WO2021175403A1 - Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier - Google Patents

Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier Download PDF

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Publication number
WO2021175403A1
WO2021175403A1 PCT/EP2020/000054 EP2020000054W WO2021175403A1 WO 2021175403 A1 WO2021175403 A1 WO 2021175403A1 EP 2020000054 W EP2020000054 W EP 2020000054W WO 2021175403 A1 WO2021175403 A1 WO 2021175403A1
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WO
WIPO (PCT)
Prior art keywords
work surface
container
crane
person
loading
Prior art date
Application number
PCT/EP2020/000054
Other languages
German (de)
English (en)
Inventor
David Moosbrugger
Andreas NATTER
Lars Ambrosy
Original Assignee
LASE Industrielle Lasertechnik GmbH
Firma Hans Künz Gmbh
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 LASE Industrielle Lasertechnik GmbH, Firma Hans Künz Gmbh filed Critical LASE Industrielle Lasertechnik GmbH
Priority to CN202080006490.XA priority Critical patent/CN115003617A/zh
Priority to EP20718553.9A priority patent/EP3894349B1/fr
Priority to PCT/EP2020/000054 priority patent/WO2021175403A1/fr
Publication of WO2021175403A1 publication Critical patent/WO2021175403A1/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
    • 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
    • B66C19/002—Container cranes
    • 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

  • the invention relates to a container loading system and a method for operational monitoring with the features of the preambles of the independent claims.
  • a container bridge (Ship-To-Shore) Crane) loads standardized ISO containers from ship to shore, either directly onto trucks, or it transfers the containers to transport vehicles, in particular automated guided vehicles (AGV; Automated Guided Vehicle), which are often designed as straddle carriers and automatically pick up the containers and drive them to a destination.
  • AGV Automated Guided Vehicle
  • the destination can e.g. B. be a land-based interim storage facility in which rail-mounted gantry cranes (RMG; Rail Mounted Gantry) or rubber-tyred gantry cranes (RTG; Rubber Tyred Gantry) unload containers for interim storage.
  • RMG Rail Mounted Gantry
  • ROG Rubber Tyred Gantry
  • Vehicles for the road transport of containers are available as trucks with or without a trailer and as articulated vehicles consisting of a truck tractor and a container chassis attached like a normal semi-trailer or as a terminal truck with a terminal trailer.
  • the driver or another person In the case of a loading order for road transport, the driver or another person must walk around the vehicle before or after loading or unloading and unlock the twistlocks on the vehicle or lock.
  • the driver In the case of a loading order with a terminal trailer, the driver must check whether the so-called IBCs (Inter Box Connectors, which hold containers together on a ship) have been removed. People can move freely in the space below the crane.
  • IBCs Inter Box Connectors, which hold containers together on a ship
  • EP 2 724 972 B1 discloses a container loading system and a method with the features of the preambles of the independent claims and in particular a method for computer-aided determination of the position in which an ISO container is to be placed on a carrier vehicle by means of a crane, based on a Cloud of measurement points representing the top of the carrier vehicle, which are obtained by scanning the carrier vehicle from above from a height of at least 5 meters with a 3D laser scanner or two 3D laser scanners installed at a distance.
  • the proposed 3D laser scanner is formed from a 2D laser scanner which can be pivoted by means of a servo motor and which is here a transit time infrared laser scanner with a distance resolution of approximately 10 mm. This resolution is required to identify and localize twistlocks on the carrier vehicle and to be able to calculate container target position data from this.
  • Such a 3D laser scanning provides an essentially complete image of the measurement scene in the form of relatively dense three-dimensional point clouds.
  • B. is achieved in that the crane operator of a person in the work area such. B. maintains radio contact with a truck driver and can give and receive instructions.
  • Camera-based systems with image analysis can be used to monitor the danger area for people who are in it during the automatic loading or unloading of road transport vehicles in order to trigger an alarm or emergency stop if necessary. Due to inadequacies of such systems or e.g. B. due to restricted visibility and / or adverse weather conditions, however, false positive or false negative hazard detections and consequently personal injuries and corresponding downtimes can occur. Therefore, it is It is desirable to be able to recognize and localize people in the work area in at least one other way and thus to ensure special redundancy.
