KR101704309B1 - Container position detection apparatus, crane control system - Google Patents

Abstract

The container placement position detecting device 20 is provided with a detection light irradiating section 25 for irradiating the detection light L from above to traverse the upper edge E of the original installation container C2 already arranged in the container yard G, And the first detection light L1 irradiated onto the suspending container C1 and the second detection light L2 irradiated on the upper surface of the installation container C2 are picked up from the oblique upper side, And a container arrangement for obtaining a container placement position A in which the container C1 should be arranged based on the first detection light L1 and the second detection light L2 And a positioning unit 55. [

Description

Technical Field [0001] The present invention relates to a container placement position detecting apparatus,

The present invention relates to a container placement position detecting device and a crane control system.

Patent Document 1 discloses a container placement position detecting apparatus for detecting a position at which a container should be placed in a container yard.

In this container placement position detecting apparatus, an image pickup section such as a CCD camera is provided in a spreader of a crane disposed in a container yard, and the upper edge of the container is detected by the image pickup section to detect a position (container placement position) .

Japanese Patent Application Laid-Open No. 2002-205891

However, in the conventional container placement position detecting device, only the displacement amount in the horizontal direction on the image of the imaging unit is evaluated, and it is not evaluated as a physical distance (for example, how many mm is deviated). Then, the distance in the height direction to the drop destination target container or the target position mark can not be known. Therefore, in the container placement position detecting apparatus, it is difficult to control the container gripped by the suspending member or the suspending member to accurately load the container at the target position without shifting.

Further, when the light amount of the image pickup portion is insufficient, the influence of noise or disturbance included in the image data acquired by the image pickup portion becomes large, or when noise or disturbance itself is greatly included, it becomes difficult to accurately obtain the container placement position. For example, there is a problem that sunlight is reflected on the rainwater stored in the container yard after the rain is over, and the container placement position can not be accurately obtained.

An object of the present invention is to provide a container placement position detecting device and a crane control system capable of accurately and stably obtaining a container placement position.

According to the first aspect of the present invention, there is provided a container placement position detecting device for detecting a position at which a container should be placed in a container yard, A detection light irradiating section for irradiating the detection light from the upper side to obliquely irradiate a detection range of the detection light and a second detection light irradiated on the upper surface of the container, And a container placement position determiner for obtaining a container placement position based on the first detection light and the second detection light.

According to a second aspect of the present invention, there is provided a container placement position detection apparatus, wherein the container placement position determination unit in the container placement position detection apparatus of the first aspect includes: a container placement position determination unit that determines the position of the second detection light detected by the first image pickup unit The height of the upper edge of the base installation container may be obtained.

According to a third aspect of the present invention, there is provided a container placement position detection apparatus, wherein the container placement position determination unit in the container placement position detection apparatus of the first aspect is configured to determine, based on a displacement amount between the first detection light and the second detection light, So as to obtain the height distance between the standing-up container and the upper edge of the installed container.

According to a fourth aspect of the present invention, there is provided a container placement position detecting device according to any one of the first to third aspects, wherein the container placement position detecting device captures the container yard, And the container placement position determination section may determine the container placement position in the container yard based on the position of the mark.

According to the fifth aspect of the present invention, in the container placement position detecting device, the first image capturing section in the container placement position detecting device of the fourth aspect may also serve as the second image capturing section.

According to a sixth aspect of the present invention, in the container placement position detecting device of the fourth or fifth aspect, the container placement position detecting device may include an illuminating section for illuminating an image capturing range of the second image capturing section.

According to the seventh aspect of the present invention, in the container placement position detecting device of the sixth aspect, the container placement position detecting device may be such that the illumination light irradiated from the illuminating part is set to the same wavelength band as the detection light.

According to the eighth aspect of the present invention, in the container placement position detecting device, the wavelength band in the container placement position detecting device of the seventh aspect may be set in an absorption band of the atmosphere of sunlight.

According to a ninth aspect of the present invention, there is provided a container placement position detection device, wherein the detection light irradiation unit of the container placement position detection device of any one of the first to eighth aspects is arranged adjacent to the container placement position, The detection light may be irradiated so as to traverse the upper edge of the installed container adjacent to the container, and the container placement position determination unit may detect the position of the container adjacent to the container.

