EP3066037A1 - Dynamiksensorsystem und -verfahren - Google Patents
Dynamiksensorsystem und -verfahrenInfo
- Publication number
- EP3066037A1 EP3066037A1 EP14859737.0A EP14859737A EP3066037A1 EP 3066037 A1 EP3066037 A1 EP 3066037A1 EP 14859737 A EP14859737 A EP 14859737A EP 3066037 A1 EP3066037 A1 EP 3066037A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor
- container
- chassis
- distance sensor
- distance
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
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- 239000000872 buffer Substances 0.000 claims description 97
- 238000005259 measurement Methods 0.000 description 13
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- 239000003086 colorant Substances 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
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- 238000004040 coloring Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012015 optical character recognition Methods 0.000 description 1
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- 230000000284 resting effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000012536 storage buffer Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
Definitions
- This invention relates to a dynamic sensor system for use in the transferring of a container.
- the shipment of goods is a complex and costly process with many actors, including shippers, manufacturers, wholesalers, and retailers.
- goods are placed in containers of various lengths, e.g., 20', 40', 45', 48,' and 53', for transport.
- the containers may be transported via a ship to a shipyard or via a train to a rail yard. From the shipyard or rail yard, the containers may then be transferred to a chassis of a tractor trailer for further shipment or distribution. Different sized chassis are available to accommodate the different sized containers.
- U.S. Patent No. 7,231,065 discloses a method and apparatus for controlling cameras and performing Optical Character Recognition of a container code and chassis code that processes containers and chassis into and out of a facility.
- a camera is used to determine when a truck is present within a specific gate lane in the facility.
- the camera is also used to determine if the truck is a Bob-tail (i.e., the tractor trailer is without a chassis or container); a bare chassis or a chassis having a container. In the latter case, the camera takes various images to determine the container's size.
- the container's size, along with other information, is then used to process the tracks into or out of the facility.
- the method and apparatus disclosed in Peach et al. do not provide an automated way to remove the container from the chassis or place a container onto the chassis, nor is a signaling system provided to assist the driver in positioning the chassis into the gate lane. Further, the system uses cameras to determine the size of the container, which can be costly.
- U.S. Patent No. 5,142,658 discloses a container chassis positioning system.
- a light signal and camera are used to assist a driver to position the chassis at a preprogrammed stop point in a loading or unloading lane.
- This system requires the use of a crane to unload or load a container on the chassis.
- a driver must still wait until a crane is free before he can drive the tractor trailer to the next location.
- a camera is required for the positioning of the chassis, which can be expensive.
- U.S. Publication No, 2008/0219827 discloses an inline terminal system.
- the system includes a buffer that includes four side latch cylinders that engage the bottom corner castings of a container,
- the buffer can be used to unload a container from a chassis without the assistance of a crane.
- the system does not provide a buffer that can be used with different sized containers, nor is a light signal provided that assists a driver position a chassis or container at a proper stopping position within the buffer.
- U.S. Publication 2008/0219827 discloses a distribution system that includes a buffer.
- the buffer includes movable shelves having a retracted and extended position.
- the system also has a chassis having a support structure that can be raised or lowered using a lift control.
- the support structure is used to raise a container resting on the support structure so that the container can be transferred to the buffer after the chassis and container have been positioned in the buffer.
- the buffer includes at least one wheel guide to aid in aligning the chassis in the buffer.
- a sensor system in one embodiment, includes a mounting member, an actuator disposed adjacent the mounting member, and a sensor connected to the actuator for sensing movement of an object using a signal.
- the actuator moves the sensor from a first sensing position to a second sensing position if the sensor is unable to read the signal.
- a method of transferring a container to a buffer using a sensor system that has a distance sensor includes the steps of sensing movement of the container carried by a chassis into the buffer using a. plurality of sensors including a thru beam sensor and the distance sensor, sending a signal from the distance sensor to the container, and determining a distance from the distance sensor to the container using the signal generated by the distance sensor.
- the method also includes the steps of moving the distance sensor if the distance sensor cannot obtain a readable signal, determining a length of the container based on data received from the plurality of sensors, and guiding an operator via a light signal to position the chassis into the buffer based on the length of the container.
- a positioning system for use in transferring a container to a buffer.
- the positioning system includes a light signal disposed adjacent the buffer for guiding an operator to position a chassis into the buffer and a program logic controller associated with the positioning system.