  • the invention is based on the object of improving occupational safety when loading containers with acceptable effort.
  • the laser scanners are of a type which is designed to scan the work surface simultaneously in several planes or lines spaced apart from one another, emitting a fan of diverging planes of light beams or a fan of diverging individual light beams.
  • the levels or lines are spaced apart from one another in at least one direction on the floor, e.g. B. in the longitudinal direction of the loading position and / or transversely thereto, larger than 10 and smaller than 30 centimeters.
  • a person recognition unit which is set up to scan the laser scanner or laser scanners at least one time during a container loading process to have carried out in order to obtain a measurement point cloud; in the measurement point cloud thus obtained, e.g. B. by averaging and / or eliminating outliers to identify the work surface and the loading area of the road transport vehicle; to determine whether there are at least one or, in a preferred embodiment, at least two adjacent measuring points more than 0.5 meters or alternatively more than 1 meter above the identified work area or the identified loading area in the measuring point cloud, and if there is at least one such measuring point to output a person-likely signal, which indicates that a person is likely to be in the corresponding location.
  • each of the laser scanners is a 3D multilayer scanner.
  • a scanner also called 3D multi-level scanner or 3D multi-layer scanner
  • 3D multi-layer scanner is commercially available and is z. B. in EP 2983030 A2, which discloses that in many applications there is a desire to capture the environment not just in a single plane, especially in mobile applications, such as in driverless vehicles, where the requirement is to have the floor with edges and paragraphs as well as objects that protrude into the driving area at different heights.
  • the sensor as a whole or the rotating mirror is also periodically tilted, it is sufficient if not an entire area of space but only a few layers stacked on top of each other can be monitored.
  • the invention includes the new intended use of multilayer laser scanners not to use them to detect objects that are more or less horizontally in front of the scanner by layering the scan planes on top of each other, but to detect people who are more or less vertically below the scanner, in container handling zones, with the scan planes layered next to each other.
  • multilayer laser scanners not to use them to detect objects that are more or less horizontally in front of the scanner by layering the scan planes on top of each other, but to detect people who are more or less vertically below the scanner, in container handling zones, with the scan planes layered next to each other.
  • 3D laser scanning only an incomplete image of the measurement scene is obtained, which can be achieved with a suitable selection of the distances
  • between the levels is sufficient to recognize whether a person is likely to be in the measurement scene or not, and this image of the measurement scene is obtained in a very short time, which is at most in the order of 1/10 of a second and often much less ,, so that the detection of moving people is also possible.
  • 3D array scanners As an alternative to multilayer laser scanners, so-called 3D array scanners or flash LiDAR devices can also be used for the invention. Such devices have an array of laser diodes which simultaneously emit a fan of diverging individual light beams, with a complete 3D image immediately being available.
  • close to an edge or a corner of the work surface is a z.
  • B. 2 x 2 meter measuring zone of people is marked on the work surface, and the safety device allows crane movements only if a person-probable signal is issued for the zone of people, but not for the rest of the work surface, and thus it is detected that in the zone of people, but there is no person in the rest of the work surface.
  • the work surface is divided into several zones, namely at least one inner zone, which comprises at least the loading position, i. H. either equal to or larger than the loading position, and an outer zone extending around and adjacent to the inner zone.
  • at least one inner zone which comprises at least the loading position, i. H. either equal to or larger than the loading position, and an outer zone extending around and adjacent to the inner zone.
  • the crane movement is slowed down or stopped.
  • the location and size of the zones into which the work area is divided can be dynamically changed during operation of the system and adapted to the location and direction of movement of a container that has just been loaded.
  • an emergency stop does not have to take place immediately, but a step-by-step reaction can take place, e.g. B. initially a mere warning when it is recognized that a person is approaching the outer zone, then a slower operation of the crane when the person enters the outer zone, and an emergency stop only when the person enters the inner zone Zone enters.
