KR101321167B1 - Chassis alignment system - Google Patents

Abstract

A system for alignment of a truck chassis and a method and computer software means for carrying out same. The system comprises a laser scanner measuring means. The system measures distances to a load accurately despite changes in lighting condition due to weather. No reflective markings are needed on the trucks or containers.

Description

Chassis Alignment System {CHASSIS ALIGNMENT SYSTEM}

The present invention relates to a system and method for positioning a container fixed by a crane. In particular, but not by way of limitation, the present invention relates to a method and system for aligning chassis of a truck or other vehicle carrying a container so that the container can be lowered or lifted by a crane.

Around the world, large quantities of cargo are shipped in standard shipping containers. At each point of movement from one vehicle to another, for example at a port or port, a huge number of containers must be unloaded, transferred to a temporary stack, and later loaded into another vessel or other form of vehicle. There is. In order to achieve the shortest unloading and loading time, the container handling facility must be fully or partially fully automated during normal operation.

The technical demand to manipulate containers is large. In general, the container's own weight is consistent but the overall weight is significantly different. The width of the shipping container is standardized to 8ft, but the height varies between 8ft and 9.5ft. The most common standard lengths are 20ft and 40ft. Currently 40ft containers are very common, and longer containers up to 53ft in length are also used.

Containers can be operated by cranes, cranes moving on rails, self-propelled container handling devices, and lifts or winches of all types referred to herein as cranes. Each crane has a lifting device that generally incorporates some kind of spreader in direct contact with the container to grasp, lift, lower, and release the container. As used herein, the term "spreader" may be used to refer to a portion of a lifting device that is in direct contact with a container. Typically, spreaders are designed to manipulate containers of one or more sizes, generally 20-40ft or 20-40-45ft. Cranes and other automatic container handling devices and systems are used to accelerate the process of loading and unloading containers delivered from one point to another.

The point of delivery of the container between the crane and the truck may be the cause of the delay. In general, a crane is located above one or more parallel loading / unloading lanes where a truck or other vehicle, hereinafter referred to as a truck chassis, is installed to load containers into or unload containers from the crane. In general, cranes are installed with limited freedom to move the spreader in a direction parallel to the constriction of the loading / unloading lanes, and it is important for the truck driver to position the truck chassis correctly under the crane. Incorrect positioning of the truck chassis causes delays in the delivery of containers.

US 5,142,658 describes a container chassis positioning system. The system uses a video camera to capture images of the truck chassis, which images are compared by a computer with stored templates corresponding to known parts of the truck of a known type. These images are processed as gray scale images and matched using statistical probabilistic methods to determine close matches. The relative position of the truck and the container is determined, and the actual stop point is signaled to the driver of the truck. The signal is carried out by a number of lamps in the system that are progressively lit to indicate that the truck is traveling to the correct position.

However, processing video and gray scale images requires significant computer processing power to process such images quickly. In addition, it may be practically difficult to recognize a truck chassis using video imaging based on graphical images such as gray scale. The color intensity of the chassis portion photographed against the background of asphalt changes with the contrast and color of the truck chassis and the color contrast between them. In particular, in dim light or harsh weather conditions, truck chassis is recognized using such a type of video-based image rather than relying on fastening lamps or highly reflective signs or markers to the chassis for fast and reliable recognition. It can be difficult to do.

One object of the present invention is to enable the driver of a truck chassis to position the truck to correctly receive the container.

Another object of the present invention is to allow the positioning of the truck chassis to accommodate the container in one of a plurality of loading positions on the truck chassis.

According to other aspects of the invention, there is provided a method as claimed in claim 1, a system according to claim 11, and a computer program product according to claim 18.

The main advantage provided by the present invention is to provide a precise system for quickly and easily recognizing truck chassis even in dim light or harsh weather conditions. This facility accelerates the automatic operation of the container. The present invention can be used in a standard vehicle without first installing a special sign or light reflection marker at certain points on the truck, so that automatic recognition functions properly. This also means that the system according to the invention can continue to function even under conditions in which signs or markers, such as rain and dust, can become obscure.

