WO1996007929A1 - Arrangement for automatically sensing the position of a container transport vehicle - Google Patents

Arrangement for automatically sensing the position of a container transport vehicle Download PDF

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Publication number
WO1996007929A1
WO1996007929A1 PCT/DE1995/001146 DE9501146W WO9607929A1 WO 1996007929 A1 WO1996007929 A1 WO 1996007929A1 DE 9501146 W DE9501146 W DE 9501146W WO 9607929 A1 WO9607929 A1 WO 9607929A1
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WO
WIPO (PCT)
Prior art keywords
camera
transport vehicle
container
loading
crane
Prior art date
Application number
PCT/DE1995/001146
Other languages
German (de)
French (fr)
Inventor
Wolfgang Wichner
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO1996007929A1 publication Critical patent/WO1996007929A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

  • containers are transported by container transport vehicles to the individual container cranes or transported away from them.
  • the transport vehicles travel under the respective crane, which either places a container on the loading area of the transport vehicle or picks it up from the loading area.
  • the trolley of the crane In order to allow the container to be set down or picked up exactly by the crane, the trolley of the crane must be moved directly over the loading area of the transport vehicle and, if necessary, also rotated if the transport vehicle is not parallel to the Travel direction of the trolley or the crane is. If the crane cannot be moved, it is necessary that the transport vehicle stops directly under the trolley.
  • the invention has for its object to enable an automatic position detection of the container transport vehicle in order to create a basic prerequisite for automating the loading and unloading process.
  • the object is achieved by an arrangement for automatically detecting the position of a container transport vehicle in the loading and unloading area of a container, with a camera arranged on the crane and an illumination device arranged in the area of the camera, both of which relate to the loading and Unloading area are directed, with at least two surface reflectors, which consist of triple reflector elements and are arranged within the loading and unloading area at different locations of the container crane, with at least two further surface reflectors, which also consist of triple reflector elements and arranged at different locations on the container transport vehicle, the camera being moved from the light reflecting back into the camera from the illumination device detects the positions of the surface reflectors and an evaluation device arranged downstream of the camera determines the relative position of the container transport vehicle to the container crane from the position data supplied by the camera.
  • the lighting device which is z. B. can be a headlight in the vicinity of the camera
  • the light falling from the illuminating device onto the surface reflectors is emitted by the triple reflector elements in the direction of the incidence of light and is therefore independent of the respective position the area reflectors are reflected back into the camera.
  • the surface reflectors appear particularly bright from the point of view of the camera and are therefore very different from other objects that are in the field of view of the camera.
  • short measurement times can be achieved because of the large amount of light reflected back into the camera, so that the movement of the container transport vehicle can also be detected.
  • the detection of the positions of the two surface reflectors on the container crane and the container transport vehicle makes it possible to define a separate coordinate system for the container crane as well as for the container transport vehicle in the area of the loading and unloading area and the respective displacement and rotation of the to determine the two coordinate systems to one another.
  • the travel movements of the crane, the trolley and / or the transport vehicle can be controlled such that the transport vehicle is in an optimal position for the loading and unloading process the trolley is standing.
  • the travel movements can be controlled either automatically or by the crane or vehicle driver, the crane or vehicle driver being informed of the determined relative position of the transport vehicle in relation to the container crane via display devices.
  • further surface reflectors with triple reflector elements are advantageously arranged on the loading surface of the transport vehicle in such a way that loading positions of different lengths and / or in different loading positions are arranged on the loading surface located containers are covered with different surface reflectors.
  • additional surface reflectors can advantageously be arranged in a predetermined arrangement pattern, in particular that of a bar code, at a predetermined location of the transport vehicle, the evaluation device comprising means for pattern identification from the position data of the additional ones supplied by the camera Contains area reflectors.
  • the arrangement pattern of the additional area reflectors corresponds, for example, to the respective number of the transport vehicle.
  • the surface reflectors, the further surface reflectors and the additional surface reflectors preferably have different predetermined shapes or dimensions.
  • the camera can be designed as a matrix camera with a flat image sensor or as a line camera with a scanning area that can be pivoted over the loading and unloading area, in the case of the line camera of the evaluation device additionally the respective current pivoting position of the scanning area is transmitted .
  • the evaluation device is preferably connected to an automation system for the container crane to which the evaluated position data are transmitted.
  • the automation system can be based on the transmitted and evaluated position data automatically position the container crane and the trolley in relation to the container transport vehicle; However, it is also possible to display the evaluated position data only in a suitable form on a display device, which enables the crane operator to carry out the crane and trolley positioning in a simple and precise manner.
  • the evaluation device is preferably followed by a transmitting device for wireless transmission of the evaluated position data to the container transport vehicle.
  • FIG. 1 shows a container crane equipped with a camera and a lighting device, in the loading and unloading area of which a container transport vehicle stops
  • FIG. 2 shows a plan view of the loading and unloading area of the container crane
  • FIG. 3 shows a schematic block diagram of the camera with a downstream evaluation device.