- the positioning system also includes a thru beam sensor that senses movement of the container into the buffer and outputs data to the program logic controller.
- the sensor system has a distance sensor that determines the distance from the distance sensor to the container via a signal. The distance sensor is moved from a first sensing position to a second sensing position if a readable signal is not obtained.
- the distance sensor outputs data to the program logic controller.
- the program log c controller determines a length of the container based on the data received from the thru beam sensor and the distance sensor and provides an output signal to the light signal based on the length of the container and the data received from the distance sensor.
- FIG. 1 is an isometric view of one embodiment of the light positioning system
- FIG. 2 is a top plan view of the light positioning system of FIG. 1 ;
- FIG. 3 is a left side elevational view of the light positioning system of FIG. 1 ;
- FIG. 4 is a front elevational view of the light positioning system of FIG. 1 ;
- FIG. 5 is a rear elevational view of the light positioning system of FIG. 1 ;
- FIG. 6 is a enlarge view of a support pad as shown in FIG. 1 ;
- FIG , 7 is a enlarged view of a signal light as shown in FIG. 1 ;
- FIG. 8 is a diagram showing final stopping distances associated with various sized containers
- FIG. 9 is a flow chart of one embodiment of a method of transferring a container using the light position system of FIG. 1 ;
- FIG. 10 is a flow chart of another embodiment of a method of transferring a container using the light positioning system of FIG. 1 ;
- FIG. 1 1 is a flow chart of a further embodiment of a method of transferring a container using the light position system of FIG. 1 ;
- FIG. 12 is a flow chart of a still further embodiment of a method of transferring a container using the light position system of FIG. 1 ;
- FIG. 13 is an isometric view of one embodiment of a dynamic laser system
- FIG. 14 is an isometric view of another embodiment of a dynamic laser system.
- FIG. 15 is a flow chart of a method of transferring a container to a buffer using the dynamic laser system of FIG. 13 or FIG. 14.
- FIGS. 1-8 show one embodiment of the light positioning system 20, which is used to conjunction with a buffer 21, and FIGS. 9-12 show various embodiments of methods for transferring a container to or from the buffer 21 using the light positioning system 20.
- the buffer 21 is used to temporarily store a container.
- the light positioning system 20 enables the container to be transferred from a chassis of a tractor trai ler to the buffer 21 by an operator of the tractor trailer without the assistance of a third party. Once stored in the buffer 21, the container may then be later picked-up by a tractor trailer with a chassis that is empty.
- the light positioning system 20 enables the operator of the tractor trailer to remove the container from the buffer 21 without the need for a third party.
- the container may then by transported by the tractor trailer to a destination, e.g., a warehouse.
- a destination e.g., a warehouse.
- container' as used herein has its common and ordinary meaning, and can include any type of container such as an ISO container, domestic container, semi-trailer, enclosure, and the like, in addition, the terms “tractor, truck, and tractor trailer” have their generally accepted meanings and are used interchangeably. These vehicles are used to pull, carry, and/or haul containers.
- buffer as used herein refers to a temporary storage apparatus or device.
- the buffer 21 includes a first frame member 22 and a second frame member 24. Together, the first frame member 22 and the second frame member 24 define a channel 25. In addition, on one end of the buffer 21. is an entry 26 and. at the opposite end is a rear frame 28.
- the first frame member 22 includes a first vertical support 30 and a second vertical support 32. Disposed between the first and second vertical supports 30, 32 is a first lift beam 34. In one embodiment, the first lift beam 34 is attached to the first vertical support 30 and the second vertical support 32 via mounting brackets 36A and 36B, respectively.
- the mounting brackets 36 A, 36B are movably attached to the first and second vertical supports 30, 32 so tha they may slide along the vertical supports in a vertical direction. The movement of the mounting brackets 36A, 36B along the respective first vertical support 30 and the second vertical support 32 are controlled by vertical actuators 38A and 38B, respectively.
- power is provided to the vertical actuators 38 A, 38B by motors 40 that are mechanically connected to each of the vertical actuators 38 A, 38B.
- the motors 40 may be electric motors or other type of motors such as hydraulic.
- a pneumatic motor may also be used without violating the scope and spirit of the invention.
- the structure of the second frame member 24 is similar to the first frame member 22 and includes a first vertical support 42 and a second vertical support 44.
