WO2015121973A1 - コンテナ配置位置検出装置、クレーン制御システム - Google Patents
コンテナ配置位置検出装置、クレーン制御システム Download PDFInfo
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- WO2015121973A1 WO2015121973A1 PCT/JP2014/053476 JP2014053476W WO2015121973A1 WO 2015121973 A1 WO2015121973 A1 WO 2015121973A1 JP 2014053476 W JP2014053476 W JP 2014053476W WO 2015121973 A1 WO2015121973 A1 WO 2015121973A1
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- Prior art keywords
- container
- arrangement position
- detection light
- container arrangement
- light
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Classifications
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- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- 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
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
Definitions
- This invention relates to a container arrangement position detection device and a crane control system.
- Patent Document 1 discloses a container arrangement position detection device that detects a position where a container should be arranged in a container yard.
- an image pickup unit such as a CCD camera is installed on a spreader of a crane arranged in a container yard, and the upper edge of the container is detected by this image pickup unit, and the position where the container is to be placed (container Locating position).
- the conventional container arrangement position detection device only evaluates the amount of horizontal displacement on the image of the imaging unit, and can evaluate it as a physical distance (for example, how many mm are displaced). Absent. And the distance of the height direction to a packing destination target container or a target position mark is not known. Therefore, in the container arrangement position detection device, it is difficult to control the suspension tool or the container held by the suspension tool so that the container is accurately placed on the target position without deviation. Also, if the amount of light at the imaging location is insufficient and the influence of noise or disturbance contained in the image data acquired by the imaging unit is large, or if there is a lot of noise or disturbance itself, the container placement position must be set correctly. It becomes difficult to ask for. For example, after rain, there is a problem that sunlight is reflected on rainwater collected in a container yard or the like, and the container arrangement position cannot be obtained accurately.
- An object of the present invention is to provide a container arrangement position detection device and a crane control system capable of accurately and stably obtaining a container arrangement position.
- the container arrangement position detection device is a container arrangement position detection device that detects a position where a container is to be arranged in a container yard, and is an already installed container already arranged in the container yard.
- a detection light irradiating unit that irradiates detection light from above so as to cross the upper edge of the first detection light irradiated to the suspended container by imaging the irradiation range of the detection light obliquely from above and the existing container
- a first imaging unit that detects the second detection light applied to the upper surface of the first imaging unit, and a container arrangement position determination unit that obtains a container arrangement position based on the first detection light and the second detection light.
- the container arrangement position determination unit in the container arrangement position detection device of the first aspect is configured to detect the second detection light detected by the first imaging unit.
- the height of the upper edge of the existing container may be obtained based on the position.
- the container arrangement position determination unit in the container arrangement position detection device determines the amount of deviation between the first detection light and the second detection light. Based on this, the height distance between the suspended container and the upper edge of the existing container may be obtained.
- the container arrangement position detection device is provided in the container yard by imaging the container yard in the container arrangement position detection device according to any one of the first to third aspects.
- a second imaging unit that detects a mark corresponding to the container arrangement position, and the container arrangement position determination unit may obtain the container arrangement position in the container yard based on the position of the mark.
- the first imaging unit in the container arrangement position detection device of the fourth aspect may also serve as the second imaging unit.
- the container arrangement position detection device may include an illumination unit that illuminates the imaging range of the second imaging unit in the container arrangement position detection device according to the fourth or fifth aspect. .
- the illumination light emitted from the illumination unit is set in the same wavelength band as the detection light in the container arrangement position detection device of the sixth aspect. It may be.
- the wavelength band in the container arrangement position detection device of the seventh aspect may be set to an absorption band of sunlight.
- the detection light irradiation section in the container arrangement position detection device is adjacent to the container arrangement position. Then, the detection light may be irradiated so as to cross the upper edge of the already installed adjacent container, and the container arrangement position determining unit may detect the position of the already installed adjacent container.
- the crane control system includes a crane that moves a container in a container yard, the container arrangement position detection device according to any one of the first to ninth aspects, and the container arrangement position detection. And a control device that controls the crane based on the container arrangement position obtained by the device.