  • FIG. 1 schematically shows a partial view of a container crane 1 which has a jib 2 with a trolley 3 which can be moved thereon.
  • a lifting mechanism not shown here, on which a load suspension frame (spreader) 5 with a container 6 held thereon is suspended via cables 4.
  • the container crane 1 can either be fixed or movable transversely to the movement of the trolley 3.
  • a container transport vehicle 8 which is loaded with a container 9 stops in the loading and unloading area 7 under the container crane 1. After the container crane 1 has set the container 6 down at a fixed point, the load 9 is to be picked up and transported further by means of the load suspension frame 5. For this it is necessary that the transport vehicle 8 with the container 9 is located directly below the trolley 3.
  • a camera 10 In order to determine the exact position of the transport vehicle 8 with the container 9 in relation to the container crane 1 or its trolley 3, a camera 10 and are on the boom 2 above the loading and unloading area 7 of the container crane 1 an illuminating device 11 in the form of a headlight is arranged in close proximity to one another and both are directed downward in the direction of the loading and unloading area 7.
  • FIG. 2 shows a plan view of the loading and unloading area in which the container transport vehicle 8 with the container 9 is located.
  • the field of view 12 of the camera 10 captures the entire loading and unloading area between the crane feet 13,
  • Two surface reflectors 17 and 18 are arranged on the crane feet 13 and 14 within the field of view 12 of the camera 10 and consist of triple reflector elements which direct the light coming from the illuminating device 11 and falling on it directly into that of the illuminating device direction 11 reflect back adjacent camera 10.
  • the camera 10 supplies the position data of the two surface reflectors
  • a coordinate system X K * f VK for the container crane 1 l determine SST.
  • SST the through the degrees of connection between the
  • two further surface reflectors 19 and 20 are arranged, by means of which a coordinate system xp, yp is described in the same way as described above for the container crane 1 is determined for the transport vehicle 8.
  • the displacement ⁇ x, ⁇ y and rotation ⁇ of the two coordinate systems xj (, YK and xp, yp denotes the relative position of the container transport vehicle 8 with respect to the container crane 1.
  • the container 9 can assume different positions on the loading surface 21 of the transport vehicle 8
  • further surface reflectors 22 with triple reflector elements are arranged on the loading surface 21 in such a way that positions of different lengths and / or in different positions different surface reflectors 22 are covered on containers 21 on the loading surface.
  • the relative position of the container 9 to the container crane 1 can be determined even more precisely.
  • containers of different sizes can be determined automatically.
  • additional surface reflectors 23 are arranged in the manner of a bar code at a predetermined location, here the roof of the driver's cab of the transport vehicle 8.
  • the bar code denotes the vehicle number, which is automatically detected by the camera 10 in this way.
  • the surface reflectors 17 and 18, 19 and 20, 22 and 23 have different shapes and dimensions on.
  • the position data of the individual surface reflectors 17 to 20, 22 and 23 determined by the camera 10 are transmitted to an evaluation device 24 in which the position deviation ⁇ x, ⁇ y, ⁇ between the container transport vehicle 8 and the container crane 1, the loading state of the transport vehicle 8 and its vehicle number can be determined.
  • This information is transmitted to the transport vehicle 8 via a transmission device 25 in order to give the vehicle driver an exact positioning of the transport vehicle 8 under the container. to enable crane 1.
  • the information from the evaluation device 24 is transmitted to an automation system 26 for the container crane 1, the automation system either automatically positioning the container crane 1 and the trolley 3 in relation to the transport vehicle or the information on a display device 27 visualized in a form that enables the crane operator to position the container crane 1 and the trolley 3 simply and precisely.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

In order to automatically detect the position of a container transport vehicle (8) in relation to a container crane (1), a lighting device (11) and a camera (10) oriented towards the loading and unloading area (7) of the crane (1) are mounted on the crane (1). Different flat reflectors (17, 28) with triple reflector elements that reflect the light coming from the lighting device (11) directly to the camera (10) are arranged on the crane (1) and transport vehicle (8). Depending on the type and arrangement of the flat reflectors, vehicle load and number may also be detected besides the position of the transport vehicle (8).

Description

Beschreibung description
Anordnung zur automatischen Positionserfassung eines Contai¬ ner-TransportfahrzeugesArrangement for automatic position detection of a container transport vehicle
In Container-Umschlaganlagen werden Container von Container- Transportfahrzeugen zu den einzelnen Containerkranen trans¬ portiert bzw. von diesen abtransportiert. Dazu fahren die Transportfahrzeuge unter den jeweiligen Kran, der entweder einen Container auf der Ladefläche des Transportfahrzeuges absetzt oder von der Ladefläche aufnimmt. Um ein genaues Ab¬ setzen oder Aufnehmen des Containers durch den Kran zu er¬ möglichen, muß die Laufkatze des Krans direkt über die Lade¬ fläche des Transportfahrzeugs verfahren werden und gegebe- nenfalls auch noch gedreht werden, wenn das Transportfahr- zeug nicht parallel zur Verfahrrichtung der Laufkatze oder des Krans steht. Ist der Kran nicht verfahrbar, so ist es erforderlich, das daß Transpor fahrzeug direkt unter der Laufkatze hält.In container transshipment systems, containers are transported by container transport vehicles to the individual container cranes or transported away from them. For this purpose, the transport vehicles travel under the respective crane, which either places a container on the loading area of the transport vehicle or picks it up from the loading area. In order to allow the container to be set down or picked up exactly by the crane, the trolley of the crane must be moved directly over the loading area of the transport vehicle and, if necessary, also rotated if the transport vehicle is not parallel to the Travel direction of the trolley or the crane is. If the crane cannot be moved, it is necessary that the transport vehicle stops directly under the trolley.