According to a tenth aspect of the present invention, there is provided a crane control system comprising a crane for moving a container in a container yard, a container placement position detection device in any one of the first to ninth aspects, And a control device for controlling the crane based on the obtained container placement position.

The above-described container placement position detecting device can accurately determine the container placement position while having tolerance to ambient disturbance and noise.

The above-described crane control system can accurately position the container at the container placement position.

1 is a view showing a crane control system 1 according to an embodiment of the present invention.
2 is a view showing a schematic configuration of a container placement position detecting device 20 according to an embodiment of the present invention.
3A shows the detection light L irradiated by the laser projector 25 in the Y direction.
3B is a view of the detection light L irradiated by the laser projector 25, viewed from the X direction.
4A is a diagram showing an image of reflected light of detection light L, which is captured by the CCD camera 27 when the height distance is long.
4B is a diagram showing an image of reflected light of the detection light L captured by the CCD camera 27 when the height distance is short.
Fig. 5A is a view of the illumination light R irradiated by the infrared illuminator 26 in the X direction. Fig.
Fig. 5B is a view of the illumination light R irradiated by the infrared illuminator 26 in the Y direction. Fig.
6A is a diagram showing an image of reflected light of illumination light R captured by the CCD camera 27 when the height distance is long;
6B is a diagram showing an image of reflected light of the illumination light R captured by the CCD camera 27 when the height distance is short.
7 is a view showing a state in which the detection light L of the laser projector 25 is irradiated to the container C3;

1 is a diagram showing a crane control system 1 according to an embodiment of the present invention.

As shown in Fig. 1, the crane control system 1 includes a crane 5, a container placement position detection device 20, a control device 50, and the like.

The crane 5 is a mechanical device that grips the container C1 which is a suspended object in the container yard G and moves toward the container placement position A.

The container placement position detection device 20 is a device for detecting the position (container placement position A) in which the container C1 is disposed.

The control device 50 is a device for controlling the crane 5 on the basis of the container placement position A obtained by the container placement position detecting device 20. [

The crane 5 is a legged crane for a tire yard which cuts the container C1. The crane (5) has a crane traveling vehicle (10) and a tire traveling device (11) that travels the crane traveling vehicle (10) in the X direction on a trackless surface.

The crane traveling vehicle 10 has a pair of upper beams 12 extending in parallel in the horizontal direction (Y direction). The upper beam 12 is provided with a transversal trolley 13 which moves along the upper beam 12.

The transverse trolley 13 has a hoisting device 14 for moving the spreader 16 in the vertical direction (Z direction) through the suspending wire 15. The hoisting device 14 moves the spreader 16 suspended in the suspending wire 15 in the vertical direction by pulling up or pulling the suspending wire 15. The spreader 16 can hold (grasp) the container C1 in a detachable manner.

The spreader 16 is a flat member substantially conforming to the shape of the upper surface of the container C1. Two container placement position detecting devices 20 are installed downward on one long side 16a of the spreader 16 extending in the X direction. Two container placement position detecting devices 20 are also installed downward on the other long side 16b parallel to the long side 16a. The four container placement position detecting devices 20 have the same configuration.

The control device 50 is mounted on the crane traveling base 10. Four container placement position detecting devices 20 are connected to the control device 50 through a signal cable (not shown).

Here, the above-mentioned position of the container C1 is a rectangular area on the upper surface of the container C2 in the case where the container C2 is already placed on the container yard G. The above-described arrangement position of the container C1 is set to a rectangular range of the same shape as the upper surface of the predetermined container C2 when there is no container. Generally, the marking is performed on the ground so that the range of the rectangle can be visually confirmed by the driver. Here, the purpose of the crane control system 1 to which the present invention is applied is to place the container C1, which is a suspension container, against the arrangement position of the container C1. In order to realize this, the crane control system 1 needs to accurately and reliably detect the relative positional relationship between the container C1 and the container placement position.

Fig. 2 is a view showing a schematic configuration of the container placement position detecting device 20 according to the embodiment of the present invention, and is a view of the container placement position detecting device 20 viewed from the Y direction.

The container placement position detecting device 20 includes a laser light emitter 25, an illuminator 26, a CCD camera 27, and a transmission filter 28 matching the wavelengths of these light sources.