- the container arrangement position detection apparatus described above can accurately determine the container arrangement position while having resistance to surrounding disturbances and noise.
- the crane control system mentioned above can arrange a container correctly in a container arrangement position.
- FIG. 1 is a diagram showing a crane control system 1 according to an embodiment of the present invention.
- the crane control system 1 includes a crane 5, a container arrangement position detection device 20, a control device 50, and the like.
- the crane 5 is a mechanical device that holds the container C1 that is a suspended load and moves toward the container arrangement position A in the container yard G.
- the container arrangement position detection apparatus 20 is an apparatus that detects a position (container arrangement position A) where the container C1 is arranged.
- the control device 50 is a device that controls the crane 5 based on the container placement position A obtained by the container placement position detection device 20.
- the crane 5 is a tire-type yard bridge crane for stacking containers C1.
- the crane 5 includes a portal crane traveling machine body 10 and a tire-type traveling device 11 that causes the crane traveling machine body 10 to travel in the X direction on a trackless surface.
- the crane traveling machine body 10 has a pair of upper beams 12 extending in parallel in the horizontal direction (Y direction).
- a traverse trolley 13 that moves along the upper beam 12 is attached to these upper beams 12.
- the traversing trolley 13 includes a hoisting device 14 that moves the spreader 16 in the vertical direction (Z direction) via the suspension wire 15.
- the hoisting device 14 moves the spreader 16 suspended from the suspension wire 15 in the vertical direction by winding or unwinding the suspension wire 15.
- the spreader 16 can hold (grip) the container C1 in a detachable manner.
- the spreader 16 is a planar member that substantially matches the shape of the upper surface of the container C1.
- Two container arrangement position detection devices 20 are attached downward on one long side 16 a extending in the X direction of the spreader 16.
- Two container arrangement position detectors 20 are also attached downward to the other long side 16b parallel to the long side 16a.
- the four container arrangement position detection devices 20 have the same configuration.
- the control device 50 is placed on the crane traveling machine body 10.
- Four container arrangement position detection devices 20 are connected to the control device 50 via signal cables (not shown).
- the arrangement position of the container C1 described above is a rectangular range on the upper surface of the container C2.
- the arrangement position of the container C1 described above is set to a rectangular range that is the same shape as the upper surface of the container C2 that is determined in advance when there is no container. In general, by marking the ground, the driver can visually check the rectangular range.
- the purpose of the crane control system 1 to which the present invention is applied is to place the container C1 which is a suspended container without shifting from the arrangement position of the container C1. In order to realize this, the crane control system 1 needs to accurately and reliably detect the relative positional relationship between the container C1 and the container arrangement position.
- FIG. 2 is a diagram showing a schematic configuration of the container arrangement position detection device 20 according to the embodiment of the present invention, and is a view of the container arrangement position detection device 20 viewed from the Y direction.
- the container arrangement position detection device 20 includes a laser projector 25, an illuminator 26, a CCD camera 27, and a transmission filter 28 that matches the wavelength of these light sources.
- the laser projector (detection light irradiation unit) 25 irradiates a thin sheet-like detection light L (slit light) downward from above.
- the detection light L is a sheet-like laser beam that spreads in the Y direction, and is irradiated in the Z direction.
- the detection light L needs to have an intensity that can be distinguished from reflected light from sunlight.
- the illuminator (illumination unit) 26 is illumination using an LED or the like that irradiates illumination light R downward from above.
- the illumination light R is irradiated in the Z direction in a beam shape (spot shape).
- the wavelengths of these laser beams (detection light L) and illumination light R are set in an absorption band of sunlight. Thereby, the influence of the reflected light by sunlight is reduced, and stable detection can be realized.
- the laser projector 25 and the illuminator 26 are disposed adjacent to each other.
- the CCD camera 27 is attached facing downward.
- the CCD camera 27 images the irradiation range of the detection light L and the illumination light R.
- the CCD camera 27 serves as both a camera that captures the reflected light of the detection light L and a camera that captures the reflected light of the illumination light R.