Der Erfindung liegt die Aufgabe zugrunde, eine automatische Positionserfassung des Container-Transportfahrzeugs zu er¬ möglichen, um damit eine Grundvoraussetzung für eine Automa¬ tisierung des Be- und Entladevorganges zu schaffen.The invention has for its object to enable an automatic position detection of the container transport vehicle in order to create a basic prerequisite for automating the loading and unloading process.
Gemäß der Erfindung wird die Aufgabe durch eine Anordnung zur automatischen Positionserfassung eines Container-Trans¬ portfahrzeuges im Be- und Entladebereich eines Containers gelöst, mit einer an dem Kran angeordneten Kamera und einer im Bereich der Kamera angeordneten Beleuchtungseinrichtung, die beide auf den Be- und Entladebereich gerichtet sind, mit mindestens zwei Flächenreflektoren, die aus Tripelreflektor- el^menten bestehen und innerhalb des Be- und Entladeberei¬ ches an unterschiedlichen Stellen des Containerkrans ange- ordnet sind, mit mindestens zwei weiteren Flächenreflekto¬ ren, die ebenfalls aus Tripelreflektorelementen bestehen und an unterschiedlichen Stellen des Container-Transportfahrzeu¬ ges angeordnet ind, wobei die Kamera aus dem von den Flä- chenreflektoren in die Kamera zurückreflektierten Licht der Beleuchtungseinrichtung die Positionen der Flächenreflekto¬ ren erfaßt und wobei eine der Kamera nachgeordnete Auswerte¬ einrichtung aus den von der Kamera gelieferten Positionsda- ten die relative Position des Container-Transportfahrzeuges zu dem Containerkran ermittelt.According to the invention, the object is achieved by an arrangement for automatically detecting the position of a container transport vehicle in the loading and unloading area of a container, with a camera arranged on the crane and an illumination device arranged in the area of the camera, both of which relate to the loading and Unloading area are directed, with at least two surface reflectors, which consist of triple reflector elements and are arranged within the loading and unloading area at different locations of the container crane, with at least two further surface reflectors, which also consist of triple reflector elements and arranged at different locations on the container transport vehicle, the camera being moved from the light reflecting back into the camera from the illumination device detects the positions of the surface reflectors and an evaluation device arranged downstream of the camera determines the relative position of the container transport vehicle to the container crane from the position data supplied by the camera.
Da die Beleuchtungseinrichtung, bei der es sich z. B. um ei¬ nen Scheinwerfer handeln kann, in der N he der Kamera ange- ordnet ist, wird das von der Beleuchtungseinrichtung auf die Flächenreflektoren fallende Licht von den Tripelreflektor- elementen in der Richtung des Lichteinfalls und damit unab¬ hängig von der jeweiligen Lage der Flächenreflektoren in die Kamera zurückgestrahlt. Damit erscheinen die Flächenreflek- toren aus Sicht der Kamera besonders hell und unterscheiden sich somit sehr deutlich von anderen Objekten, die sich im Blickfeld der Kamera befinden. Darüber hinaus lassen sich wegen der hohen, in die Kamera zurückgestrahlten Lichtmenge kurze Meßzeiten erreichen, so daß auch die Bewegung des Con- tainer-Transportfahrzeuges erfaßt werden kann. Die Erfassung der Positionen der jeweils zwei Flächenreflektoren an dem Containerkran und dem Container-Transportfahrzeug ermöglicht es, sowohl für den Containerkran als auch für das Container- Transportfahrzeug jeweils ein eigenes Koordinatensystem in der Fläche des Be- und Entladebereiches festzulegen und die jeweilige Verschiebung und Verdrehung der beiden Koordina¬ tensysteme zueinander zu ermitteln. Mit der so laufend er¬ mittelten relativen Position des Container-Transportfahr- zeugs zu dem Containerkran lassen sich die Verfahrbewegungen des Krans, der Laufkatze und/oder des Transpor fahrzeuges so steuern, daß das Transportfahrzeug für den Be- und Entladevorgang in einer optimalen Position zu der Laufkatze steht. Die Steuerung der Verfahrbewegungen kann entweder au¬ tomatisch oder durch den Kran- bzw. Fahrzeugführer erfolgen, wobei dem Kran- bzw. Fahrzeugführer die ermittelte relative Position des Transpor fahrzeugs zu dem Containerkran über Anzeigevorrichtungen mitgeteilt wird. Um den Beladungszustand des Container-Transportfahrzeuges automatisch ermitteln zu können, sind in vorteilhafter Weise auf der Ladefläche des Transportfahrzeuges weitere Flächen¬ reflektoren mit Tripelreflektorelementen in der Weise ange- ordnet, daß von unterschiedlich langen und/oder sich in un¬ terschiedlichen Ladepositionen auf der Ladefläche befinden¬ den Containern unterschiedliche Flächenreflektoren abgedeckt werden.Since the lighting device, which is z. B. can be a headlight in the vicinity of the camera, the light falling from the illuminating device onto the surface reflectors is emitted by the triple reflector elements in the direction of the incidence of light and is therefore independent of the respective position the area reflectors are reflected back into the camera. This means that the surface reflectors appear particularly bright from the point of view of the camera and are therefore very different