The present invention relies on a three-dimensional (3-D) laser camera that scans an object and measures a fixed point or the distance between the camera and the measured object. The 3-D laser camera may include a class 1 laser. The scanned image depends on the distance to the physical object and does not depend on color or contrast between different objects. By this means, the present invention provides a fast and accurate system and method for measuring the distance to a truck chassis or container.

In addition, the present invention signals the truck driver the exact position, allowing the driver to position the truck chassis precisely with respect to the loading position, regardless of whether the loading position is in front of, behind, or in the middle of the truck chassis. In this respect, the present invention enables the high speed transportation of containers from or to a truck chassis, regardless of whether the containers are the same length or different lengths.

A particular advantage and great benefit of the system is that CAS opens up all lanes and can guide truck drivers in the right order by: The time to determine the chassis position is approximately 1 s or so in the crane direction and 2 s in the trolley direction, which makes the positioning faster when compared to manual adjustment. It consists of just one sensor and a truck driver's guide light bar. In an advantageous embodiment, the CAS has an interface to both automatic positioning systems and full manual crane control, which is flexible enough to be used with new or old existing cranes. 3-D laser technology is strong and reliable in all weather conditions.

The CAS 3-D laser system is a class 1 system according to the laser safety classification, which makes it safe for people to work under and around cranes.

The present invention can be applied to existing facilities as well as new facilities. When combined with an automatic crane control system capable of receiving positioning data from the CAS system, it further aids in the automatic landing of containers.

Hereinafter, embodiments of the present invention will be described by way of example only with reference to the accompanying drawings in detail.

FIG. 1 shows the case where the ship unloading the crane is seen from behind. A chassis alignment system (CAS) according to one embodiment of the present invention schematically shows that it is installed on a ship that lands a crane. The figure shows a trolley 2, an instruction bar 3, two crane legs 4, 5. CAS 6 appears to be installed on a crane adjacent to a service platform 7 and an access ladder 8. The indicator bar 3 includes five lights, green 3a, green 3b, yellow 3c, red 3d and yellow 3e in this embodiment. The container 9 appears to be hanging under the crane trolley 2.

The chassis alignment system, CAS 6, has the following two main functions.

Indication to the truck driver when the chassis landing area is aligned with the crane's centerline in the cantree driving direction.

Optionally aligning the spreader to the chassis position in the trolley direction (this feature requires the crane to have an automatic positioning that can be used to follow the criteria from the CAS as described in other embodiments below)

CAS 6 may be contained in a box located in a fixed location outside the girder between the landside and waterside bridges. It uses a 3D laser scanner to measure the position of the truck chassis from a height of about 35m. It is looking for the characteristic edges of the general goal. The installation height is necessary for CAS to clearly see the chassis lanes beneath the crane legs. In addition, the height allows the CAS to manage all parallel lanes at the same time. Of course, the actual position varies with different crane types depending on the optimum position. Because CAS is based on laser technology, no additional sensors or other equipment need to be installed on the chassis. This also makes the weather independent.

2 shows a schematic diagram for a multi-lane region. This figure shows a view of six lanes L1-L6, a chassis 10 with containers coming from the left, an empty chassis 11, an empty chassis 12 coming from the right, and a rear beam 15 from above. . Four trapezoidal shapes, including shapes 13 and 14 represent the scans possible by CAS 6. A scan 13 in the gantry driving direction scans to indicate the stop position of the chassis, which scan is directed toward the middle of the rear beam. The scan 14 is a trolley scan for aligning the trolley position to the chassis 12. The crane appears to be located on the waterside bridge 16 and the landside bridge 17.