- the CCD camera (first imaging unit, second imaging unit) 27 is spaced from the laser projector 25 and is inclined with respect to the laser projector 25.
- the image data picked up by the CCD camera 27 is output toward the container arrangement position determination unit 55 mounted on the control device 50.
- FIG. 3A is a view of the detection light L emitted from the laser projector 25 as seen from the Y direction.
- FIG. 3B is a view of the detection light L emitted from the laser projector 25 as seen from the X direction.
- FIG. 4A is a diagram illustrating an image (imaging range) of reflected light of the detection light L captured by the CCD camera 27 when the height distance is long.
- FIG. 4B is a diagram illustrating an image (imaging range) of reflected light of the detection light L captured by the CCD camera 27 when the height distance is short.
- the detection light L from the laser projector 25 is irradiated toward the container C2 that is already placed in the container yard G.
- the detection light L is irradiated so as to cross the side C1S of the container C1 that is a suspended container and the upper edge E of the container (existing container) C2 that is already arranged in the container yard G. Further, the end portion of the detection light L is irradiated to the container yard G.
- the detection light L is divided into three by the container C1 and the container C2. More specifically, the detection light L is divided into a first detection light L1 and a second detection light L2 with the lower end of the container C1 as a boundary.
- the first detection light L1 is reflected light of the detection light L irradiated on the container C1.
- the second detection light L2 is reflected light of the detection light L irradiated on the upper surface of the container C2.
- the third detection light L3 is reflected light of the detection light L irradiated to the container yard G.
- the third detection light L3 does not necessarily need to be clearly imaged, as long as the boundary with the second detection light L2 can be distinguished.
- the CCD camera 27 images the reflected light of the detection light L that is irradiated and reflected toward the upper surface of the container C2.
- the CCD camera 27 images the first detection light L1, the second detection light L2, and the third detection light L3.
- the CCD camera 27 is separated from the laser projector 25 and is inclined with respect to the laser projector 25. For this reason, as shown to FIG. 4A, the 1st detection light L1, the 2nd detection light L2, and the 3rd detection light L3 are imaged separately in the direction corresponding to a X direction.
- the container arrangement position determination unit 55 obtains a position (container arrangement position A) where the container C1 held by the crane 5 should be arranged based on the image data captured by the CCD camera 27. Specifically, the container arrangement position determination unit 55 obtains a distance H1 in the height direction between the CCD camera 27 and the container C2 based on the distance ⁇ from the image origin of the second detection light L2. Then, based on the length ⁇ of the second detection light L2, the horizontal relative displacement amount D between the container C1 and the container C2 is obtained. The distance between the laser projector 25 and the CCD camera 27 and the angle formed (the tilt angle of the CCD camera 27) and the viewing angle ⁇ of the CCD camera 27 are known. As can be seen from FIGS.
- the container arrangement position determination unit 55 determines the distance H2 in the height direction between the lower surface of the container C1 gripped by the crane 5 and the container C2 based on the image data captured by the CCD camera 27 on the image. Obtained from ⁇ .
- This distance H2 can be easily obtained using the same proportional relationship as H1.
- a crane for container handling has no means for measuring the height of the suspended container C1, and therefore there is no way to measure the distance until the container C1 is landed on the container C2.
- the container arrangement position determination unit 55 accurately determines the distance in the height direction between the container C1 and the container C2 based on the distance ⁇ on the image between the first detection light L1 and the second detection light L2. You can ask for it.
- the operation time of the crane 5 can be shortened.
- FIG. 5A is a view of the illumination light R emitted from the illuminator 26 as seen from the X direction.
- FIG. 5B is a view of the illumination light R emitted from the illuminator 26 as seen from the Y direction.
- FIG. 6A is a diagram illustrating an image (imaging range) of reflected light of the illumination light R captured by the CCD camera 27 when the height distance is long.
- FIG. 6B is a diagram illustrating an image (imaging range) of reflected light of the illumination light R captured by the CCD camera 27 when the height distance is short.
- the illumination light R from the illuminator 26 is irradiated toward the container yard G.
- the illumination light R is applied to the mark M1 installed in the container yard G.
