KR20150000788A - Recognizing system and method of unmanned transport equipment in container termianl - Google Patents

Recognizing system and method of unmanned transport equipment in container termianl Download PDF

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KR20150000788A
KR20150000788A KR20130073341A KR20130073341A KR20150000788A KR 20150000788 A KR20150000788 A KR 20150000788A KR 20130073341 A KR20130073341 A KR 20130073341A KR 20130073341 A KR20130073341 A KR 20130073341A KR 20150000788 A KR20150000788 A KR 20150000788A
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South Korea
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tag
stop
unmanned
transfer device
recognizing
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KR20130073341A
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Korean (ko)
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KR101515195B1 (en
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최영복
도대만
현맹환
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동명대학교산학협력단
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Abstract

In order to increase the operation efficiency in the harbor terminal facility 1, the unmanned conveying apparatus is used in combination with a radio frequency identification (RFID) and a camera so that the unmanned conveying apparatus can stop at an accurate position desired by the user, (RFID) tag 20 installed in a designated area within a harbor terminal cabin 1, and a wireless tag recognition system 20 for recognizing a wireless identification An RFID reader 40 mounted with front and rear directional antennas 30 for recognizing the tag 20 and a wireless LAN module 50 and a camera 60, A stop display unit 80 for displaying a stop signal which can be recognized by the camera 70 and the camera 60 and a stop display unit 80 for transmitting a call message for moving to the work area to the unmanned transfer device 70. [ Through (90) and port terminal device stops positioning system and a control method of the intestinal unmanned conveying device containing by effectively stopped in the correct stopping position unmanned conveying device to be made to facilitate the handling and shipping.

Description

TECHNICAL FIELD [0001] The present invention relates to a stop position recognition system for an unmanned transfer device in a port terminal apparatus and a control method thereof. [0002]

The present invention relates to a system and method for recognizing a stop position of an unmanned transfer device in a port terminal device, and more particularly, to an unmanned transfer device The present invention relates to a system for recognizing a stop position of an unmanned landing gear transfer device and a method for controlling the stop position of a unmanned landing gear transferring device, which enables an unmanned transferring apparatus to stop at an accurate stop position by using RFID and a camera in combination.

As the world's trade volume increases, there is a growing demand to reduce the time and cost of loading and unloading containers using cranes at harbor. With this trend, advanced container terminals are unloading and loading containers We have constructed and operate an unmanned automatic harbor system for efficient operation.

In a typical port unmanned automation system, when the unmanned conveyor is stopped below the crane, the spreader of the crane descends to lift the container loaded on the unmanned conveyor to load the cargo ship, or to load the container placed in the yard on the unmanned conveyor do.

In this case, if there is no error in determining the stop position of the unmanned conveying device, the spreader of the crane can correctly or unload the container to the unmanned conveying device. If the unmanned conveying device does not stop at the correct stop position, It is necessary to improve the time and cost burden to compensate for the increase in the cost.

In order to improve the stop position recognition system of the unmanned transfer device, Korean Registered Patent No. 10-0882944 entitled " Stop control method of unmanned transfer device "relates to a stop control method of the unmanned transfer device. More specifically, The method comprising the steps of: capturing an image to search for a reference point of a stop display unit by a camera provided in the unmanned transportation device; and transmitting the RGB image information of the captured image to the HSI image Comparing the HSI image information with the HSI image information around the reference point to find a stop display section; determining a target stop position from the position of the stop display section and stopping the unmanned transport device at the target stop position; And a step of controlling the temperature of the liquid.

Meanwhile, a system and a method for recognizing a stop position of the unmanned transfer device more accurately and promptly and positioning the device at a desired stop position by improving the stop position recognition system of the unmanned transfer device in the port terminal apparatus according to the related art Is increasingly demanded.

In the operation of the unmanned conveying apparatus, the accurate stop position of the unmanned conveying apparatus can be promptly and accurately ascertained before the load placed on the unmanned conveying apparatus is lowered or before the load of the unmanned conveying apparatus is loaded.

In addition, by precisely and precisely grasping the exact stop position of the unmanned transfer device, the work can be performed more quickly and efficiently when loading or unloading the unmanned transfer device using the crane (including the GANTRY CRANE and TRANSFER CRANE) .

According to an aspect of the present invention, there is provided a system for identifying a stop position of an unmanned transfer device, comprising: a radio tag (20) configured to be installed in a designated area in a port terminal facility (1) An RFID reader 40 mounted with front and rear directional antennas 30 for recognizing the tag 20 and a wireless LAN module 50 and a camera 60, A stop display unit 80 for displaying a stop signal that can be recognized by the camera 70 and a camera 60 and a central control unit 90 for sending a call message to the unmanned transfer device 70 to move to the work area, .

