WO1996007929A1 - Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs - Google Patents

Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs 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
Authority
WO
WIPO (PCT)
Prior art keywords
camera
transport vehicle
container
loading
crane
Prior art date
Application number
PCT/DE1995/001146
Other languages
German (de)
English (en)
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/fr

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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.

Landscapes

  • 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

Afin de détecter automatiquement la position d'un véhicule (8) de transport de conteneurs par rapport à une grue (1) de décharge de conteneurs, un dispositif d'éclairage (11) et une caméra (10) orientées sur la zone de chargement et de déchargement (7) de la grue (1) sont montés sur la grue (1). Différents réflecteurs en nappe (17, 23) avec des éléments réflecteurs triples sont montés sur la grue (1) et le véhicule de transport (8) et réfléchissent directement à la caméra la lumière qui émane du dispositif d'éclairage (11). Selon le type et l'agencement des réflecteurs en nappe, la charge et le numéro du véhicule peuvent être également détectés, outre la position du véhicule de transport (8).
PCT/DE1995/001146 1994-09-09 1995-08-28 Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs WO1996007929A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4432148 1994-09-09
DEP4432148.1 1994-09-09

Publications (1)

Publication Number Publication Date
WO1996007929A1 true WO1996007929A1 (fr) 1996-03-14

Family

ID=6527816

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1995/001146 WO1996007929A1 (fr) 1994-09-09 1995-08-28 Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs

Country Status (1)

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WO (1) WO1996007929A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2325807A (en) * 1997-05-30 1998-12-02 British Broadcasting Corp Position determination
EP1043262A1 (fr) * 1999-04-09 2000-10-11 NFM Technologies Procédé de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs
US6556722B1 (en) 1997-05-30 2003-04-29 British Broadcasting Corporation Position determination
DE10212590A1 (de) * 2002-03-15 2003-10-09 Demag Mobile Cranes Gmbh Optische Einrichtung zur automatischen Be- und Entladung von Containern auf Fahrzeugen
DE10224313A1 (de) * 2002-05-31 2003-12-11 Siemens Ag Vorrichtung zur Verifizierung von Containernummern beim Ent- und Beladen von Schiffen mit Containerkranen in Containerterminals
WO2004058623A1 (fr) * 2002-12-31 2004-07-15 Abb Ab Procede et systeme d'identification de conteneurs
DE102004011321A1 (de) * 2004-03-09 2005-09-29 Framatome Anp Gmbh Verfahren und Vorrichtung zum automatischen Be- oder Entladen eines Behälters mit zumindest einem radioaktiven Abfall enthaltenden Gebinde
US7286683B2 (en) 2002-12-31 2007-10-23 Abb Ab Container identification and tracking system
EP2419757A1 (fr) * 2009-04-15 2012-02-22 Konecranes Plc Systeme d'identification et/ou de determination de l'emplacement d'une machine de manutention de conteneurs
CN103466465A (zh) * 2013-09-17 2013-12-25 无锡莱吉特信息科技有限公司 一种施工吊机
DE102012214579A1 (de) * 2012-08-16 2014-02-20 Siemens Aktiengesellschaft Containeranlage und deren Betrieb
CN110510523A (zh) * 2019-09-04 2019-11-29 重庆科硕起重设备有限公司 用于货运中心的集装箱控制系统和工作方法
CN111196558A (zh) * 2020-02-19 2020-05-26 郑州铁路职业技术学院 一种基于bim的使用安全性能高的钢结构吊装装置

Citations (6)

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Publication number Priority date Publication date Assignee Title
DE2403698A1 (de) * 1974-01-26 1975-08-07 Kyborg Gmbh & Co Software Kg Positions-mess-system fuer roboterglieder
DE3821892C1 (en) * 1988-06-29 1990-02-22 Johann F. Dipl.-Phys. 2000 Hamburg De Hipp Method and device for position measurement of container repositioning vehicles
DE3829885A1 (de) * 1988-09-02 1990-03-15 Claussen Claus Frenz Prof Dr M Einrichtung zum fortlaufend erfolgenden, getrennten aufzeichnen und messen der kopf- und rumpfbewegungen beim stehen und gehen
EP0385852A1 (fr) * 1989-02-28 1990-09-05 AEROSPATIALE Société Nationale Industrielle Dispositif de restitution de mouvement rapide par observation de mire rétroréfléchissante et procédé pour la mise en oeuvre du dispositif
GB2231220A (en) * 1989-03-15 1990-11-07 Plessey Co Plc Position control arrangements for aircraft in formation
EP0528054A1 (fr) * 1991-03-07 1993-02-24 Fanuc Ltd. Methode de correction d'une position detectee