  • the laser scanner or the work surface with a fan of diverging planes of light beams or a fan of diverging individual light beams are allowed to scan simultaneously in several planes or lines spaced apart from one another in order to create a To gain measuring point cloud, the planes or lines at the level of the work surface at a distance from each other which is dimensioned such that a person standing on the work surface is hit by at least one plane of light rays or at least one of the individual light rays.
  • the working area is first identified in the measurement point cloud obtained in this way. It is then determined whether there are at least one or more measuring points in the measuring point cloud that are typical of a person standing on the identified work surface. If there are one or, in preferred embodiments, at least two adjacent measuring points of this type, the crane movement is slowed down or stopped.
  • crane movements are not slowed down or stopped, but rather remain allowed if one or more measuring points, which are typical for a person standing on the identified work surface, for a predetermined area at the edge of the work surface, but not for a central one Area of the work surface can be determined.
  • several zones are defined within the working area, namely at least one inner zone directly below a container hanging on the crane and an outer zone which extends around and adjoins the inner zone.
  • Crane movements are only permitted if one or more measuring points, which are typical for a person standing on the identified work surface, are not determined in the inner or outer zone.
  • Crane movements are slowed down if one or more measuring points, which are typical for a person standing on the identified work surface, are determined in the outer and not in the inner zone.
  • Crane movements are stopped when one or more measuring points, which are typical for a person standing on the identified work surface, are determined in the inner zone.
  • FIG. 1 shows a schematic side view of a lower part of a rail-mounted gantry crane, in which a work surface is located on the floor of a work space to be monitored;
  • FIG. 2 shows a schematic plan view of the work surface of FIG. 1;
  • FIG. 3 shows a schematic top view of a work surface under a container crane with dynamically changing zones
  • FIG. 4 shows a flow diagram of a method for monitoring the operation of a work surface below a container crane.
  • a redundant system for object recognition and tracking in a defined work area is proposed. In this way, the whereabouts of each person in the danger area can be determined.
  • Fig. 1 shows a lower part of a container crane, here an RMG gantry crane 1, which can travel on rails on a floor 2 of a port or other container transshipment point and which forms a loading facility or a part thereof.
  • Below the gantry crane 1 is a work surface 3 on the floor 2, which is shown from above in FIG. 2, on the same scale as in FIG. 1.
  • On the work surface 3 there is at least one elongated loading position 4 (FIG. 2) for a truck 5 or the like marked.
  • the truck 5 has a loading area 5a and a driver's cab 5b.
  • the container crane can also be an RTG crane or an STS crane.
  • the work area to be monitored in which people can and may be, can, for. B. be a cuboid, which is limited by the floor 2 and by two vertical supports 6, 7 and cross members 8 of the gantry crane 1.
  • the one to be monitored can which does not quite reach to the supports, such. B. in Fig. 2, which shows the situation of Fig. 1 on the same scale in plan view.
  • the work surface 3 extends between the vertical supports 6, 7 of the gantry crane 1.
  • the work area can also be wholly or partially outside the crane supports, in the case of an STS crane in its so-called backreach area.
  • two 3D laser scanners 10 are mounted, which are set up for the work space to monitor by scanning the work surface 3 including the truck 5 standing on it in three dimensions from above.
  • 3D laser scanner 10 at a height of z. B. 10 or 20 meters close to a front left vertical support 6 and to a rear right vertical support which is covered by the front right vertical support 7 visible in FIG -Laser scanner 10 lie vertically over two diagonal corners of the work surface 3, as indicated in FIG. 2.
  • the two 3D laser scanners 10 are further apart than the diagonal of the marked loading position 4 measures.
  • the laser scanners 10 are each a 3D multilayer scanner or, alternatively, a 3D array scanner or flash LiDAR device.