- Vertical supports 30, 32, 42, 44 may be secured to the ground in any fashion known in the art. such as anchor bolts or similar device.
- a second lift beam 46 which is a mirror image of the first lift beam 34, is disposed between the first and second vertical supports 42, 44 of the second frame member 24 and is substantially parallel to the first lift beam 34.
- Mounting brackets 48A and 48B are movab!y attached to the first vertical support 42 and the second vertical support 44, respectively.
- Mounting brackets 48A, 48B are mechanically connected to vertical actuators 50A (not shown) and SOB (see FIG.
- the vertical actuators 50A, SOB can move vertically along the first and second vertical supports 42, 44 via the vertical actuators 50A and SOB.
- power is provided to the vertical actuators 50A, SOB by motors 40 that are mechanically connected to each of the vertical actuators 50A, SOB.
- a single motor is utilized that provides power to the vertical actuators 38a. 38B and 50A, 50B.
- the vertical actuators 38 A, 38B and 50A, SOB may be motorized screws, hydraulic cylinders or any other similar device known in the art. In the case of a motorized screw, the motor may be electric, hydraulic, or pneumatic.
- the motors 40 are electronically connected to the program logic controller (“PLC") 52.
- the PLC 52 which is discussed in further detail below, controls the movement of the first lift beam 34 and the second lift beams 46 along the vertical supports 30, 32, and 42, 44. More specifically, the PLC 52 controls via the motors 40 the vertical actuators 38A, 38B and 50A, SOB, which move the mounting brackets 36A, 36B of the first lift beam 34 and the mounting brackets 48A, 48B of the second lift beam 46.
- the PLC 52 is disposed adjacent the rear frame 28.
- the vertical actuators 38A, 38B and 50A, SOB are directed by the PLC 52 to raise the first and second lift beams 34 and 46 via the mounting brackets 36 A.
- the PLC 52 directs the vertical actuators 38 A, 38B and 5 OA, SOB to lower the first and second lift beams 34 and 46 via the mounting brackets 36A, 36B and 48A, 48B, respectively,
- the buffer 21 includes two guide tracks 54A and 54B,
- the guide tracks 54A, 54B are disposed between the first frame member 22 and the second frame member 24 and are substantially parallel to each other.
- Guide tracks 54A, 54B are provided to guide the wheels of a chassis into the buffer 21.
- Guide tracks 54 A, 54B may be secured to the ground in any manner known in the art such as anchor bolts or similar device and may be welded to the base plates of the first frame member 22 and the second frame member 24.
- four support pads 56 A, 56B, 56C, and 56D are spaced apart and movably attached to the first lift beam 34.
- four support pads 58 A, 58B are spaced apart and movably attached to the first lift beam 34.
- Each of the support pads 56A--D corresponds to one of the support pads 58A-D.
- the support pad 56A is located across from the support pad 58A and both support pads 56A and 58A are located at the substantially same point along the first lift beam 34 and the second lift beam 46, respectively (see FIGS, 2 and 3).
- six of the eight support pads (56A-C and 58A-C) are located substantially proximate the first vertical supports 30 and 42 of the first and second frame members 22 and 24, respectively, and the remaining two support pads (56D and 58D) are located proximate the second vertical supports 32 and 44 of the first and second frame members 22 and 24, respectively.
- each of the support pads 56A, 56B, 56C, and 56D and the first lift beam 34 Attached to each of the support pads 56A, 56B, 56C, and 56D and the first lift beam 34 are support pad actuators 60A, 60B, 60C, 60D, respectively.
- support pad actuators 60A, 60B, 60C, 60D Attached to each of the support pads 58 A, 58B, 58C, 58D and the second lift beam 46 are upport pad actuators 62A, 62B, 62C, 62D, respectively.
- any number of support pads 56 and 58 and corresponding support pad actuators 60 and 62, respectively, may be included as long as enough pads are provided to adequately support containers of various sizes, in one embodiment, as shown in Table 1 below, the number of support pads 56, 58 used for a 20' container is four, and the number of support pads 56, 58 used for a 40'-53' container is six, Table 1 also identifies the specific support pads used to support a container of a particular size in this embodiment.
- the support pad actuators 60 A— D and 62A-D are electronically connected to the PLC 52.