- the mark M1 is a mark provided in the container yard G corresponding to the container arrangement position B.
- a diffusion plate is used for the mark M1. Since the light reflected by the mark M1 diffuses, the reflected light always enters the CCD camera 27. For this reason, even if the irradiation angle of the illumination light R to the mark M1 changes, the intensity of the reflected light (illumination light R) imaged by the CCD camera 27 is difficult to change.
- the CCD camera 27 can stably image the mark M1 irradiated with the illumination light R from the illuminator 26. Further, since the light reflected by the mark M1 is diffused, disturbance light such as sunlight is difficult to enter the CCD camera 27. Therefore, the mark M1 can be stably imaged by the CCD camera 27.
- the CCD camera 27 images the illumination light R that is irradiated and reflected toward the container yard G. As shown in FIGS. 6A and 6B, the CCD camera 27 images the reflected light of the illumination light R reflected by the mark M1 on the container yard G.
- the container arrangement position determination unit 55 obtains a position (container arrangement position B) where the container C1 held by the crane 5 should be arranged based on the image data captured by the CCD camera 27. Specifically, the container arrangement position determination unit 55 obtains the position of the mark M1 from the position of the reflected light of the illumination light R imaged by the CCD camera 27. The container arrangement position determination unit 55 obtains the container arrangement position B from the position in the X direction and the position in the Y direction of the mark M1. The container placement position determination unit 55 obtains a position where the container C1 is placed on the floor.
- the distance in the height direction (position in the Z direction) from the ground (container yard G) of the spreader 16 in which the container arrangement position detecting device 20 is installed is measured by a spreader position measuring device (not shown).
- a spreader position measuring device not shown.
- the distance and the angle formed by the CCD camera 27 with respect to the spreader 16 (inclination angle of the CCD camera 27) and the viewing angle of the CCD camera 27 are also known. Therefore, the distances in the X and Y directions between the CCD camera 27 and the mark M1 are geometrically determined from the mark positions P and Q on the image, and the relative relationship between the container C1 and the container arrangement position B can be more easily obtained. Distance is required.
- FIG. 7 is a diagram illustrating a state in which the detection light L of the laser projector 25 is applied to the container C3.
- a container (already installed adjacent container) C3 is already arranged adjacent to the container arrangement positions A and B. For this reason, it is necessary to prevent the container C1 from colliding with the container C3 when the container C1 is arranged at the container arrangement positions A and B by the crane 5. Therefore, the container arrangement position detection device 20 irradiates the container C3 as well as the container C2 with the detection light L from the laser projector 25.
- the detection light L is irradiated so as to cross the upper edges E of the containers C2 and C3 already arranged in the container yard G.
- the CCD camera 27 images the fourth detection light L4 that is irradiated and reflected on the upper surface of the container C3.
- the fourth detection light L4 is captured at a position different from the first detection light L1, the second detection light L2, and the third detection light L3. For this reason, the container arrangement position determination unit 55 can obtain the position of the upper edge E of the container C3 based on the position of the fourth detection light L4.
- the container arrangement position determining unit 55 can detect the presence of the container C3 that becomes an obstacle when the containers C1 are stacked. Therefore, the control device 50 can reliably avoid the collision between the container C1 and the container C3 by controlling the crane 5 based on the position of the upper edge E of the container C3 obtained by the container arrangement position determination unit 55.
- the present invention is not limited to the above-described embodiment, and includes various modifications made to the above-described embodiment without departing from the spirit of the present invention. That is, the specific shapes, configurations, and the like given in the embodiment are merely examples, and can be changed as appropriate.
- a total of four container arrangement position detection devices 20 are installed on the long sides 16a and 16b of the spreader 16, but the present invention is not limited to this.
- the number and the installation position of the container arrangement position detection device 20 can be arbitrarily set.
- Detecting light L is not limited to sheet-like light along the Y direction. It may be a sheet-like light along the X direction. Of the four container arrangement position detection devices 20, the two container arrangement position detection devices 20 emit sheet-like detection light L along the X direction, and the remaining two container arrangement position detection devices 20 You may make it irradiate the sheet-like detection light L along a Y direction. Thereby, four sides of the upper surface of the container C2 can be detected.