The laser beam projector (detection light irradiation section) 25 irradiates downward the detection light L (slit light) in a thin sheet form from above. The detection light L is a sheet-like laser beam spreading in the Y direction and is irradiated in the Z direction. It is necessary that the detection light L has a strength that can be distinguished from the reflected light by sunlight.

The illuminator (illumination section) 26 is an illumination using an LED or the like that irradiates the illumination light R downward from above. The illumination light R is irradiated in the Z direction in a beam shape (spot shape).

The wavelengths of these laser beams (detection light L) and illumination light R are set in the absorption band of the atmosphere of sunlight. Thereby, the influence of the reflected light due to sunlight is alleviated, and stable detection can be realized.

The laser projector 25 and the illuminator 26 are disposed adjacent to each other.

The CCD camera 27 is installed downward. The CCD camera 27 picks up an irradiation range of the detection light L and the illumination light R. [ The CCD camera 27 also serves as a camera for capturing the reflected light of the detection light L and a camera for capturing the reflected light of the illumination light R. [

The CCD camera (the first imaging section, the second imaging section) 27 is disposed to be inclined with respect to the laser beam projector 25, while being separated from the laser beam projector 25.

The image data picked up by the CCD camera 27 is output toward the container placement position determining unit 55 mounted on the control device 50. [

3A is a diagram showing the detection light L irradiated by the laser projector 25 in the Y direction. FIG. 3B is a view showing the detection light L irradiated by the laser projector 25 in the X direction.

4A is a diagram showing an image (imaging range) of reflected light of the detection light L, which is captured by the CCD camera 27 when the height distance is long. 4B is a diagram showing an image (imaging range) of the reflected light of the detection light L captured by the CCD camera 27 when the height distance is short.

As shown in Figs. 3A and 3B, the detection light L from the laser projector 25 is irradiated toward the container C2 already disposed in the container yard G. Fig. The detection light L is irradiated so as to traverse the side edge C1S of the container C1 which is a suspension container and the upper edge E of the container (base installation container) C2 already disposed in the container yard G. And the end portion of the detection light L is irradiated to the container yard G. [ The detection light L is divided into three by the container C1 and the container C2. More specifically, the detection light L is divided into the first detection light L1 and the second detection light L2 with the lower end of the container C1 as a boundary. And is divided into the second detection light L2 and the third detection light L3 with the upper edge E of the container C2 as a boundary. The first detection light L1 is reflected light of the detection light L irradiated to the container C1. The second detection light L2 is reflected light of the detection light L irradiated onto the upper surface of the container C2. The third detection light L3 is reflected light of the detection light L irradiated to the container yard G. [ Since the third detection light L3 needs to be able to distinguish the boundary with the second detection light L2, the third detection light L3 need not necessarily be captured clearly.

As shown in Figs. 4A and 4B, the CCD camera 27 picks up the reflected light of the detection light L reflected and irradiated toward the upper surface of the container C2. The CCD camera 27 picks up the first detection light L1, the second detection light L2 and the third detection light L3.

The CCD camera 27 is disposed so as to be inclined with respect to the laser beam projector 25, while being separated from the laser beam projector 25. Thus, as shown in Fig. 4A, the first detection light L1, the second detection light L2, and the third detection light L3 are picked up in the direction corresponding to the X direction.

The container placement position determination unit 55 obtains the position (container placement position A) at which the container C1 held by the crane 5 should be placed, based on the image data captured by the CCD camera 27 .

More specifically, the container placement position determination unit 55 determines the distance (H1) in the height direction between the CCD camera 27 and the container C2 based on the distance? From the image origin of the second detection light L2 ). The relative displacement amount D in the horizontal direction between the container C1 and the container C2 is obtained based on the length? Of the second detection light L2.

The distance between the laser beam projector 25 and the CCD camera 27 and the angle formed between the CCD camera 27 and the CCD camera 27 are known.

As shown in Figs. 4A and 4B, the distance H1 in the height direction becomes longer on the image as the shorter. Since the distance α and the actual distance H1 are in a proportional relationship, it is possible to easily calculate the inclination and the value of the slice obtained in advance by previously setting the values in the container placement position determining unit 55.