In the stop position recognition system of the unmanned landing terminal device according to the present invention, position information of the unmanned transfer device (70) is acquired using the RFID tag (20) 50 to the central control means 90. [0050]

In the stop position recognition system of the unmanned transfer device in the port terminal apparatus according to the present invention, the wireless LAN module 50 performs ad-hoc communication.

In the stationary position recognition system of the unmanned transfer device in the port terminal apparatus according to the present invention, the unmanned transfer device 70 uses the wireless LAN module 50 to transmit the work instruction and position information of the central control means 90 Acquires and moves to the work area and detects the signal of the RFID tag 20 installed in the harbor terminal facility 1 to recognize the work area and the stop position.

In the stop position recognition system of the unmanned transfer device of the port terminal apparatus according to the present invention, the recognition of the work area and the stop position is carried out by using the work area tag 22 and the stop position tag 24 And the signals of the work area tag 22 and the stop position tag 24 are obtained through the directional antenna 30 mounted on the front and rear of the unmanned transfer device 70, Acquire information and stop.

According to another aspect of the present invention, there is provided a method of controlling a stop position recognition system of an unmanned transfer device, wherein the unmanned transfer device (70) is sent from a central control means (90) via ad hoc communication A work area tag recognizing step (s20) of recognizing the work area tag 22 by the unmanned transfer device 70 running through the work area moving step (step s10) A stop tag recognizing step s30 for recognizing the stop tag 24 through the forward movement of the unmanned transfer device 70 after recognizing the zone tag 22 and the camera 60 of the unmanned transfer device 70 And a stop position confirmation step (s40) of recognizing the stop position of the stop display part 80 and confirming the stop position.

When the unmanned conveying apparatus 70 fails to recognize the stop signal of the stop display unit 80 during the forward movement of the unmanned conveying apparatus 70, The RFID reader 44 installed at the rear of the unmanned transfer device 70 is stopped until the RFID reader 44 installed at the rear of the unmanned transfer device 70 recognizes the stop tag 24, Recognizing the tag 24, proceeding backward, and recognizing the stop signal of the stop display unit 80 through the camera 60 during the backward operation.

In the control method of the stop position recognition system of the unmanned transfer device in the port terminal apparatus according to the present invention, the advance and backward movement of the unmanned transfer device (70) is performed by the camera 60 of the unmanned transfer device (70) 80), and terminates after recognizing the stop signal of the stop display unit (80) of the unmanned transfer device (70).

According to the present invention, there is provided a system and method for recognizing a stop position of an unmanned transportation device in a harbor terminal device, comprising: a radio frequency identification (RFID) reader mounted on the front and rear of an unmanned transfer device; Can be quickly and accurately stopped.

In addition, it is possible to reduce the time and expense required for unloading or shipping containers or the like with the unmanned transfer device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual diagram showing a system for recognizing a stop position of an unmanned transfer device in a port terminal apparatus according to a preferred embodiment of the present invention; FIG.
2 is a view for explaining an unmanned conveying apparatus according to a preferred embodiment of the present invention;
3 is a view for explaining that the unmanned transfer apparatus recognizes the work area tag, the stop tag and the stop display unit in the stop position recognition system of the unmanned transfer device in the port terminal apparatus according to the preferred embodiment of the present invention;
4 is a flowchart specifically illustrating a stop position determination step according to a preferred embodiment of the present invention.

FIG. 1 is a conceptual diagram illustrating a system for recognizing a stop position of an unmanned transfer device in a harbor terminal apparatus according to a preferred embodiment of the present invention.

1, the stationary position recognition system of the unmanned conveying apparatus of a port terminal apparatus according to the present invention includes a radio tag (RFID) tag 20 installed in a designated area in a port terminal facility 1, (RFID) tags 20 will contain location information.

Here, the RFID tag 20 may be installed at a predetermined interval in a space where the containers in the port terminal facility 1 are to be loaded or unloaded so that the container can be informed of the position information to be loaded or unloaded.

2, a wireless reader (RFID) reader 40, a wireless LAN module 50, and a camera 60, each of which includes a directional antenna 30 for recognizing the RFID tag 20, And an unmanned conveying device (70) configured to be installed.

Here, the directional antenna 30 is installed in front of and behind the unmanned conveying device 70 so as to grasp information of the RFID tag 20.

The RFID reader 40 recognizes the tag value of the RFID tag 20 and recognizes the position information. The RFID reader 40 recognizes the tag position of the RFID tag 20, (Not shown) for controlling the movement of the unmanned conveying apparatus 70 by comparing the acquired information with the position information of the recognized RFID tag.

Here, the camera is one of digital cameras, and it is preferable to use a camera capable of storing digital data by converting an image into an electric signal using a charge coupled device (CCD).