- the two rectangular marks M1 are arranged in the container yard G, but the present invention is not limited to this.
- the shape and number of marks provided in the container yard G corresponding to the container arrangement position B can be arbitrarily set.
- This invention is the crane control system 1 and the container arrangement position detection device.
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Abstract
Description
このコンテナ配置位置検出装置では、コンテナヤードに配置されたクレーンのスプレッダにCCDカメラ等の撮像部を設置し、この撮像部でコンテナの上縁等を検出して、コンテナを配置すべき位置(コンテナ配置位置)を求めている。
また、撮像箇所の光量が不足していて撮像部が取得した画像データに含まれるノイズや外乱の影響が大きくなる場合、あるいは、ノイズや外乱自体が多く含まれる場合には、コンテナ配置位置を正確に求めることが困難になる。例えば雨上がりには、コンテナヤード等に溜まった雨水に太陽光が反射して、コンテナ配置位置を正確に求められないという課題がある。
上述したクレーン制御システムは、コンテナ配置位置にコンテナを正確に配置することができる。
図1に示すように、クレーン制御システム1は、クレーン5、コンテナ配置位置検出装置20および制御装置50等を備える。
クレーン5は、コンテナヤードGで、吊り荷であるコンテナC1を把持してコンテナ配置位置Aに向けて移動する機械装置である。
コンテナ配置位置検出装置20は、コンテナC1を配置する位置(コンテナ配置位置A)を検出する装置である。
制御装置50は、コンテナ配置位置検出装置20で求めたコンテナ配置位置Aに基づいてクレーン5を制御する装置である。
クレーン走行機体10は、水平方向(Y方向)に平行に延びる一対の上部梁12を有する。これら上部梁12には、上部梁12に沿って移動する横行トロリー13が取り付けられている。
横行トロリー13は、吊りワイヤ15を介してスプレッダ16を上下方向(Z方向)に移動させる巻上装置14を備える。巻上装置14は、吊りワイヤ15を巻き上げたり、繰り出したりすることにより、吊りワイヤ15に吊り下げられたスプレッダ16を上下方向に移動させる。スプレッダ16は、コンテナC1を係脱可能に保持(把持)することができる。
レーザ投光器(検出光照射部)25は、上方から薄いシート状の検出光L(スリット光)を下方に向けて照射する。検出光Lは、Y方向に広がるシート状のレーザ光線であり、Z方向に照射される。検出光Lは、太陽光による反射光と区別できる強度を持つようにする必要がある。
照明器(照明部)26は、上方から照明光Rを下方に向けて照射するLED等を用いた照明である。照明光Rは、ビーム状(スポット状)に、Z方向に照射される。
これらのレーザ光線(検出光L)、および、照明光Rの波長は、太陽光の大気の吸収帯に設定されている。これにより、太陽光による反射光の影響が軽減され安定した検出を実現できる。
レーザ投光器25と照明器26は、隣接して配置される。
CCDカメラ(第一撮像部,第二撮像部)27は、レーザ投光器25から離間すると共に、レーザ投光器25に対して傾斜して配置される。
CCDカメラ27で撮像された画像データは、制御装置50に搭載されたコンテナ配置位置決定部55に向けて出力される。
図4Aは、高さ距離が長い場合にCCDカメラ27が撮像した、検出光Lの反射光の画像(撮像範囲)を示す図である。図4Bは、高さ距離が短い場合にCCDカメラ27が撮像した検出光Lの反射光の画像(撮像範囲)を示す図である。
CCDカメラ27は、レーザ投光器25から離間すると共に、レーザ投光器25に対して傾斜して配置される。このため、図4Aに示すように、第一検出光L1、第二検出光L2、および、第三検出光L3は、X方向に対応する方向において離間して撮像される。