from other objects that are in the field of view of the camera. In addition, short measurement times can be achieved because of the large amount of light reflected back into the camera, so that the movement of the container transport vehicle can also be detected. The detection of the positions of the two surface reflectors on the container crane and the container transport vehicle makes it possible to define a separate coordinate system for the container crane as well as for the container transport vehicle in the area of the loading and unloading area and the respective displacement and rotation of the to determine the two coordinate systems to one another. With the relative position of the container transport vehicle relative to the container crane thus continuously determined, the travel movements of the crane, the trolley and / or the transport vehicle can be controlled such that the transport vehicle is in an optimal position for the loading and unloading process the trolley is standing. The travel movements can be controlled either automatically or by the crane or vehicle driver, the crane or vehicle driver being informed of the determined relative position of the transport vehicle in relation to the container crane via display devices. In order to be able to automatically determine the loading state of the container transport vehicle, further surface reflectors with triple reflector elements are advantageously arranged on the loading surface of the transport vehicle in such a way that loading positions of different lengths and / or in different loading positions are arranged on the loading surface located containers are covered with different surface reflectors.
Zur Identifizierung des Container-Transportfahrzeuges können in vorteilhafter Weise an einer vorgegebenen Stelle des Transportfahrzeuges zusätzliche Flächenreflektoren in einem vorgegebenen Anordnungεmuster, insbesondere dem eines Bal¬ kencodes, angeordnet sein, wobei die Auswerteeinrichtung Mittel zur Musteridentifizierung aus den von der Kamera ge¬ lieferten Positionsdaten der zusätzlichen Flächenreflektoren enthält. Dabei entspricht das Anordnungsmuster der zusätzli¬ chen Flächenreflektoren beispielsweise der jeweiligen Nummer des Transportfahrzeuges.In order to identify the container transport vehicle, additional surface reflectors can advantageously be arranged in a predetermined arrangement pattern, in particular that of a bar code, at a predetermined location of the transport vehicle, the evaluation device comprising means for pattern identification from the position data of the additional ones supplied by the camera Contains area reflectors. The arrangement pattern of the additional area reflectors corresponds, for example, to the respective number of the transport vehicle.
Um die unterschiedlichen Flächenreflektoren untereinander und gegenüber anderen reflektierenden Objekten im Blickbe¬ reich der Kamera unterscheiden zu können, weisen die Flä¬ chenreflektoren, die weiteren Flächenreflektoren und die zu- sätzlichen Flächenreflektoren vorzugsweise unterschiedliche vorgegebene Formen oder Abmessungen auf.In order to be able to distinguish the different surface reflectors from one another and from other reflecting objects in the field of view of the camera, the surface reflectors, the further surface reflectors and the additional surface reflectors preferably have different predetermined shapes or dimensions.
Die Kamera kann als Matrix-Kamera mit flächenhafte Bildsen¬ sor oder als Zeilenkamera mit einem über den Be- und Entla- debereich verschwenkbaren Abtastbereich ausgebildet sein, wobei im Falle der Zeilenkamera der Auswerteeinrichtung zu¬ sätzlich die jeweils momentane Verschwenkposition des Ab¬ tastbereichs übermittelt wird.The camera can be designed as a matrix camera with a flat image sensor or as a line camera with a scanning area that can be pivoted over the loading and unloading area, in the case of the line camera of the evaluation device additionally the respective current pivoting position of the scanning area is transmitted .
Die Auswerteeinrichtung ist vorzugsweise an ein Automatisie¬ rungssystem für den Containerkran angeschlossen, an das die ausgewerteten Positionsdaten übermittelt werden. Das Automa¬ tisierungssystem kann aufgrund der übermittelten und ausge- werteten Positionsdaten eine automatische Positionierung des Containerkrans und der Laufkatze in bezug auf das Container- Transportfahrzeug vornehmen; es ist aber auch möglich, die ausgewerteten Positionsdaten lediglich auf einem Anzeigege- rät in einer geeigneten Form darzustellen, die es dem Kran¬ führer ermöglicht, die Kran- und Laufkatzenpositionierung in einfacher und genauer Weise durchzuführen.The evaluation device is preferably connected to an automation system for the container crane to which the evaluated position data are transmitted. The automation system can be based on the transmitted and evaluated position data automatically position the container crane and the trolley in relation to the container transport vehicle; However, it is also possible to display the evaluated position data only in a suitable form on a display device, which enables the crane operator to carry out the crane and trolley positioning in a simple and precise manner.