Here, it is preferable that the wireless LAN module 50 is equipped with a wireless LAN module for performing ad-hoc communication so as to be able to communicate with a central control unit 90 described later.

That is, the unmanned conveying apparatus 70 receives a call message to move from the central control means 90 to the work area via Ad-hoc communication and reads the RFID message with a radio frequency identification (RFID) The crane or the like can stop the unmanned conveying device 70 from loading or unloading the cargo after the moving of the car to the work area based on the location information and sensing the signal of the stop display portion through the camera.

More specifically, the work station tag 22 and the stop position tag 24 are installed in the harbor terminal facility 1.

Here, the wireless recognition technology 20 installed at a place where the unmanned conveying apparatus should stop is referred to as a stop position tag 24, and it is installed around the stop position tag 24 to recognize that the unmanned transfer apparatus 70 is a work area The wireless recognition technology 20 is referred to as a work area tag 22.

At this time, the signals of the work area tag 22 and the stop position tag 24 are obtained through the directional antenna 30 mounted in front of and behind the unmanned transfer device 70, And obtains the image information and stops the image information.

1, the stop position recognition system of the unmanned transfer device in the port terminal apparatus includes a stop display unit 80 for displaying a stop signal recognizable by the camera 60. In the stop display unit 80, Quot; 01 "and" 02 " of the electric signboard of the cabin to indicate the information enabling the driver of the manned transportation apparatus to recognize the container that can be unloaded and shipped, "And the like.

Here, "00" is a notation indicating the loading and unloading possibility, and the notation except "00 " is a notation indicating that the driver is waiting or can not be loaded or unloaded, and is conventionally displayed through the electric signboard of the port terminal (1) It is omitted.

In addition, the unmanned conveying apparatus 70 includes a central control means 90 for transmitting a call message for moving to the work area through Ad-hoc communication. That is, the central control means 90 moves workable information from a crane or the like of the harbor terminal facility 1 according to the work schedule of the unmanned transfer apparatus 70 which can be operated after recognition, .

Of course, the device for loading and unloading cargo to and from the unmanned conveying device 70, such as the crane of the port terminal yard 1, can communicate with the central control means through ad-hoc communication, It is preferable that the mobile terminal 70 can receive information to be moved.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS. 3 to 4. FIG. In the drawings, the persons skilled in the art to which the present invention is applied, such as a radio-related technology (RFID) -related technology, a camera-related image recognition-related technology and a usage method, The drawings and detailed description of commonly known portions are omitted and are mainly shown and described with respect to portions related to the present invention.

FIG. 3 is a view for explaining how the unmanned transfer device recognizes the work area tag, the stop tag, and the stop display portion in the stop position recognition system of the unmanned transfer device in the port terminal apparatus according to the preferred embodiment of the present invention. 4 is a flowchart specifically illustrating a stop position determination step according to a preferred embodiment of the present invention.

3 to 4, the method for controlling the stop position recognition system of the unmanned transfer device of a port terminal apparatus according to the present invention is characterized in that the unmanned transfer device 70 is connected to the central control means 90 (Ad-hoc) (S10) for moving in the direction of the work area sent from the work area tag recognizing step (s20) and the work area tag recognizing step (s20) for recognizing the work area tag 22 by the unmanned transfer device 70 running through the work area moving step. A stop tag recognition step s30 for recognizing the stop tag 24 through the forward movement of the unmanned transfer device 70 after recognition of the work area tag 22 and the camera 60 of the unmanned transfer device 70 And a stop position confirmation step (s40) for recognizing the stop position of the stop display part (80) and confirming the stop position.

Herein, in the work area moving step s10, the unmanned conveying device 70 which receives the call message of the central control means 90 moves to the work area based on the position information of the RFID tag.

Here, the work area tag recognizing step s20 is a step of recognizing the work area tag 22 through the front directional antenna 32 when the unmanned conveying device 70 recognizes the work area tag 20, So that the stopping of the tag 24 can be facilitated.

The stop tag recognition step s30 is a step of recognizing the stop position tag 24 through the front directional antenna 32 of the unmanned transfer device 70. The stop position tag 24 is used when the unmanned transfer device 70 (RFID) tag installed at the precise location where the loading or unloading should be performed.

Here, the stop position checking step (s40) is to check the marking of the stop display part (80) through the camera (60) mounted on the unmanned transfer device (70) and stop.

At this time, the stop signal of the stop display unit 80 is displayed on the electric signboard of the port terminal station so that the driver of the attractee transport apparatus can recognize the container that can be unloaded and shipped. 00 "," 01 ", and" 02 ". In general," 00 "is a notation indicating that loading and unloading is possible. A marking other than" 00 " Is described through the electric signboard of the harbor terminal cabin 1 so that detailed description is omitted.