具体的には、コンテナ配置位置決定部55は、第二検出光L2の画像原点からの距離αに基づいてCCDカメラ27とコンテナC2間の高さ方向の距離H1を求める。そして第二検出光L2の長さβに基づいて、コンテナC1とコンテナC2との間の水平方向の相対的なずれ量Dを求める。
レーザ投光器25とCCDカメラ27の距離およびなす角(CCDカメラ27の傾斜角度)、および、CCDカメラ27の視野角θは、既知である。
高さ方向の距離H1は、図4A、図4Bから分かるように、短くなるにつれて画像上のαが長くなる。そして、このαと実際の距離H1は比例の関係にあるので、予め実測して求めておいた傾きと切片の値をあらかじめコンテナ配置位置決定部55に設定しておく事で容易に計算する事が出来る。
更に、水平方向のずれ量Dは、水平方向の画像全体距離Wと上記高さ距離H1から、
D=2×H1×tan(θ/2)×(β/W)
によって求める事が出来る。
図6Aは、高さ距離が長い場合にCCDカメラ27が撮像した、照明光Rの反射光の画像(撮像範囲)を示す図である。図6Bは、高さ距離が短い場合にCCDカメラ27が撮像した、照明光Rの反射光の画像(撮像範囲)を示す図である。
マークM1は、コンテナ配置位置Bに対応してコンテナヤードGに設けられた目印である。マークM1には、拡散板が用いられる。マークM1で反射した光が拡散するので、CCDカメラ27に反射光が常に入射する。このため、マークM1に対する照明光Rの照射角度が変化したとしても、CCDカメラ27で撮像される反射光(照明光R)の強度が変化しづらくなる。そのため、照明器26からの照明光Rが照射されたマークM1をCCDカメラ27により安定して撮像できる。
また、マークM1で反射した光が拡散するので、太陽光等の外乱光がCCDカメラ27に入射しづらくなる。そのため、マークM1をCCDカメラ27により安定して撮像できる。
具体的には、コンテナ配置位置決定部55は、CCDカメラ27が撮像した照明光Rの反射光の位置からマークM1の位置を求める。コンテナ配置位置決定部55は、マークM1のX方向の位置とY方向の位置からコンテナ配置位置Bを求める。コンテナ配置位置決定部55は、コンテナC1を床置き配置する位置を求める。
このため、画像上のマーク位置PおよびQから、CCDカメラ27とマークM1とのX,Y方向の距離が幾何学的に求まり、これより容易にコンテナC1とコンテナ配置位置Bとの相対的な距離が求められる。
図7に示すように、コンテナヤードGには、コンテナ配置位置A,Bに隣接して、既にコンテナ(既設置隣接コンテナ)C3が配置されている。このため、クレーン5でコンテナC1をコンテナ配置位置A,Bに配置するときに、コンテナC1がコンテナC3に衝突しないようにする必要がある。そこで、コンテナ配置位置検出装置20は、レーザ投光器25からの検出光Lを、コンテナC2のみならず、コンテナC3に照射する。
コンテナヤードGにコンテナC3が既に配置されている場合には、CCDカメラ27は、コンテナC3の上面に照射されて反射した第四検出光L4を撮像する。
CCDカメラ27で撮像された画像データにおいて、第四検出光L4は、第一検出光L1、第二検出光L2、および、第三検出光L3とは異なる位置に撮像される。このため、コンテナ配置位置決定部55は、第四検出光L4の位置に基づいて、コンテナC3の上縁Eの位置を求めることができる。コンテナ配置位置決定部55は、コンテナC1を段積み等するときに、障害物となるコンテナC3の存在を検出できる。
したがって、制御装置50は、コンテナ配置位置決定部55は、で求めたコンテナC3の上縁Eの位置に基づいてクレーン5を制御することにより、コンテナC1とコンテナC3の衝突を確実に回避できる。
5 クレーン
10 クレーン走行機体
11 タイヤ式走行装置
12 上部梁
13 横行トロリー
14 巻上装置
15 ワイヤ
16 スプレッダ
16a,16b 長辺
20 コンテナ配置位置検出装置
25 レーザ投光器(検出光照射部)
26 赤外線照明器(照明部)
27 CCDカメラ(第一撮像部,第二撮像部)
28 赤外線透過フィルタ
50 制御装置
55 コンテナ配置位置決定部
G コンテナヤード
A,B コンテナ配置位置
C1 コンテナ
C2 コンテナ(既設置コンテナ)
C3 コンテナ(既設置隣接コンテナ)
E 上縁
L 検出光
L1 第一検出光
L2 第二検出光
L3 第三検出光
α,β,γ ずれ量
P,Q 画像上の位置
M1 マーク
R 照明光