 The CAS communicates with the truck driver via the color ramp signal 3a-3e of the indicator bar 3 similarly to the traffic lights. The light bar indicates whether the driver stops, moves forward or moves backward to reach the actual position for the next container loading / unloading. The crane operator then instructs the CAS what type of work to do and where on the chassis the actual target will be located. To this end, the driver uses different switch settings on the cabin console (in the embodiment described below, it has the possibility of CAS being supplied by ABB and interfacing with a control system called ELC (Electronic Load Control)). ELC is an automatic positioning system with sway control and can be used to provide the CAS with the next target position of the crane).

The 3-D laser scanner of CAS 6 can observe the target at an angle of +/- 30 degrees in both the gantry and trolley directions. The position of the chassis with loaded container 10 is measured at the top of the container. For the empty chassis 11, 12, the gantry position is measured at the center of the rear beam 15 of the chassis and the trolley position is measured in the middle of the chassis on the two I-beams of the chassis structure. . The chassis type serving the crane must be defined and loaded into the CAS target database (otherwise the vehicle will not be properly recognized).

Typically, trucks reach the chassis lanes before the trolleys reach with a hanging load, which means that a CAS 3-D laser scanner clearly sees the chassis and trolleys, and the rods do not interfere with the observation. Means that. If the chassis is not in place when the trolley arrives, the CAS cannot measure or guide a truck arriving late. The CAS then indicates that red and two yellow lights flash on the indicator bar 3, which obstructs observation. The driver of the chassis must then manually align the chassis without assistance from the CAS, or the crane operator must back the trolley to sharpen the observation and allow the CAS to complete the measurement.

In addition, when the chassis lanes (L1-L6) to be measured are on the land side of the CAS, the trolley platform and spreader with its rods may obstruct the chassis' observation when the trolley passes the CAS or moves towards the target chassis lane. . Of course, all the idea is that positioning is done before the trolley reaches. Otherwise, there are bottlenecks in other parts of terminal logistics.

To better understand how CAS works, the general sequence of operations is described here.

1. The CAS is ordered from the crane control system to measure the position of the chassis, which includes information on the active lane, lane direction, and chassis type (if different types of chassis are used).

2. CAS indicates a green light that causes the driver to move the chassis into the lane.

* 3. The CAS continually checks the active chassis lanes of the selected activity, and when it finds the rear beam 15 on the rear of the chassis, for example the chassis 12, the yellow top light starts flashing. When the chassis is within a fixed distance to the ideal position, the top yellow light is steady. The fixed distance can be set as a parameter.

4. CAS continuously measures the chassis position in the crane direction and indicates a red light when the chassis is within the ideal position window. If the chassis is overtravel, the CAS switches to the bottom yellow light 3e. The bottom yellow light starts to flash when the overtravel is large.

5. The CAS waits until the chassis stops at the ideal position for a fixed time. The fixed time is set by the parameter.

6. The CAS measures the trolley driving direction position of the chassis and provides feedback of the chassis position and height in the trolley and gantry directions to the crane control system (eg relative to the ELC).

A chassis type selector switch is provided in the crane cabin, allowing the operator to switch between different types of chassis. The other switch selector chooses where to put the container on the chassis. Three predefined positions, namely front, center and rear, can be selected from the examples shown.

3A shows a chassis type selector 20 having three positions to select for selecting from three different types. 3B shows the rod position selector 21. Three possible load positions are indicated in the example shown.

The chassis type selector 20 and the rod position selector 21 are only needed at the put down of containers on the chassis. Upon pickup, CAS is always measured at the top of the container, after which the container's observation does not depend on the type of chassis. The 45ft container can be operated with a spreader in 40ft mode. In this kind of pickup, the CAS measures the length of the container and aligns the spreader towards the center of the container.

4A shows different loading positions for one or two containers loaded on a truck chassis. The following examples illustrate different locations of the chassis for different work tasks of the crane. Spreader position 30 indicates the position of the crane's spreader upon foot down (or pickup). The pickup measuring point 31 indicates that the measuring point for the pickup is the top of the container. The measurement point 15 at foot down is indicated by the same reference number as the rear beam 15 of the chassis shown in FIG. 2 because it is a different view of the same object. A single 40ft rod 32 appears at the center position and twin load 33 appears to have two 20ft container rods at the center position. 20ft rod rear position 34 and 20ft rod front position 35 are shown.