In the stop position confirmation step (s40), when the stop display unit (80) fails to recognize "00" as the stop signal of the stop display unit (80) during the forward movement (S410) of the unmanned transfer device (S430) until a rear RFID reader (44) installed at the rear of the RFID tag (70) recognizes the stop tag (24).

Thereafter, the RFID reader 44 installed at the rear of the unmanned transfer device 70 recognizes the stop tag 24 and continues the reverse operation. Quot; 00 "as the stop signal. (S440)

That is, the advance and backward movement of the unmanned transfer device 70 continues until the camera 60 of the unmanned transfer device 70 recognizes the stop signal "00 " of the stop display 80, Quot; 00 "of the stop display unit 80 of the stop display unit 80 and terminates the loading and unloading of the cargo including the container at the corresponding position.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments It will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention.

1: Port Terminal Terminal
10: Stop position recognition system of unmanned transfer device
20: Radio Frequency Identification (RFID) Tag 22: Work Area Tag
24: stop position tag 30: directional antenna
32: forward directivity antenna 34: rear directivity antenna
40: Radio Frequency Identification (RFID) reader 42: Front Radio Frequency Identification (RFID) reader
44: Rear RFID reader 50: Wireless LAN module
60: camera 70: unmanned conveying device
80: stop display 90: central control means

Claims (8)

A stop position recognition system for an unmanned transfer device,
A radio frequency identification (RFID) tag 20 installed in a designated area within the port terminal yard 1;
A wireless reader (40), a wireless LAN module (50), and a camera (60) in which a directional antenna (30) mounted on the front and the rear for recognizing the wireless recognition tag (20) An unmanned conveying device 70;
A stop display unit 80 for displaying a stop signal recognizable by the camera 60; And
And a central control means (90) for sending a call message to the unmanned conveying apparatus (70) to move to a work area.
The method according to claim 1,
Acquiring position information of the unmanned conveying apparatus 70 using the RFID tag 20 and transmitting the position information obtained through the wireless LAN module 50 to the central control means 90 A system for recognizing a stop position of an unmanned transfer device in a harbor terminal device characterized by.
3. The method according to claim 1 or 2,
The wireless LAN module (50)
Wherein the controller performs Ad-hoc communication with the port terminal device.
The method according to claim 1,
The unmanned transfer device (70)
The operation instruction and the position information of the central control means 90 are obtained using the wireless LAN module 50 to move to the work area and the signal of the RFID tag 20 installed in the port terminal facility 1 And recognizes a work area and a stop position of the unmanned transfer device.
5. The method of claim 4,
The recognition of the working area and the stop position,
A work station tag (22) and a stop position tag (24) are installed in a harbor terminal yard (1), and signals of the work area tag (22) and a stop position tag (24) Through the directional antenna (30) mounted on the rear side, and then acquires image information through the camera (60) and stops the image information.
A method for controlling a stop position recognition system of an unmanned transfer device,
A work zone moving step (s10) in which the unmanned conveying apparatus (70) moves in the direction of a work zone sent from the central control means (90) through ad hoc communication;
A work area tag recognition step (s20) in which the unmanned transfer device (70) traveling through the work area moving step recognizes the work area tag (22);
A stop tag recognizing step (s30) of recognizing the stop tag (24) through forward movement of the unmanned transfer device (70) after recognizing the work area tag (22);
And a stop position checking step (s40) of recognizing the stop position of the stop display unit (80) through the camera (60) of the unmanned transfer device (70) and confirming the stop position. A method of controlling a recognition system.
The method according to claim 6,
A rear RFID reader 44 provided behind the unmanned transfer device 70 detects the stop tag 24 when the unmanned transfer device 70 fails to recognize the stop signal of the stop display part 80 during the forward movement, The RFID reader 44 installed on the rear side of the unmanned transfer device 70 recognizes the stop tag 24 and then moves backward to recognize the stop tag 24, Further comprising: recognizing a stop signal of the stop display unit (80) through the stop display unit (80).
The method according to claim 6,
The forward and backward movement of the unmanned conveying apparatus 70 continues until the camera 60 of the unmanned conveying apparatus 70 recognizes the stop signal of the stop display unit 80, And terminates after recognizing the stop signal of the stop display unit (80).
KR1020130073341A 2013-06-25 2013-06-25 Recognizing system and method of unmanned transport equipment in container termianl KR101515195B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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KR102315225B1 (en) * 2020-12-18 2021-10-21 한성웰텍(주) A pallet automatically recognized autonomous carrier and a pallet automatically recognized docking system

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KR20190049212A (en) 2017-11-01 2019-05-09 (주)유비스 IoT based Smart Port Operation System, Application and Tablet having the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102315225B1 (en) * 2020-12-18 2021-10-21 한성웰텍(주) A pallet automatically recognized autonomous carrier and a pallet automatically recognized docking system

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