Claims (9)
- コンテナヤードで吊コンテナを配置すべき位置を検出するコンテナ配置位置検出装置であって、
前記コンテナヤードに既に配置されている既設置コンテナの上縁を横断するように上方から検出光を照射する検出光照射部と、
前記検出光の照射範囲を斜め上方から撮像して、前記吊コンテナに照射された第一検出光および前記既設置コンテナの上面に照射された第二検出光を検出する第一撮像部と、
前記第一検出光および前記第二検出光に基づいて、コンテナ配置位置を求めるコンテナ配置位置決定部と、
を備えるコンテナ配置位置検出装置。 - 前記コンテナ配置位置決定部は、前記第一撮像部により検出された前記第二検出光の位置に基づいて前記既設置コンテナの上縁の高さを求める請求項1に記載のコンテナ配置位置検出装置。
- 前記コンテナ配置位置決定部は、前記第一撮像部により検出された前記第一検出光の位置と前記第二検出光の位置とのずれ量に基づいて前記吊コンテナ下端と前記既設置コンテナの上縁間の高さ距離を求める請求項1に記載のコンテナ配置位置検出装置。
- 前記コンテナヤードを撮像して前記コンテナヤードに設けられたコンテナ配置位置に対応するマークを検出する第二撮像部を備え、
前記コンテナ配置位置決定部は、前記マークの位置に基づいて前記コンテナヤードにおける前記コンテナ配置位置を求める請求項1から3の何れか一項に記載のコンテナ配置位置検出装置。 - 前記第一撮像部は前記第二撮像部を兼ねる請求項4に記載のコンテナ配置位置検出装置。
- 前記第二撮像部の撮像範囲を照明する照明部を備える請求項4又は5に記載のコンテナ配置位置検出装置。
- 前記検出光及び照明部から照射される照明光の波長帯は、大気の吸収帯に設定される請求項6に記載のコンテナ配置位置検出装置。
- 前記検出光照射部は、前記コンテナ配置位置に隣接して既に配置されている既設置隣接コンテナの上縁を横断するように前記検出光を照射し、
前記コンテナ配置位置決定部は、前記既設置隣接コンテナの位置を検出する請求項1から7の何れか一項に記載のコンテナ配置位置検出装置。 - コンテナヤードでコンテナを移動させるクレーンと、
請求項1から8の何れか一項に記載のコンテナ配置位置検出装置と、
前記コンテナ配置位置検出装置で求めたコンテナ配置位置に基づいて前記クレーンを制御する制御装置と、
を備えるクレーン制御システム。
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KR1020157001787A KR101704309B1 (ko) | 2014-02-14 | 2014-02-14 | 컨테이너 배치 위치 검출 장치, 크레인 제어 시스템 |
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SG11201500575UA SG11201500575UA (en) | 2014-02-14 | 2014-02-14 | Container position detecting device and crane control system |
PCT/JP2014/053476 WO2015121973A1 (ja) | 2014-02-14 | 2014-02-14 | コンテナ配置位置検出装置、クレーン制御システム |
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CN109455622A (zh) * | 2017-12-15 | 2019-03-12 | 天津埃特维科技有限公司 | 集装箱吊具的视觉识别系统以及集装箱的吊箱方法 |
JP2020142914A (ja) * | 2019-03-08 | 2020-09-10 | 住友重機械搬送システム株式会社 | クレーン、及びクレーンの積み付け方法 |
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CN107445067B (zh) * | 2017-08-01 | 2020-01-10 | 集美大学 | 集装箱轮胎吊自动装卸系统 |
CN112629408B (zh) * | 2020-11-30 | 2022-11-22 | 三一海洋重工有限公司 | 对位装置和对位方法 |
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