The CAS may position the chassis for footdown in the front, center or rear. However, the CAS must know where to put the containers on the chassis. The rod position selector (21 in FIG. 3A) makes a selection among front, center and rear.

Similarly, FIG. 4B shows examples of load positions on a 45ft chassis. The figure shows the spreader position 30, the pick-up measuring point 31, and the measuring point 15 at foot down. 45ft center rod 36 and 40ft center rod 37 are shown. The 40ft rear rod rear position 38 and the 40ft rod front position 39 are shown. Typically, CAS positions 40ft containers to the same center position as 45ft containers because 40ft spreaders can hold 45ft or 40ft containers. The 40ft container can be positioned forward, middle or rear with the "rod position selector" 21.

The absolute position of container position in the chassis at the front, middle, and rear varies between container sizes (20, 40, and 45 ft) and varies between the three types of chassis. Of course, the position of the measuring point behind the chassis 12 also changes between the three types of chassis.

The chassis alignment system CAS 6 receives work instructions from the crane control system. The work command is given in different ways depending on the manual or automatic operation ELC. The measurement sequence and start is made from the normal operation of the crane, ie the operator of the crane does not normally need to press a button to start measuring the CAS.

The CAS begins to measure and position the chassis for the next command when the trolley is moving outward relative to the strand side beam to lift and lower the container onto the vessel. The measurement continues until the chassis is in position, which is usually completed before the trolley returns from the ship.

5 schematically illustrates the movement of one or more containers of shashi on the ground or on a vessel. 5 shows the chassis 40, 41, and 42, the ship 43, and the containers 44, 46. In a single cycle, the container 44 moves at once from the chassis 40 to the ship 43. In a dual cycle, the container 45 can be moved from one chassis 41 to another chassis 42 and then to the vessel 43, as shown in the figure.

In manual operation, CAS 6 obtains the destination of the next cycle and whether it is a footdown or pickup from the chassis lane. This information comes from the twistlock position of the spreader and from one switch defining the pickup chassis lanes and the other switch defining the footdown chassis lanes. Two toggle switches define whether the chassis arrives from the left or from the right. Typically, the selection of chassis lanes is done only once for every new ship. If necessary, the CAS may manage the mode lanes and lock and guide the first vehicle to arrive.

In another embodiment, an automatic electronic load control (ELC) operation is used. In the automatic operation mode, the automatic system knows the destination before the next cycle and provides this information to the CAS. Depending on the destination of the next command, the CAS may determine whether to start measuring pickup or putdown on the chassis.

The driver switches by pressing a button: The driver selects the active chassis lanes for container footdown and pickup, respectively, with two switches in the driver's cabin. An additional toggle switch selects whether the chassis will reach the chassis lanes from left or right. Typically, the selection of chassis lanes is done only once for every new ship.

In another embodiment, the signal function performed in the indicator bar 3 driven by the five digital external signals from the CAS 6 may be replaced by other signal means or display means. The same function can be performed using, for example, a display device, an LCD display, a pixel display, a computer monitor, and the like. Similarly, the installation of the display device can be altered for effective communication to the truck driver, which includes positioning the display means or the slave display means in the truck chassis cap.

In addition, while the exemplary embodiments of the present invention have been described above, various modifications and changes can be made to the disclosed solutions without departing from the scope of the invention as defined in the appended claims.

1 is a schematic diagram of one mounting position for a system in accordance with one embodiment of the present invention.

2 is a top schematic view of a crane gantry and a trolley positioned over multiple truck chassis in a loading / unloading lane.

3A is a schematic diagram of selector equipment for selecting a chassis type.

3B is a schematic diagram of rod position selector equipment in accordance with an embodiment of the present invention.