The horizontal displacement amount D is calculated from the total image distance W in the horizontal direction and the height distance H1,

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The container placement position determination unit 55 determines the container placement position determination unit 55 based on the image data captured by the CCD camera 27 so that the distance in the height direction between the lower surface of the container C1 held by the crane 5 and the container C2 (H2) is obtained from the image distance?. This distance H2 is easily obtained using the proportional relationship similar to H1. Since there is no means for measuring the height of the suspended container C1, there is generally no method for measuring the distance until the container C1 is concealed on the container C2 in the container unloading cranes. On the other hand, the container placement position determination unit 55 determines the position of the container C1 in the height direction between the container C1 and the container C2 on the basis of the distance? In the image of the first detection light L1 and the second detection light L2 Can be accurately obtained. By obtaining the distance in the height direction between the container C1 and the container C2, it is possible to conceive it in the optimum speed pattern. As a result, the operation time of the crane 5 can be shortened.

FIG. 5A is a view showing the illumination light R irradiated by the illuminator 26 in the X direction. 5B is a view of the illumination light R irradiated by the illuminator 26 in the Y direction.

6A is a diagram showing an image (imaging range) of the reflected light of the illumination light R captured by the CCD camera 27 when the height distance is long. 6B is a diagram showing an image (imaging range) of the reflected light of the illumination light R captured by the CCD camera 27 when the height distance is short.

5A and 5B, the illumination light R from the illuminator 26 is irradiated toward the container yard G. As shown in Fig. The illumination light R is irradiated onto the mark M1 provided in the container yard G. [

The mark M1 is a mark provided on the container yard G in correspondence with the container placement position B. Fig. A diffusion plate is used for the mark M1. The reflected light is always incident on the CCD camera 27 because the light reflected by the mark M1 is diffused. This makes it difficult to change the intensity of the reflected light (illumination light R) picked up by the CCD camera 27 even if the irradiation angle of the illumination light R with respect to the mark M1 changes. This makes it possible to stably image the mark M1 irradiated with the illumination light R from the illuminator 26 by the CCD camera 27. [

Further, since the light reflected by the mark M1 is diffused, disturbance light such as sunlight is hardly incident on the CCD camera 27. [ Thereby, the mark M1 can be captured stably by the CCD camera 27. [

The CCD camera 27 irradiates the container yard G and picks up the reflected illumination light R. As shown in Figs. 6A and 6B, the CCD camera 27 picks up the reflected light of the illumination light R reflected by the mark M1 on the container yard G. Fig.

The container placement position determination unit 55 obtains the position (container placement position B) where the container C1 held by the crane 5 should be placed, based on the image data captured by the CCD camera 27. [

More specifically, the container placement position determining unit 55 obtains the position of the mark M1 from the position of the reflected light of the illumination light R captured by the CCD camera 27. [ The container placement position determination unit 55 obtains the container placement position B from the position of the mark M1 in the X direction and the position in the Y direction. The container placement position determination unit 55 obtains a position at which the container C1 is placed on the floor.

The distance in the height direction (position in the Z direction) from the ground (container yard G) of the spreader 16 in which the container placement position detecting device 20 is installed is measured by a spreader position measuring device (not shown) It is a base. The distance and angle of inclination of the CCD camera 27 with respect to the spreader 16 (inclination angle of the CCD camera 27) and the viewing angle of the CCD camera 27 are also known.

The distance between the CCD camera 27 and the mark M1 in the X and Y directions is geometrically determined from the mark positions P and Q on the image so that the container C1 and the container placement position B) is obtained.

7 is a diagram showing a state in which the detection light L of the laser projector 25 is irradiated to the container C3.

As shown in Fig. 7, container (installation-adjacent container) C3 is already arranged in the container yard G adjacent to the container placement positions A and B. This makes it necessary to prevent the container C1 from colliding with the container C3 when the container C1 is placed at the container placement positions A and B with the crane 5. The container placement position detecting device 20 irradiates the detection light L from the laser projector 25 to the container C3 as well as the container C2.

7, the detection light L is irradiated so as to traverse the upper edge E of each of the container C2 and the container C3 already disposed in the container yard G. As shown in Fig.

When the container C3 is already disposed in the container yard G, the CCD camera 27 captures the fourth detection light L4 reflected on the upper surface of the container C3 and reflected.

