KR101992100B1 - Truck head recognition and adjacent container detection and Method thereof - Google Patents

Abstract

Disclosed are a truckhead recognition and adjacent container detection system and method of a container crane having an upper frame, an underframe, a leg, a trolley and a spreader and a travel. Truck head recognition and adjacent container detection system of the container crane, the trolley camera unit is installed on the trolley, and having at least one trolley camera for photographing the lower direction of the trolley; A girder camera unit installed at both sides of the upper frame and including at least one girder camera configured to monitor the presence or absence of a head of the chassis or truck; A truck head detector configured to recognize the chassis and the truck head by using output signals of the trolley camera unit and the girder camera unit; And a crane controller for receiving the head information of the truck from the truck head detector and stopping the work when the head of the truck is detected. According to an embodiment of the present invention, by using a predetermined camera to detect whether the truck head is in the correct position or adjacent containers or obstacles, and if there is an error, the operation can be stopped and the supervisor can be called.

Description

Truck head recognition and adjacent container detection and method

The present invention relates to a truckhead recognition and adjacent container detection system and method, and more particularly, whether the truckhead is in position when loading and picking up the container by using a predetermined camera that is basically installed in the container system. The present invention relates to a truckhead recognition and adjacent container detection system and method for detecting whether an adjacent container or obstacle is interfered to ensure stable loading and picking operation.

In general, when loading and picking up containers, the chassis of the truck must be located correctly.

This ensures stable operation when the vehicle is loading or unloading containers into the automatic yard crane.

If the operation of the container proceeds with the wrong position without the external vehicle or the internal vehicle of the automatic yard crane stopped at the correct position, the spreader may be placed on the vehicle or the container may not be picked up.

In addition, a vehicle or a spreader may be incorrectly placed on the chassis of the truck due to an incorrect stop or position recognition of the vehicle, or a serious accident may occur when the container or spreader is placed on the truck head because the truck head is not detected in the container work area.

On the other hand, when a container placed in the chassis of a truck is picked up using a spreader, the work may be performed without separating the container and the chassis of the truck. In this case, an accident may occur in which the chassis of the truck is lifted with the container.

In addition, the container may be opened with the door of the container open at the time of picking up the container placed on the chassis of the truck using a spreader. In this case, an accident may occur in which the goods in the container are discharged to the outside, or an accident may occur in which the door collides with another truck, container, or crane.

On the other hand, accidents that hit the container or crane may occur if adjacent containers or obstacles are interfered during the loading operation in the yard.

The problem to be solved by the present invention is derived to solve the above problems, by using a predetermined camera that is basically already installed in the container system by detecting whether the truck head is in place or adjacent containers or obstacles interfere To provide a truckhead recognition and adjacent container detection system and method for stable loading and picking operations.

In addition, the problem to be solved by the present invention is derived in order to solve the above problems, by using a predetermined camera to detect whether the truck head is in the correct position or adjacent containers or obstacles to stop the system if there is an error To provide truckhead recognition and adjacent container detection systems and methods.

In addition, the problem to be solved by the present invention is derived in order to solve the above problems, by using a predetermined camera to detect whether the truck head is in the correct position or adjacent containers or obstacles interrupt the operation if there is a problem And a truckhead recognition and adjacent container detection system and method for calling a supervisor.

Truckhead recognition and adjacent container detection system according to an aspect of the present invention for solving this problem,

A truck head recognition and adjacent container detection system of a container crane having an upper frame, a lower frame, a leg, a trolley and a spreader and a traveling part,

A trolley camera unit installed on the trolley and having at least one trolley camera which photographs a lower direction of the trolley;

A girder camera unit installed at both sides of the upper frame and including at least one girder camera configured to monitor the presence or absence of a head of the chassis or truck;

A truck head detector configured to recognize the chassis and the truck head by using output signals of the trolley camera unit and the girder camera unit;

And a crane controller for receiving the head information of the truck from the truck head detector and stopping the work when the head of the truck is detected.

A spreader camera unit installed in the spreader and having at least one spreader camera detecting an adjacent container and an obstacle;

And an adjacent container and an obstacle interference detecting unit detecting whether there is an adjacent container and an obstacle interference by using the output signal of the spreader camera unit.

The crane controller determines whether there is interference between the adjacent container and the obstacle by using the output signal of the adjacent container and the obstacle interference detecting unit, and stops the work when there is an interference with the adjacent container and the obstacle.

According to the control of the crane controller further comprises an actuator having a traffic light or voice output for guiding the vehicle movement.

The actuator includes a spreader driver for driving the spreader according to a control signal of the crane controller;

It further includes a traveling part for moving the entire crane.

Truckhead recognition and adjacent container detection method according to an aspect of the present invention for solving this problem,

A truckhead recognition method of a container crane having an upper frame, a lower frame, a leg, a trolley and a spreader, and a moving part, and a truckhead recognition method of a neighboring container detection system and an adjacent container detection method,

The crane controller traveling and traversing the spreader according to the work information;

Determining, by the crane controller, whether the spreader has reached a target position;

Determining whether the crane controller is a chassis work when the spreader reaches a target position;

In the case of chassis work, the crane controller determining whether the truck head is within a work area;

If the truckhead is in a work area, the container controller includes stopping work.