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2403698A1 (de) * 1974-01-26 1975-08-07 Kyborg Gmbh & Co Software Kg Positions-mess-system fuer roboterglieder
DE3821892C1 (en) * 1988-06-29 1990-02-22 Johann F. Dipl.-Phys. 2000 Hamburg De Hipp Method and device for position measurement of container repositioning vehicles
DE3829885A1 (de) * 1988-09-02 1990-03-15 Claussen Claus Frenz Prof Dr M Einrichtung zum fortlaufend erfolgenden, getrennten aufzeichnen und messen der kopf- und rumpfbewegungen beim stehen und gehen
EP0385852A1 (fr) * 1989-02-28 1990-09-05 AEROSPATIALE Société Nationale Industrielle Dispositif de restitution de mouvement rapide par observation de mire rétroréfléchissante et procédé pour la mise en oeuvre du dispositif
GB2231220A (en) * 1989-03-15 1990-11-07 Plessey Co Plc Position control arrangements for aircraft in formation
EP0528054A1 (fr) * 1991-03-07 1993-02-24 Fanuc Ltd. Methode de correction d'une position detectee

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
EP1043262A1 (fr) * 1999-04-09 2000-10-11 NFM Technologies Procédé de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs
FR2791963A1 (fr) * 1999-04-09 2000-10-13 Nfm Tech Procede de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs
DE10212590A1 (de) * 2002-03-15 2003-10-09 Demag Mobile Cranes Gmbh Optische Einrichtung zur automatischen Be- und Entladung von Containern auf Fahrzeugen
DE10224313A1 (de) * 2002-05-31 2003-12-11 Siemens Ag Vorrichtung zur Verifizierung von Containernummern beim Ent- und Beladen von Schiffen mit Containerkranen in Containerterminals
US7286683B2 (en) 2002-12-31 2007-10-23 Abb Ab Container identification and tracking system
WO2004058623A1 (fr) * 2002-12-31 2004-07-15 Abb Ab Procede et systeme d'identification de conteneurs
CN100406371C (zh) * 2002-12-31 2008-07-30 Abb股份有限公司 用于货柜识别的系统与方法
DE102004011321A1 (de) * 2004-03-09 2005-09-29 Framatome Anp Gmbh Verfahren und Vorrichtung zum automatischen Be- oder Entladen eines Behälters mit zumindest einem radioaktiven Abfall enthaltenden Gebinde
EP1735797A2 (fr) * 2004-03-09 2006-12-27 Framatome ANP GmbH Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif
US9150389B2 (en) 2009-04-15 2015-10-06 Konecranes Plc System for the identification and/or location determination of a container handling machine
EP2419757A4 (fr) * 2009-04-15 2013-10-30 Konecranes Plc Systeme d'identification et/ou de determination de l'emplacement d'une machine de manutention de conteneurs
EP2419757A1 (fr) * 2009-04-15 2012-02-22 Konecranes Plc Systeme d'identification et/ou de determination de l'emplacement d'une machine de manutention de conteneurs
DE102012214579A1 (de) * 2012-08-16 2014-02-20 Siemens Aktiengesellschaft Containeranlage und deren Betrieb
WO2014026843A3 (fr) * 2012-08-16 2014-04-10 Siemens Aktiengesellschaft Système pour containers et son fonctionnement
CN103466465A (zh) * 2013-09-17 2013-12-25 无锡莱吉特信息科技有限公司 一种施工吊机
CN110510523A (zh) * 2019-09-04 2019-11-29 重庆科硕起重设备有限公司 用于货运中心的集装箱控制系统和工作方法
CN110510523B (zh) * 2019-09-04 2021-10-26 重庆科硕起重设备有限公司 用于货运中心的集装箱控制系统和工作方法
CN111196558A (zh) * 2020-02-19 2020-05-26 郑州铁路职业技术学院 一种基于bim的使用安全性能高的钢结构吊装装置

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