4A is a schematic diagram of a plurality of measurement positions associated with different load positions on a truck chassis.

4B is a schematic diagram of a plurality of measurement positions associated with concentrating a rod on different rod positions of a truck chassis.

5 is a schematic diagram illustrating different loading / unloading cycles.

Claims (17)

A method of scanning a truck with a sensor means such as a laser scanner and aligning the truck chassis to the required position for the crane, Installing a laser scanner at a fixed point outside the girder between the landside and waterside legs of the crane, at a height capable of simultaneously scanning all loading / unloading lanes; When the truck enters one of the loading / unloading lanes, scanning the truck to detect / verify one or more edges of the truck, the one or more edges being one or more of the truck in the direction of the crane Scanning the truck, the edge comprising at least one of a rear end and a front end of the truck, and one edge in the direction of the trolley, ie one side of the truck; Measuring the distance between the identified edge of the truck and the laser scanner on the crane in a single measurement; And Generating a signal to enable the truck driver to drive the truck to the required position in the loading / unloading lanes, in order to correctly accommodate or move the container. delete The method of claim 1, Selecting a truck chassis type; Selecting a load position for the truck chassis type; -Signaling by a green light that the truck chassis can proceed to a position towards the desired position for receiving a rod. The method of claim 3, wherein And when the first target is positioned on the truck chassis, signaling by a flashing yellow light at the top of the array. 5. The method of claim 4, When the truck chassis is within a first predetermined distance of the required position, signaling by a steady yellow light at the top of the array. 6. The method of claim 5, And when the truck chassis is within an ideal window position relative to the desired position, signaling by a red light. The method of claim 6, When the truck chassis has moved beyond an ideal window position relative to the desired position, signaling by a steady yellow light at the bottom of the array. The method of claim 7, wherein When the truck chassis has moved excessively beyond the ideal window position relative to the desired position, signaling by a flashing yellow light at the bottom of the array. 9. The method of claim 8, Waiting for a predetermined time until it is determined that the truck chassis is in the required position. The method of claim 9, And signaling the measured position of the truck chassis measured in the trolley direction, gantry direction, and height to the crane control system after the predetermined time has elapsed. A system comprising a sensor means for identifying a truck position, a computer for processing measurements made by the sensor means, and a signal lamp array for signaling to a driver of the truck, wherein the truck chassis is aligned with the crane, The sensor means is a laser scanner installed at a fixed point outside the beam between the land side and waterside legs of the crane, at a height capable of simultaneously covering all loading / unloading lanes, The laser scanner scans the truck to detect / verify one or more edges of the truck when the truck enters one of the loading / unloading lanes, and measures the distance between the truck and a fixed point on the crane in a single measurement. At least one edge of the truck in the direction of the crane, ie at least one of the rear and front ends of the truck, and one edge in the direction of the trolley, i.e., one side of the truck. Including, The computer calculates the distance between the identified edge of the truck and the laser scanner on the crane to signal the truck driver to drive the truck to the required location of the loading / unloading lane to accurately accommodate or move the container. Alignment system of a truck chassis, characterized in that it is installed to generate. The method of claim 11, The chassis type selecting means comprises a selecting means for selecting one of several predetermined types of truck chassis from a plurality of known truck chassis types stored in a computer recognition system. 13. The method of claim 12, The load position selection means comprises selection means for selecting one of a variety of predetermined load positions available in different types of truck chassis from a plurality of known load positions stored in a computer recognition system. The method of claim 11, And said laser scanner is a 3-D laser camera. The method of claim 11, And said laser scanner comprises a class 1 laser. The truck chassis according to any of claims 11 to 15, which provides a measurement signal to load / unload containers on / from a preselectable load position, such as the front, middle, or rear load position of the truck chassis. How to use the sorting system. A computer program code means for allowing a computer or processor to perform the steps of any of claims 1 and 3 to 9, characterized in that it is at least partly included in a computer readable medium. Computer-readable recording medium containing a computer program.

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