Um das Container-Transportfahrzeug in Abhängigkeit von den Positionsdaten in eine geeignete Halteposition fahren zu können, ist der Auswerteeinrichtung vorzugsweise eine Sende¬ einrichtung zur drahtlosen Übermittlung der ausgewerteten Positionsdaten an das Container-Transportfahrzeug nachgeord¬ net.In order to be able to move the container transport vehicle into a suitable stopping position depending on the position data, the evaluation device is preferably followed by a transmitting device for wireless transmission of the evaluated position data to the container transport vehicle.
Zur weiteren Erläuterung der Erfindung wird im folgenden auf die Figuren der Zeichnung Bezug genommen; im einzelnen zei¬ genTo further explain the invention, reference is made below to the figures of the drawing; show in detail
FIG 1 einen mit einer Kamera und einer Beleuchtungsein¬ richtung bestückten Containerkran, in dessen Be- und Entladebereich ein Container- Transportfahrzeug hält, FIG 2 eine Draufsicht auf den Be- und Entladebereich des Containerkrans und1 shows a container crane equipped with a camera and a lighting device, in the loading and unloading area of which a container transport vehicle stops, FIG. 2 shows a plan view of the loading and unloading area of the container crane and
FIG 3 ein schematisches Blockschaltbild der Kamera mit ei¬ ner nachgeordneten Auswerteeinrichtung.3 shows a schematic block diagram of the camera with a downstream evaluation device.
FIG 1 zeigt schematisch eine Teilansicht eines Container- krans 1, der einen Ausleger 2 mit einer darauf verfahrbaren Laufkatze 3 aufweist. An der Laufkatze 3 ist ein hier nicht eigens gezeigtes Hubwerk angeordnet, an dem über Seile 4 ein Lastaufnahmerahmen (Spreader) 5 mit einem daran gehaltenem Container 6 hängt. Der Containerkran 1 kann entweder fest- stehend oder quer zur Verfahrbewegung der Laufkatze 3 ver¬ fahrbar sein. Im Be- und Entladebereich 7 unter dem Containerkran 1 hält ein Container-Transportfahrzeug 8, welches mit einem Contai¬ ner 9 beladen ist. Nachdem der Containerkran 1 den Container 6 an einer festgelegten Stelle abgesetzt hat, soll die Last 9 mittels des Lastaufnahmerahmens 5 aufgenommen und weiter¬ transportiert werden. Dazu ist es erforderlich, daß sich das Transportfahrzeug 8 mit dem Container 9 direkt unterhalb der Laufkatze 3 befindet. Um die genaue Position des Transport¬ fahrzeugs 8 mit dem Container 9 in bezug auf den Container- kran 1 bzw. seine Laufkatze 3 zu ermitteln, sind an dem Aus¬ leger 2 über dem Be- und Entladebereich 7 des Containerkrans 1 eine Kamera 10 und eine Beleuchtungseinrichtung 11 in Form eines Scheinwerfers in unmittelbarer Nähe zueinander angeordnet und beide nach unten in Richtung auf den Be- und Entladebereich 7 gerichtet.1 schematically shows a partial view of a container crane 1 which has a jib 2 with a trolley 3 which can be moved thereon. On the trolley 3 there is arranged a lifting mechanism, not shown here, on which a load suspension frame (spreader) 5 with a container 6 held thereon is suspended via cables 4. The container crane 1 can either be fixed or movable transversely to the movement of the trolley 3. A container transport vehicle 8 which is loaded with a container 9 stops in the loading and unloading area 7 under the container crane 1. After the container crane 1 has set the container 6 down at a fixed point, the load 9 is to be picked up and transported further by means of the load suspension frame 5. For this it is necessary that the transport vehicle 8 with the container 9 is located directly below the trolley 3. In order to determine the exact position of the transport vehicle 8 with the container 9 in relation to the container crane 1 or its trolley 3, a camera 10 and are on the boom 2 above the loading and unloading area 7 of the container crane 1 an illuminating device 11 in the form of a headlight is arranged in close proximity to one another and both are directed downward in the direction of the loading and unloading area 7.