  • the laser scanners 10 can - as in this exemplary embodiment! - Appropriately attached to the crane, but embodiments are also possible in which the laser scanners are attached to pillars or light poles, which may already be present on the company premises, provided that they are close enough to the work surface and do not hinder crane activity. In any case, the laser scanners 10 will in any case predominantly not scan the work surface 3 precisely from above, but rather more or less obliquely from above.
  • the laser scanners 10 are also designed and oriented so that they the whole Laser scanner 10 - can completely monitor existing gaps, with each of the two laser scanners 10 being responsible for one of two L-shaped sub-zones 11, 12, which complement each other to form a rectangle around the loading position 4 corresponding to the work surface 3. This prevents parts of the work surface 3 from being shaded by the truck 5 or a container 9 standing on it or hanging vertically above it.
  • the scan planes preferably run parallel to the longitudinal direction of the loading position 4.
  • the loading system described above can, instead of the gantry crane 1, also use another crane such.
  • B. have a container bridge, which transports containers from the ship directly to trucks or vice versa.
  • truck lanes and truck loading positions can run transversely to the quay or in the longitudinal direction.
  • a person recognition unit allows the laser scanners 10 to continuously perform scans during a container loading process, e.g. B. one every second or every tenth of a second.
  • a measurement point cloud in which the floor 2 or the work surface 3 and the loading surface 5a of the truck 5 are identified is sufficient.
  • a person-likely signal is output, which indicates that a person is likely to be located at this location.
  • an object probable signal can be output if there is a measuring point or cuboid that is less than 0.5 meters, but z. B. more than 30 centimeters above the identified work surface or the identified loading area, since in this case there is probably some object on the floor or on the loading area that does not belong there and z. B. represents a tripping hazard or an obstacle to settling.
  • a safety device ensures that the crane movement stops and sends a request to a control station or to the crane operator and / or the truck driver to clarify the situation .
  • the truck driver must not be on the work surface 3 so that loading can be carried out quickly. However, it may be in the driver's cab 5b of the truck 5 or outside the work surface 3.
  • the driver is or is urged to go to an approx. 2 x 2 meter area 13 for people, which is marked on the floor in a corner of the work surface 3, as shown in FIG Fig. 2 illustrates.
  • the crane activity is only permitted as long as it is recognized by means of the laser scanner 10 that a person is likely to be in the passenger area 13, but not on the work surface 3 or on the loading surface 5a of the truck 5.
  • FIG. 3 Another embodiment will now be explained, which - like the previous embodiment - is not only particularly suitable for the operational monitoring of work areas of gantry cranes or container cranes, but also for other work areas in the port where containers are set down or are.
  • systems and methods described here can also be used in other areas in container transshipment points in ports or elsewhere, including where people actually have no access, but z. B. could accidentally get into fully automated work areas.
  • FIG. 3 shows from above a work surface 3 under a container crane, which, as in the exemplary embodiment of FIG. 2, is rectangular, with a length and width matching the size of the container crane used in the present case.
  • Laser scanners 10 scan the entire work surface 3 of FIG. 3 again and again from above, e.g. B. ten May per second, and capture in particular a container 8, which is hanging on the crane at a height in which the container 9 could collide now or at least after further lowering with an unfavorable person standing or running on the work surface 3, as well a person 16 who is here in a corner of the Work surface 3 stands.
  • the laser scanners 10 detect the directions and speeds of movement of the container 9 and of the person 16, which are shown in FIG. 3 by means of arrows as movement vectors.
  • an inner zone 14 is virtually formed horizontally around the container 9, and an outer zone 15 is virtually formed horizontally around the inner zone 14.
  • the inner zone 14 and the outer zone 15 can be smaller than shown in FIG. B. in such a way that the inner zone 14 corresponds to the loading position 4 in FIG. 2 and the outer zone 15 corresponds to the two sub-zones 11,
  • Such a zone or safety zone which is dynamically variable as a function of the direction and speed of movement, can also be placed around the person 16 (not shown in FIG. 3), with which the movement of the person 16 can be anticipated. If the recognized person 16 is in a danger area, i.e. the inner zone 14 and / or the outer zone 15, or if the safety zone around the person 16 begins to penetrate into the outer zone 15, or conversely, the container 9 approaches the person 16 , the corresponding movements of the trolley, hoist and chassis of the crane are slowed down or stopped.