The method,

If the truck head is not within a work area, the crane controller determining whether an adjacent container or obstacle is detected as an interference element;

If an adjacent container or obstacle is detected as an interference element, the container controller further includes stopping the work.

The method,

If the adjacent container or obstacle is not detected as an interference element, the crane controller further comprises the step of picking up or loading operation,

Truckhead recognition and adjacent container detection method according to an aspect of the present invention for solving this problem,

A truckhead recognition method of a container crane having an upper frame, a lower frame, a leg, a trolley and a spreader, and a moving part, and a truckhead recognition method of a neighboring container detection system and an adjacent container detection method,

The crane controller traveling and traversing the spreader according to the work information;

Determining, by the crane controller, whether the spreader has reached a target position;

Determining whether the crane controller is a chassis work when the spreader reaches a target position;

In the case of a chassis operation, the crane controller determines whether an adjacent container or an obstacle is detected as an interference element;

If an adjacent container or obstacle is detected as an interfering element, stopping the operation by the container controller.

In an embodiment of the present invention, by using a predetermined camera that is basically installed in the container system, the truck head recognition and proximity to detect the truck head is in the right position or whether the adjacent container or obstacles interfere to ensure stable loading and picking operation. Container detection systems and methods can be provided.

In addition, embodiments of the present invention by using a predetermined camera to detect whether the truck head is in the right position or adjacent containers or obstacles interference truck head recognition and adjacent container detection system and method to stop the system if there is an error Can provide.

In addition, according to an embodiment of the present invention, by using a predetermined camera to detect whether the truck head is in the correct position or the adjacent container or obstacles are interrupted if there is an error, the truck head recognition and the adjacent container to call the monitor A sensing system and method can be provided.

1 is a view schematically showing a container crane according to an embodiment of the present invention.
2 is a block diagram of a truck head recognition and adjacent container detection system of a container crane according to an embodiment of the present invention.
3 is an operation flowchart of a truck head recognition and adjacent container detection method of a container crane according to an embodiment of the present invention.
4 to 7 are diagrams showing examples of images used in truck head recognition and adjacent container detection system of a container crane according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise.

The crane controller described below may be configured with a processor and a memory, as necessary.

1 is a view schematically showing a container crane according to an embodiment of the present invention, Figure 2 is a block diagram of a truck head recognition and adjacent container detection system of a container crane according to an embodiment of the present invention.

1 or 2, truckhead recognition and adjacent container detection system according to an embodiment of the present invention,

A truck head recognition and adjacent container detection system of a container crane having an upper frame 110, a lower frame 140, a leg 120, a trolley 130, and a spreader 150 and a running part 234,

A chassis camera unit 50 including at least one chassis camera 51 to 58 installed at a lower end of the lower frame 140 to photograph and output a side direction of the truck;

Surveillance camera unit 40 is installed on the leg 120 and photographing the upper portion of the truck located in the lower direction, including at least one surveillance camera (41 ~ 46) for monitoring the truck, the chassis and the container of the truck );

A trolley camera unit 10 installed on the trolley 130 and having at least one trolley camera 11 and 12 photographing a lower direction of the trolley 130;

A girder camera unit 20 installed on the girder 160 on both sides of the upper frame 110 and including at least one girder camera 21 or 22 for monitoring the presence or absence of a head or a container of the chassis or truck;

A spreader camera unit 30 mounted to the spreader 150 and having at least one spreader camera 31 to 34 photographing a state of a container and photographing an adjacent container and an obstacle;

A truck head detector 246 for recognizing the chassis and the truck head by using output signals of the trolley camera unit 10 and the girder camera unit 20;

Receiving the head information of the truck from the truck head detector 246, and includes a crane controller 220 for stopping the work when the head of the truck is detected.

According to the control of the crane controller 220 is provided with a traffic light 231 or a voice output unit 232 for guiding the movement of the vehicle, the speeder drive unit 233 for driving the spreader, the traveling unit 234 for driving It further includes an actuator 230.

Further comprising an adjacent container and obstacle interference detection unit 247 for detecting whether there is an adjacent container and obstacle interference by using the output signal of the spreader camera unit 30,

The crane controller 220 determines whether there is interference between the adjacent container and the obstacle by using the output signal of the adjacent container and the obstacle interference detecting unit, and if there is the interference with the adjacent container and the obstacle, stopping the work. It is characterized by.

The truckhead recognition of the container crane having such a configuration and the truckhead recognition and the adjacent container detection method of the adjacent container detection system will be described in detail as follows.

3 is an operation flowchart of a truck head recognition and adjacent container detection method of a container crane according to an embodiment of the present invention, Figures 4 to 7 are truck head recognition and adjacent container detection system of a container crane according to an embodiment of the present invention This is a diagram showing an example of the image used in.