FIG 2 zeigt eine Draufsicht auf den Be- und Entladebereich, in dem sich das Container-Transportfahrzeug 8 mit dem Con¬ tainer 9 befindet. Das Blickfeld 12 der Kamera 10 erfaßt den gesamten Be- und Entladebereich zwischen den Kranfüßen 13,2 shows a plan view of the loading and unloading area in which the container transport vehicle 8 with the container 9 is located. The field of view 12 of the camera 10 captures the entire loading and unloading area between the crane feet 13,
14, 15 und 16. An den Kranfüßen 13 und 14 sind innerhalb des Blickfeldes 12 der Kamera 10 zwei Flächenreflektoren 17 und 18 angeordnet, die aus Tripelreflektorelementen bestehen, die das von der Beleuchtungseinrichtung 11 kommende und auf sie fallende Licht unmittelbar in die der Beleuchtungsein¬ richtung 11 benachbarte Kamera 10 zurückstrahlen. Die Kamera 10 liefert die Positionsdaten der beiden Flächenreflektoren14, 15 and 16. Two surface reflectors 17 and 18 are arranged on the crane feet 13 and 14 within the field of view 12 of the camera 10 and consist of triple reflector elements which direct the light coming from the illuminating device 11 and falling on it directly into that of the illuminating device direction 11 reflect back adjacent camera 10. The camera 10 supplies the position data of the two surface reflectors
17 und 18, durch deren Auswertung sich ein Koordinatensystem XK* VK fur den Containerkran 1 festlegen l ßt. Dabei ist z.B. die
Figure imgf000007_0001
durch die Verbindungsgrade zwischen den17 and 18, through their analysis, a coordinate system X K * f VK for the container crane 1 l determine SST. For example, the
Figure imgf000007_0001
through the degrees of connection between the
Flächenreflektoren 17 und 18 definiert, wobei die yκ~Achse in der Mitte zwischen den beiden Flächenreflektoren 17 undSurface reflectors 17 and 18 defined, the y κ axis in the middle between the two surface reflectors 17 and
18 senkrecht zur xκ-Achse verläuft.18 runs perpendicular to the x κ axis.
An dem Container-Transportfahrzeug 8, hier seiner Längssei¬ te, sind zwei weitere Flächenreflektoren 19 und 20 angeord¬ net, durch die in gleicher Weise, wie dies oben für den Con¬ tainerkran 1 beschrieben wurde, ein Koordinatensystem xp, yp für das Transportfahrzeug 8 ermittelt wird. Die Verschiebung Δx, Δy und Verdrehung Δφ der beiden Koordinatensysteme xj(, YK und xp, yp bezeichnet die relative Position des Contai¬ ner-Transportfahrzeuges 8 zu dem Containerkran 1.On the container transport vehicle 8, here its longitudinal side, two further surface reflectors 19 and 20 are arranged, by means of which a coordinate system xp, yp is described in the same way as described above for the container crane 1 is determined for the transport vehicle 8. The displacement Δx, Δy and rotation Δφ of the two coordinate systems xj (, YK and xp, yp denotes the relative position of the container transport vehicle 8 with respect to the container crane 1.
Da der Container 9 unterschiedliche Positionen auf der Lade¬ fläche 21 des Transportfahrzeuges 8 einnehmen kann, sind auf der Ladefläche 21 weitere Flächenreflektoren 22 mit Tripel- reflektorelementen in der Weise angeordnet, daß von unter- schiedlich langen und/oder sich in unterschiedlichen Lagepo¬ sitionen auf der Ladefläche 21 befindenden Containern unter¬ schiedliche Flächenreflektoren 22 abgedeckt werden. Dadurch läßt sich die relative Position des Containers 9 zu dem Con¬ tainerkran 1 noch genauer bestimmen. Außerdem können unter- schiedlich große Container automatisch ermittelt werden.Since the container 9 can assume different positions on the loading surface 21 of the transport vehicle 8, further surface reflectors 22 with triple reflector elements are arranged on the loading surface 21 in such a way that positions of different lengths and / or in different positions different surface reflectors 22 are covered on containers 21 on the loading surface. As a result, the relative position of the container 9 to the container crane 1 can be determined even more precisely. In addition, containers of different sizes can be determined automatically.
Schließlich sind an einer vorgegebenen Stelle, hier dem Dach des Führerhauses des Transportfahrzeuges 8, zusätzliche Flä¬ chenreflektoren 23 nach Art eines Balkencodes angeordnet. Der Balkencode bezeichnet die Fahrzeugnummer, welche auf diese Weise automatisch von der Kamera 10 erfaßt wird.Finally, additional surface reflectors 23 are arranged in the manner of a bar code at a predetermined location, here the roof of the driver's cab of the transport vehicle 8. The bar code denotes the vehicle number, which is automatically detected by the camera 10 in this way.
Um eine bessere Unterscheidung der Flächenreflektoren 17 und 18, 19 und 20, 22 sowie 23 durch die Kamera 10 und die nach- geordnete Auswertung zu ermöglichen, weisen die Flächenre¬ flektoren 17 und 18, 19 und 20, 22 sowie 23 unterschiedliche Formen und Abmessungen auf.In order to enable a better differentiation of the surface reflectors 17 and 18, 19 and 20, 22 and 23 by the camera 10 and the subsequent evaluation, the surface reflectors 17 and 18, 19 and 20, 22 and 23 have different shapes and dimensions on.