  • the laser scanners 10 scan the work surface 3 with a fan of diverging planes of light rays or individual light rays simultaneously in several planes or lines spaced apart from one another in order to obtain a measuring point cloud therefrom, the planes or lines at the level of the work surface 3 are spaced apart from one another in such a way that a person standing on the work surface can move from at least one plane of light rays or at least one of the individual light rays is struck (step S1 in FIG. 4).
  • the levels or lines should be at the level of the work surface 3 in at least one direction on the floor, e.g. B. in the longitudinal direction of the loading position and / or across it, not be larger than 30 centimeters, but also smaller minimum distances such. B. 10 or 20 centimeters or any intermediate values are possible.
  • the working area 3 is also identified in the measurement point cloud obtained in step S1 (step S2 in FIG. 4).
  • step S3 in FIG. 4 It is then determined whether there are at least one or more measurement points in the measurement point cloud that are typical of a person standing on the identified work surface (step S3 in FIG. 4). If no such measuring point is determined, it goes back to step S1 in order to obtain a new measuring point cloud.
  • the crane movement can be slowed down or stopped without further conditions (step S4 in FIG. 4), e.g. B. if the work surface 3 is designed from the outset so that no person should stay there as long as the container 9 is moving, or z. B. in special cases such as test or calibration drives.
  • step S3 it is additionally determined whether the person 16 or his own safety zone is located in the outer zone 15 and not in the inner zone 14 or whether it intersects with it. If so, crane movements are slowed down in step S4. In addition, it is determined in step S3 whether the person 16 or his own safety zone is located in the inner zone 14 or intersects with it. If so, crane movements are stopped in step S4. This means,
  • Crane movements are only permitted if the person 16 or their own safety zone is not in the inner or outer zone. Warning signals are also preferably output, even when the person 16 approaches the outer zone 15 and before crane movements are slowed down.
  • steps S2 and S3 or S3 and S4 it can also be determined whether there are measuring points in the measuring point cloud that are typical for the truck 5 or its driver's cab 5b and / or loading area 5a and their locations in the measuring point cloud change over time change. If this is the case, this indicates that the truck 5 is moving, whereupon crane movements are also stopped.
  • the method described above can be expanded to also detect foreign objects in the workspace, in particular those that are larger than z. B. 30 centimeters to slow down or stop crane movements if necessary, so that the crane operator or the person 16 has the opportunity to clarify the situation.
  • Objects that are accidentally left lying around can be found not only on work surfaces 3, but also on truck loading surfaces 5a, and with the method described, damage to property when the container is set down can thus also be avoided.
  • Objects in the workspace can not only be differentiated from people based on their recognized size and classified accordingly, but also based on the fact that people working there often move.
  • the means and methods described above which are provided as hardware and software, can be linked with other hardware components and software algorithms for person and object detection in order to produce an overall system that works redundantly.
  • the availability and thus also the security of the system are increased by means of different hardware and software components.
  • cameras can also be used, with which the presence of people in safe or unsafe areas can also be used can be detected.
  • RFID Radio Frequency Identification
  • places of people in the work area z. B. can be recognized by means of triangulation based on signals that are sent back by an RFID transponder that people are supposed to carry with them, but there can also be people in a container terminal who do not
  • RFID transponders carry, which is of course not necessary for laser-based person recognition.
  • Each of the different systems works independently and provides the aforementioned information on recognized persons.
  • the data from the individual systems can, however, be merged in evaluation software. If at least one system reports a dangerous situation, instructions for suitable countermeasures to avoid the dangerous situation are sent to the crane control. Ideally, all existing systems report the same information. For availability and safety in dangerous situations, it is sufficient for one of the systems to report a dangerous situation.