Referring to FIG. 3, the crane controller 220 travels the container crane using the driving unit 234 according to the work information, drives the spreader driving unit 233, and laterally moves the spreader 150 (S510).

In this case, the job information includes a job type such as a target position of the chassis, a container size, a picking or stacking job, and the like.

Then, the crane controller 220 determines whether the spreader 150 has reached the target position (S520).

When the spreader 150 reaches the target position, it is determined whether the crane controller 220 is a chassis work (S530).

In the case of the chassis work, the crane controller 220 determines whether the truck head is in the work area (S540).

4 is an image input from the trolley camera unit 10, the truck head detector 246 may detect the position of the head and the container of the truck.

5 is an image input from the trolley camera unit 10, the truck head detector 246 may detect the position of the chassis of the truck.

6 is an image input from the girder camera unit 20, the truck head detection unit 246 may detect the position of the chassis of the truck.

7 is an image input from the girder camera unit 20, the truck head detector 246 may detect the position of the container of the truck.

The truck head detector 246 transmits information on whether the truck head is detected from the image information to the crane controller 220.

If the truck head is in the work area, the container controller stops the work by stopping the crane (S560), and sends a message to the watcher's terminal to call the watcher or call the watcher with a warning sound (S570).

Thus, the watcher can quickly take action.

On the other hand, if the truck head is not in the work area, the crane controller 220 determines whether an adjacent container or obstacle is detected as an interference element (S550).

If an adjacent container or obstacle is detected as an interference element, the crane controller 220 stops the operation (S560) and then sends a message to the terminal of the monitor to call the watcher or call the watcher with a warning sound (S570).

Thus, the watcher can quickly take action.

On the other hand, if the adjacent container or obstacle is not detected as an interference element, the crane controller 220 continues the work to complete the picking up or loading operation.

In the above process, if necessary, the crane controller 220 may refer to the information of detecting the state of the container or the chassis from the sensor 210 configured by the sensor and the scanner in order to ensure accuracy. In more detail, when the information of the sensing unit 210 and the information of the truck head detecting unit 246 and the adjacent container and obstacle interference detecting unit 247 match, the state of the chassis or the container may be used as valid information.

In addition, the truck head detection unit 246 and the adjacent container and obstacle interference detection unit 247 may include the trolley camera unit 10, the girder camera unit 20, the chassis cone camera unit 50, or the surveillance camera unit ( At least two or more matched positions in 40 may be transmitted to the crane controller 220.

In this embodiment of the present invention, by using a predetermined camera that is already installed in the container system basically can detect whether the truck head is in place or adjacent containers or obstacles to be stable loading and picking operation.

In addition, in the embodiment of the present invention by using a predetermined camera to detect whether the truck head is in the right position or adjacent containers or obstacles can be interrupted by stopping the work if there is an error.

In addition, in an embodiment of the present invention, by using a predetermined camera to detect whether the truck head is in the correct position or adjacent containers or obstacles, and if there is an error, the operation can be stopped and the supervisor can be called.

The embodiments of the present invention described above are not implemented only through the apparatus and the method, but may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. Implementation can be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

Claims (6)

A truck head recognition and adjacent container detection system of a container crane having an upper frame, a lower frame, a leg, a trolley and a spreader and a traveling part,
A trolley camera unit installed on the trolley and having at least one trolley camera which photographs a lower direction of the trolley;
A girder camera unit installed at both sides of the upper frame and including at least one girder camera configured to monitor the presence or absence of a chassis or a head of the truck;
A truck head detector configured to recognize the chassis and the truck head by using output signals of the trolley camera unit and the girder camera unit;
Receiving the head information of the truck from the truck head detection unit, and includes a crane controller for stopping the work when the head of the truck is detected,
A spreader camera unit installed in the spreader and having at least one spreader camera detecting an adjacent container and an obstacle;
And an adjacent container and an obstacle interference detecting unit detecting whether there is an adjacent container and an obstacle interference by using the output signal of the spreader camera unit.
The crane controller determines whether there is interference between the adjacent container and the obstacle by using the output signal of the adjacent container and the obstacle interference detecting unit, and stops the work if there is an interference with the adjacent container and the obstacle. Recognition and Adjacent Container Detection System. delete A truckhead recognition method of a container crane having an upper frame, a lower frame, a leg, a trolley and a spreader, and a moving part, and a truckhead recognition method of a neighboring container detection system and an adjacent container detection method,
The crane controller traveling and traversing the spreader according to the work information;
Determining, by the crane controller, whether the spreader has reached a target position;
Determining whether the crane controller is a chassis work when the spreader reaches a target position;
In the case of chassis work, the crane controller determining whether the truck head is within a work area;
If the truckhead is in a work area, the crane controller includes stopping work;
If the truck head is not within a work area, the crane controller determining whether an adjacent container or obstacle is detected as an interference element;
If an adjacent container or obstacle is detected as an interference element, the crane controller further comprises stopping the work,
If the adjacent container or obstacle is not detected as an interference element, the crane controller further comprises the step of picking up or loading operation truck truck recognition and adjacent container detection method.
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