The fourth detection light L4 in the image data picked up by the CCD camera 27 is picked up at a position different from the first detection light L1, the second detection light L2 and the third detection light L3, do. The container placement position determination unit 55 can obtain the position of the upper edge E of the container C3 based on the position of the fourth detection light L4. The container placement position determination unit 55 can detect the presence of the container C3 which becomes an obstacle when the container C1 is short-circuited.

The controller 50 controls the crane 5 on the basis of the position of the upper edge E of the container C3 determined by the container placement position determining unit 55 so that the container C1 and the container C3 are controlled, It is possible to reliably avoid the collision.

The present invention is not limited to the above-described embodiments, but includes various modifications to the above-described embodiments within the scope not departing from the gist of the present invention. In other words, the specific shapes and configurations exemplified in the embodiments are merely examples, and can be appropriately changed.

For example, in the above-described embodiment, a total of four container placement position detecting devices 20 are provided on the long sides 16a and 16b of the spreader 16, but the present invention is not limited thereto. The number and position of the container placement position detecting device 20 can be arbitrarily set.

The detection light L is not limited to the sheet-like light along the Y direction. And may be sheet-like light along the X direction. The two container placement position detecting devices 20 among the four container placement position detecting devices 20 irradiate sheet-like detection light L along the X direction and the remaining two container placement position detecting devices 20 May be irradiated with sheet-like detection light L along the Y direction. Thus, the four sides of the upper surface of the container C2 can be detected.

In the above-described embodiment, two rectangular marks M1 are arranged in the container yard G, but the present invention is not limited to this. The shape and the number of marks provided in the container yard G corresponding to the container placement position B can be arbitrarily set.

The present invention is a crane control system (1) and a container placement position detection device.

1: Crane control system
5: Crane
10: Crane traveling gas
11: Tire type traveling device
12: upper beam
13: transverse trolley
14: hoisting device
15: wire
16: spreader
16a, 16b: long side
20: container placement position detecting device
25: Laser light projector (detection light irradiation part)
26: Infrared illuminator (illuminator)
27: CCD camera (first imaging section, second imaging section)
28: infrared transmission filter
50: Control device
55: container placement position determination unit
G: Container Yard
A, B: container placement location
C1: Container
C2: Container (pre-installed container)
C3: Container (pre-installed container)
E: upper edge
L: detection light
L1: first detection light
L2: second detection light
L3: Third detection light
α, β, γ: Deviation amount
P, Q: position on the image
M1: Mark
R: Lighting

Claims (9)

A container placement position detection device for detecting a position at which a suspension container is to be placed in a container yard,
A detection light irradiating section for irradiating the detection light from above to traverse the upper edge of the installed container already disposed in the container yard,
A first imaging section for imaging the detection range of the detection light from an oblique upper direction and detecting first detection light irradiated to the suspending container and second detection light irradiated to the upper surface of the primary installation container,
And a container placement position determiner for obtaining a container placement position based on the first detection light and the second detection light,
The container placement position determination section determines the height distance between the bottom edge of the suspending container and the top edge of the base installation container based on a displacement amount between the position of the first detection light and the position of the second detection light detected by the first imaging section The position of the container is detected. The method according to claim 1,
Wherein the container placement position determination section determines the height of the upper edge of the base installation container based on the position of the second detection light detected by the first imaging section. delete 3. The method according to claim 1 or 2,
And a second image pickup unit for picking up the container yard and detecting a mark corresponding to a container placement position provided in the container yard,
Wherein the container placement position determination unit determines the container placement position in the container yard based on the position of the mark. 5. The method of claim 4,
And the first imaging unit also serves as the second imaging unit. 5. The method of claim 4,
And an illumination unit for illuminating an imaging range of the second imaging unit. delete 3. The method according to claim 1 or 2,
The detection light irradiating portion irradiates the detection light so as to traverse the upper edge of the pre-installed container already disposed adjacent to the container placement position,
Wherein the container placement position determination unit detects the position of the container adjacent to the container. A crane for moving the container in the container yard,
A container placement position detecting device according to claim 1 or 2,
And a control device for controlling the crane based on the container placement position obtained by the container placement position detection device
And a crane control system.

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