  • Such a fusion laser camera, laser RFID or laser camera RFID also facilitates occupational safety certification.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un système de chargement de conteneurs et un procédé de surveillance du fonctionnement d'une zone de travail (3) au sol (2) sous un portique à conteneurs (1), dans lequel un ou plusieurs dispositifs de balayage laser 3D (10) balayent la zone de travail (3) depuis le dessus. Pendant le fonctionnement du système, les dispositifs de balayage laser (10) balayent simultanément la zone de travail (3) au moyen d'un éventail de plans divergents de faisceaux lumineux ou d'un éventail de faisceaux lumineux divergents individuels afin d'obtenir un nuage de points de mesure, les plans ou lignes au niveau de la zone de travail (3) présentant une distance les uns des autres qui est telle qu'une personne se tenant dans la zone de travail rencontre au moins un plan de faisceaux lumineux ou au moins un des faisceaux lumineux individuels (S1). Dans le nuage de points de mesure ainsi obtenu, la zone de travail (3) est identifiée en premier (S2). Il est ensuite déterminé s'il existe ou non dans le nuage de points de mesure au moins un ou plusieurs points de mesure caractéristiques d'une personne se tenant dans la zone de travail identifiée (S3). S'il existe un tel point de mesure, le mouvement de la grue est ralenti ou arrêté (S4).
PCT/EP2020/000054 2020-03-02 2020-03-02 Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier WO2021175403A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202080006490.XA CN115003617A (zh) 2020-03-02 2020-03-02 集装箱装载设施及用于其中的运行监控的方法
EP20718553.9A EP3894349B1 (fr) 2020-03-02 2020-03-02 Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier
PCT/EP2020/000054 WO2021175403A1 (fr) 2020-03-02 2020-03-02 Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2020/000054 WO2021175403A1 (fr) 2020-03-02 2020-03-02 Système de chargement de conteneurs et procédé de surveillance du fonctionnement dans ce dernier

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WO2021175403A1 true WO2021175403A1 (fr) 2021-09-10

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EP (1) EP3894349B1 (fr)
CN (1) CN115003617A (fr)
WO (1) WO2021175403A1 (fr)

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CN116452467A (zh) * 2023-06-16 2023-07-18 山东曙岳车辆有限公司 基于激光数据的集装箱实时定位方法
WO2024128979A1 (fr) * 2022-12-12 2024-06-20 RAM Lifting Technologies Pte. Ltd. Système et procédé d'alerte de proximité améliorée

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EP2724972A1 (fr) * 2012-10-25 2014-04-30 Lase GmbH Industrielle Lasertechnik Procédé de détermination de position dans lequel un conteneur ISO doit être placé sur un convoyeur, ainsi qu'installation de mesure à scanner laser 3D à cet effet
EP2724972B1 (fr) 2012-10-25 2015-08-12 Lase GmbH Industrielle Lasertechnik Procédé de détermination de la position dans laquelle un conteneur ISO est à déposer sur un véhicule porteur, ainsi qu'installation de mesure à scanner laser 3D à cet effet
WO2016001481A1 (fr) * 2014-06-30 2016-01-07 Konecranes Plc Transport de charge au moyen d'un équipement de manipulation de charge
EP2983030A2 (fr) 2014-08-05 2016-02-10 Sick Ag Scanner multiniveaux et procede destine a la saisie d'objets

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024128979A1 (fr) * 2022-12-12 2024-06-20 RAM Lifting Technologies Pte. Ltd. Système et procédé d'alerte de proximité améliorée
CN116452467A (zh) * 2023-06-16 2023-07-18 山东曙岳车辆有限公司 基于激光数据的集装箱实时定位方法
CN116452467B (zh) * 2023-06-16 2023-09-22 山东曙岳车辆有限公司 基于激光数据的集装箱实时定位方法

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EP3894349B1 (fr) 2024-01-03
CN115003617A (zh) 2022-09-02
EP3894349C0 (fr) 2024-01-03

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