Wie das Blockschaltbild in FIG 3 zeigt, werden die von der Kamera 10 ermittelten Positionsdaten der einzelnen Flächen¬ reflektoren 17 bis 20, 22 und 23 an eine Auswerteeinrichtung 24 übertragen, in der die Positionsabweichung Δx, Δy, Δφ zwischen dem Container-Transportfahrzeug 8 und dem Contai¬ nerkran 1, der Beladungszustand des Transportfahrzeuges 8 sowie dessen Fahrzeugnummer ermittelt werden. Diese Informa¬ tionen werden über eine Sendeeinrichtung 25 an das Trans¬ portfahrzeug 8 übertragen, um dem Fahrzeugführer eine genaue Positionierung des Transportfahrzeuges 8 unter dem Contai- nerkran 1 zu ermöglichen. Ferner werden die Informationen aus der Auswerteeinrichtung 24 an ein Automatisierungssystem 26 für den Containerkran 1 übertragen, wobei das Automati¬ sierungssystem entweder eine automatische Positionierung des Containerkrans 1 und der Laufkatze 3 in bezug auf das Trans¬ portfahrzeug vornimmt oder die Informationen auf einem An¬ zeigegerät 27 in einer Form visualisiert, die dem Kranführer eine einfache und genaue Positionierung des Containerkrans 1 und der Laufkatze 3 ermöglicht. As the block diagram in FIG. 3 shows, the position data of the individual surface reflectors 17 to 20, 22 and 23 determined by the camera 10 are transmitted to an evaluation device 24 in which the position deviation Δx, Δy, Δφ between the container transport vehicle 8 and the container crane 1, the loading state of the transport vehicle 8 and its vehicle number can be determined. This information is transmitted to the transport vehicle 8 via a transmission device 25 in order to give the vehicle driver an exact positioning of the transport vehicle 8 under the container. to enable crane 1. Furthermore, the information from the evaluation device 24 is transmitted to an automation system 26 for the container crane 1, the automation system either automatically positioning the container crane 1 and the trolley 3 in relation to the transport vehicle or the information on a display device 27 visualized in a form that enables the crane operator to position the container crane 1 and the trolley 3 simply and precisely.

Claims

Patentansprüche claims
1. Anordnung zur automatischen Positionserfassung eines Container-Transportfahrzeugs (8) im Be- und Entladebereich (7) eines Containerkrans (1) mit einer an dem Kran (1) an¬ geordneten Kamera (10) und einer im Bereich der Kamera (10) angeordneten Beleuchtungseinrichtung (11) , die beide auf den Be- und Entladebereich (7) gerichtet sind, mit minde¬ stens zwei Flächenreflektoren (17, 18), die aus Tripelre- flektorelementen bestehen und innerhalb des Be- und Entla¬ debereiches (7) an unterschiedlichen Stellen des Container¬ krans (1) angeordnet sind, mit mindestens zwei weiteren Flächenreflektoren (19, 20), die ebenfalls aus Tripelre- flektorelementen bestehen und an unterschiedlichen Stellen des Container-Transportfahrzeugs (8) angeordnet sind, wobei die Kamera (10) aus dem von den Flächenreflektoren (17, 18, 19, 20) in die Kamera (10) zurückreflektierten Licht der Beleuchtungseinrichtung (11) die Positionen der Flä¬ chenreflektoren (17 bis 20) erfaßt und wobei eine der Kame- ra (10) nachgeordnete Auswerteeinrichtung (24) aus den von der Kamera (10) gelieferten Positionsdaten die relative Po¬ sition des Container-Transportfahrzeugs (8) zu dem Contai¬ nerkran (1) ermittelt.1. Arrangement for automatic position detection of a container transport vehicle (8) in the loading and unloading area (7) of a container crane (1) with a camera (10) arranged on the crane (1) and one in the area of the camera (10) arranged lighting device (11), both of which are directed towards the loading and unloading area (7), with at least two surface reflectors (17, 18) which consist of triple reflector elements and within the loading and unloading area (7) are arranged at different points on the container crane (1), with at least two further surface reflectors (19, 20), which also consist of triple reflector elements and are arranged at different points on the container transport vehicle (8), the camera (10 ) the positions of the surface reflectors (17 to 20) are detected from the light of the illumination device (11) reflected back by the surface reflectors (17, 18, 19, 20) into the camera (10), and one of the cameras ra (10) downstream evaluation device (24) determines the relative position of the container transport vehicle (8) to the container crane (1) from the position data supplied by the camera (10).
2. Anordnung nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e , daß auf der Ladefläche (21) des Container-Transportfahrzeu¬ ges (8) weitere Flächenreflektoren (22) mit Tripelreflek¬ torelementen in der Weise angeordnet sind, daß von unter- schiedlich langen und/oder sich in unterschiedlichen Lade¬ positionen auf der Ladefläche (21) befindenden Containern (9) unterschiedliche Flächenreflektoren (22) abgedeckt wer¬ den.2. Arrangement according to claim 1, characterized in that on the loading surface (21) of the container transport vehicle (8) further surface reflectors (22) with triple reflector elements are arranged in such a way that of different lengths and / or different surface reflectors (22) are covered in different loading positions on containers (9) located on the loading surface (21).
