illustrating a landing method of a container unloading method according to another embodiment of the present invention.

1 to 3 and 12, the container landing method according to another embodiment of the present invention proceeds in a similar manner to the landing method according to the example shown in FIG. That is, the step of horizontally moving the trolley (S31), the step of determining whether the horizontal target point is reached (S32), the step of measuring the position coordinates of each edge of the target container (S33), the virtual boundary using the measured position coordinates Setting the film 113 (S34), lowering the spreader 130 (S35), determining whether to leave the virtual boundary film 113 (S36), and adjusting the position of the spreader 130 S37 may proceed in the same manner as the landing method according to the example illustrated in FIG. 9.

In the container landing method according to another embodiment of the present invention, after the step S37 of adjusting the position of the spreader 130, the transport container 140 mounted to the spreader 130 is not determined to determine whether the target container 150 is reached. It is determined whether to reach the vertical target point (S38).

Here, the "vertical target point" is a point required for precisely controlling the position of the target container 150 on which the transport container 140 is to be loaded. In order to accurately photograph the target container 150 as shown in FIG. Spreader cameras (131 to 134) is a point that can be taken precisely. For example, the vertical target point may be set to a point where the distance from the top surface of the target container 150 to the bottom surface of the transfer container 140 becomes 1 m or less.

Thereafter, the target container 150 is photographed using the spreader cameras 131 ˜ 134, for example, a CCD camera, to obtain image information as illustrated in FIG. 7. The scanning information obtained as shown in FIG. 8 using the laser scanners 111 and 113 together with the image information acquired in this way, the image information obtained in step S33, or the spreader cameras 131 to 134, that is, the position The position of the transfer container 140 is precisely adjusted using the coordinates (S39).

Then, the step of lowering the spreader 130 (S40), determining whether to reach the target container 150 (S41), coupling the transport container 140 mounted on the spreader 130 on the target container 150 The step S42 may be performed in the same manner as the unloading method according to the example shown in FIG. 9.

13 is a flowchart illustrating a pickup method of a container unloading method according to another embodiment of the present invention.

Referring to FIG. 13, in the pick-up operation, the trolley horizontal movement step (S51), determining whether the horizontal target point is reached (S52), a target container edge position coordinate measuring step (S53), and using the measured position coordinates Setting the boundary membrane (S54), lowering the spreader (S55), adjusting the spreader position (S57), adjusting the spreader position (S59), and lowering the spreader (S55) are shown in FIG. Proceed in the same manner as the landing operation shown.

However, in the pickup operation, it is determined in step S56 whether the virtual boundary membrane 113 is separated from the spreader 130 instead of the transport container. In addition, the step S58 of determining whether the vertical target point is reached and the step S61 of determining whether the upper surface of the target container is reached determines whether the spreader 130 reaches the target container based on the spreader 130 rather than the transport container. Done. In addition, instead of coupling the transfer container 140 to the target container 150, the step S62 of coupling the spreader 130 to the target container is performed.

On the other hand, in the unloading method described in Figs. 9 and 11 to 13, at least sway and skew correction is performed after the trolley is moved horizontally, after the trolley is stopped, after the spreader descends or after reaching the vertical target point. can do. In this case, sway and skew correction may be appropriately performed using a 3D laser scanner, a CCD camera, an optical sensor, or the like installed in a crane.

FIG. 14 is a flowchart illustrating a landing method among container unloading methods according to a comparative example, and FIG. 15 is a flowchart illustrating a pickup method among unloading methods.

14 and 15, in the landing method or the pickup method according to the comparative example, the trolley is moved to the horizontal target point and the spreader is lowered to the vertical target point (S71 to S74 or S81 to S84). Then, the target container is photographed using a 3D laser scanner and a CCD camera to acquire scanning information and image information, and the position of the spreader is adjusted based on the obtained information (S76 or S86). Then, the spreader is lowered to the upper portion of the target container and combined on the target container (S77 to S79 and S87 to S89).

In the landing method and the pick-up method according to the comparative example, the spreader or the transport container does not adjust the position of the spreader until the vertical target point is reached. After reaching the vertical target point, the 3D laser scanner and the CCD camera are used. Knowing the shape and location of the target container can complicate the landing / pickup process and increase the working time.

In comparison with the present invention, in the present invention, since the position of the spreader is limited in the virtual boundary membrane, the position of the spreader is primarily adjusted within the optimized area for combining with the target container. Although it is easy to control, in the comparative example, the spreader and the target container are misaligned because the escape area is not limited, so that the shape and position of the target container using the 3D laser scanner and the CCD camera may not be determined later. Difficult adjustments can result in increased landing / pickup time.

As described above, although the technical spirit of the present invention has been described in detail in the preferred embodiments, it should be noted that the above-described embodiments are for the purpose of description and not for the purpose of limitation. In particular, skew correction can be performed in various ways. Thus, the invention is only defined by the scope of the claims set forth in the claims.