3. Anordnung nach Anspruch 1 oder 2, d a d u r c h g e k e n n z e i c h n e t, daß an einer vorgegebenen Stelle des Container-Transport¬ fahrzeugs (8) zusätzliche Flächenreflektoren (23) in einem vorgegebenen Anordnungsmuster, insbesondere dem eines Bal¬ kencodes, angeordnet sind und daß die Auswerteeinrichtung (24) Mittel zur Musteridentifizierung aus den von der Kame¬ ra (10) gelieferten Positionsdaten der zusätzlichen Flä- chenreflektoren (22) enthält.3. Arrangement according to claim 1 or 2, characterized in that at a predetermined point of the container transport vehicle (8) additional surface reflectors (23) in one predetermined arrangement patterns, in particular that of a bar code, are arranged and that the evaluation device (24) contains means for pattern identification from the position data of the additional area reflectors (22) provided by the camera (10).
4. Anordnung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t, daß die Flächenreflektoren (17, 18), die weiteren Flächen- reflektoren (19, 20; 22) und die zusätzlichen Flächenre¬ flektoren (23) unterschiedliche vorgegebene Formen oder Ab¬ messungen aufweisen.4. Arrangement according to one of the preceding claims, that the surface reflectors (17, 18), the further surface reflectors (19, 20; 22) and the additional surface reflectors (23) have different predetermined shapes or dimensions.
5. Anordnung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t, daß die Kamera (10) als Matrixkamera ausgebildet ist.5. Arrangement according to one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the camera (10) is designed as a matrix camera.
6. Anordnung nach einem der Ansprüche 1 bis 4, d a d u r c h g e k e n n z e i c h n e t, daß die Kamera (10) als Zeilenkamera mit einem über dem Be- und Entladebereich (7) verschwenkbaren Abtastbereich ausge¬ bildet ist, wobei der Auswerteeinrichtung (24) zusätzlich die jeweils momentane Verschwenkposition des Abtastberei¬ ches übermittelt wird.6. Arrangement according to one of claims 1 to 4, characterized in that the camera (10) is formed as a line camera with a pivotable over the loading and unloading area (7) scanning range, the evaluation device (24) additionally the respective current pivot position of the scanning range is transmitted.
7. Anordnung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t, daß die Auswerteeinrichtung (24) an ein Automatisierungs¬ system (26) für den Containerkran (1) angeschlossen ist, an das die ausgewerteten Positionsdaten übermittelt werden.7. Arrangement according to one of the preceding claims, that the evaluation device (24) is connected to an automation system (26) for the container crane (1) to which the evaluated position data are transmitted.
8. Anordnung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t, daß der Auswerteeinrichtung (24) eine Sendeeinrichtung (25) zur drahtlosen Übertragung der ausgewerteten Positionsdaten an das Container-Transpor fahrzeug (8) nachgeordnet ist. 8. Arrangement according to one of the preceding claims, that the evaluation device (24) has a transmission device (25) for wireless transmission of the evaluated position data to the container transport vehicle (8).
PCT/DE1995/001146 1994-09-09 1995-08-28 Arrangement for automatically sensing the position of a container transport vehicle WO1996007929A1 (en)

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DEP4432148.1 1994-09-09

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DE10212590A1 (en) * 2002-03-15 2003-10-09 Demag Mobile Cranes Gmbh Optical device for the automatic loading and unloading of containers on vehicles
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CN103466465A (en) * 2013-09-17 2013-12-25 无锡莱吉特信息科技有限公司 Construction crane
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CN111196558A (en) * 2020-02-19 2020-05-26 郑州铁路职业技术学院 Steel construction hoist device that safety in utilization performance is high based on BIM

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GB2325807A (en) * 1997-05-30 1998-12-02 British Broadcasting Corp Position determination
GB2325807B (en) * 1997-05-30 2002-03-20 British Broadcasting Corp Position determination
US6556722B1 (en) 1997-05-30 2003-04-29 British Broadcasting Corporation Position determination
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EP2419757A4 (en) * 2009-04-15 2013-10-30 Konecranes Plc System for the identification and/or location determination of a container handling machine
EP2419757A1 (en) * 2009-04-15 2012-02-22 Konecranes Plc System for the identification and/or location determination of a container handling machine
DE102012214579A1 (en) * 2012-08-16 2014-02-20 Siemens Aktiengesellschaft Container plant and its operation
WO2014026843A3 (en) * 2012-08-16 2014-04-10 Siemens Aktiengesellschaft Transport vehicle and image-based method for determining its position within a container compound
CN103466465A (en) * 2013-09-17 2013-12-25 无锡莱吉特信息科技有限公司 Construction crane
CN110510523A (en) * 2019-09-04 2019-11-29 重庆科硕起重设备有限公司 Container control system and working method for freight transport center
CN110510523B (en) * 2019-09-04 2021-10-26 重庆科硕起重设备有限公司 Container control system for freight center and working method
CN111196558A (en) * 2020-02-19 2020-05-26 郑州铁路职业技术学院 Steel construction hoist device that safety in utilization performance is high based on BIM

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