100: crane
110: trolley
120: guide rail
130: spreader
140: transport container
150: target container
111, 112: Laser Scanner
131 ~ 134: Spreader Camera
161a, 161b: Trolley Camera
135, 136: Optical sensor
168 crane PLC
167a: main controller
166: Hub
167b: main control center
162a ~ 162e: local controller
169: display device
165a, 165b: video data processing unit
164a, 164b: Splitter
163; Switching unit

Claims (8)

In a system for unloading a container by using a crane including a trolley and a spreader,
Installed in the trolley, and scanning the respective edges of the target container into which the transfer container mounted on the spreader is to be loaded to obtain position coordinates of each edge of the target container, and continuously The laser is irradiated with the position coordinates to form a virtual boundary layer in the space, and when the spreader descends, the measured distance value corresponding to the position coordinates of the target container is compared with the measured distance value of the transport container, and the transport container A laser scanner that detects whether the virtual boundary film leaves the virtual boundary in real time and provides a corresponding detection signal; And
Control the landing container to land on the target container by repeatedly controlling the lowering and positioning of the spreader to position the transport container within the area of the virtual boundary membrane according to the detection signal provided from the laser scanner. Main controller
Container unloading system having a.
In a system for unloading a container by using a crane including a trolley and a spreader,
Installed in the trolley, scanning the respective edges of the target container to be picked up by the spreader to obtain position coordinates of each edge of the target container, and continuously moving the position coordinates to the position coordinates as the focal point; A virtual boundary film is set in a space by irradiating a laser, and when the spreader descends, the measured distance value of the spreader is compared with the measured distance value corresponding to the position coordinate of the target container, and the spreader opens the virtual boundary film. A laser scanner which detects in real time whether the deviation is provided and provides a detection signal corresponding thereto; And
A main controller which controls the spreader to pick up the target container by repeatedly controlling the lowering and the positioning of the spreader such that the position of the spreader is located within an area of the virtual boundary film according to the detection signal provided from the laser scanner.
Container unloading system having a.
The method according to claim 1 or 2,
A plurality of spreaders are installed in the spreader, further comprising a spreader camera for photographing the target container to provide image information for the target container.
The method of claim 3, wherein
And the main controller analyzes the image information provided from the spreader camera and the position coordinates provided from the laser scanner when the spreader descends to reach a vertical target point, and precisely controls the position of the spreader.
The method according to claim 1 or 2,
A specific mark installed on the spreader; And
It is installed on the upper frame of the trolley or the crane, and recognizes a specific mark installed on the spreader to measure the sway, skew, trim, list of the spreader to the main controller. It further includes a trolley camera provided,
The main controller,
Container unloading system for adjusting the position of the spreader in accordance with the state of the spreader provided from the trolley camera.
In the method of unloading a container by using a crane including a trolley and a spreader,
The transport container mounted on the spreader can be loaded using a laser scanner.
Scanning each edge of the target container to obtain position coordinates of each edge of the target container;
Setting a virtual boundary film in the space by continuously irradiating a laser to the position coordinates of each edge, focusing on the position coordinates of each edge of the obtained target container;
When the spreader is lowered, the measured distance value of the transport container and the distance value corresponding to the position coordinate of the target container are compared with respect to the virtual boundary film to determine whether the transport container leaves the virtual boundary film in real time. Sensing and providing a sensing signal corresponding thereto;
Repeatedly controlling the lowering and positioning of the spreader in a manner of adjusting the position of the transport container into an area of the virtual boundary film according to the detection signal; And
Landing the transfer container on the target container
Container unloading method comprising a.
In the method of unloading a container by using a crane including a trolley and a spreader,
Each of the target containers to be picked up by the spreader using a laser scanner
Scanning the edges to obtain position coordinates of each edge of the target container;
Setting a virtual boundary film in the space by continuously irradiating a laser to the position coordinates of each edge, focusing on the position coordinates of each edge of the obtained target container;
When the spreader descends, by comparing the measured distance value of the spreader with the measured distance value corresponding to the position coordinate of the target container based on the virtual boundary film, it is detected in real time whether the spreader leaves the virtual boundary film. Providing a sensing signal corresponding thereto;
Repeatedly controlling the lowering and the positioning of the spreader in a manner of adjusting the position of the spreader in the area of the virtual boundary film according to the detection signal; And
Picking up the target container
Container unloading method comprising a.
The method according to claim 6 or 7,
After the step of repeatedly controlling the lowering and positioning of the spreader by adjusting the position of the spreader in the area of the virtual boundary film according to the detection signal;
When the spreader descends to reach the vertical target point, precisely controlling the position of the spreader by analyzing image information of the target container obtained through the spreader camera and the position coordinates of the target container provided from the laser scanner;
Container unloading method comprising more.

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