- the PLC 52 controls the horizontal movement of the support pads 56A-D and 58A- D via the support pad actuators 60A-D and 62A-D, respectively.
- the support pads 56A-D and 58A-D may be moved from a first position 64 to a second position 66.
- the first position 64 may be a retracted position as shown in FIG. 4 and the second position 66 may be an extended position as shown in FIG. 5, in another embodiment, the first position 64 may be the extended position (see FIG. 5) and the second position 66 may be the retracted position (see FIG. 4).
- the support pads 56 and 58 are positioned under the underside of the container.
- the support pads 56A-D are moved from the retracted position 64 to the extended position 66 when a container is positioned in the buffer 21 for storage.
- the support pads 56A-D are moved from the first position 64 (extended position) to the second position (retracted position) 66 when a container has been placed on an empty chassis for transport.
- Corresponding supports pads may be moved separately or in groups.
- the support pads 56 A and 58 A may be moved from the first position 64 to the second position 66 simultaneously along with any of 56B and 58B, 56C and 58C, and 56D and 58D.
- FIG. 6 shows an enlarged view of the support pad 58D and support pad actuator 62D in a default retracted position. All of the support pads 56A---D, 58A--D and support pad actuators 60A-D, 62A-D contain the same components with the only difference being the side upon which the actuator is positioned relative to the support pad. Accordingly, detail will only be provided with regard to support pad 58D and support pad actuator 62D.
- the support pad actuator 62D comprises an electric linear actuator 68 and a linkage assembly 70.
- the linkage assembly 70 is attached to the support pad 58D via a protrusion 72.
- the support pad 58D comprises a lower portion 74, a first upper portion 76, and a second upper portion 78.
- the lower portion 74 and the second upper portion 78 each comprise a steel plate
- the first upper portion 76 includes a slip pad 80.
- the slip pad 80 contacts the underside surface of the container to prevent slipping of the container when the container is being transferred to or from a tractor trailer.
- the slip pad 80 may be made of urethane or any similar material.
- the support pad 58D is bordered on its left side, rear, and right side by a support pad frame 82.
- the support pad frame 82 contains four support bars 84A, 84B, 84C and 84D, which are fixedly attached to the second lift beam 46, in this example.
- the support pad frame 82 also includes four movable rollers 86A, 86B, 86C, and 86D, which are attached to the support bars 84A, 84B, 84C, and 84D, respectively, with fasteners 88.
- the underside of the lower portion 74 of the support pad 58D rests upon the rollers 86A-D and engages the rollers 86A-D when the support pad 58D is moved from the first position 64 to the second position 66 and vice versa.
- a light signal 90 of the light positioning system 20 Near the entry 26 of the buffer 21 adjacent the first vertical support 30 of the first frame member 22, is a light signal 90 of the light positioning system 20 (see FIGS. 1 , 2, and 7).
- the light signal 90 is attached to a light post 92 and electrically connected to the PLC 52,
- the light signal 90 guides the operator of a tractor trailer into the buffer 21 by providing a visual indication of the chassis' position within the buffer 21.
- the light signal 90 comprises a light bar 94.
- the light bar 94 contains multiple rows of lights 96 A, B, ... N.
- a display may be provided adjacent the light bar 94 that includes text that explains the light coloring system.
- LED lights are used.
- the light bar 94 is comprised of a first set of lights 98, a second set of lights 100, and a third set of lights 102.
- the first set of lights 98 is comprised of green LEDs.
- the second set of lights 100 is comprised of yellow LEDs, and the third set of lights 102 is comprised of red LEDs.
- the second set of lights 100 further includes light subsets 104 A, B, ... N.
- the light subsets 104 A, B, ... N are each comprised of at least one row of yellow LEDs.
- the use of green, yellow, and red LEDs is preferred because these specified colors are generally understood by all vehicle operators to mean “go" or “maintain speed,” “slow-down” or “reduce speed,” and “stop,” respectively.
- a warning light 106 Disposed on the top of the light post 92, is a warning light 106.
- the warning light 106 emits a blinking red light.
- the warning light 106 can be of any size, but should be large enough to be easily seen by the operator of the tractor trailer in the side and/or the rear view mirrors of the tractor trailer.
- an emergency stop button 107 disposed on the lower portion of the light post 92, below the light bar 94 is an emergency stop button 107.
- the emergency stop button 107 can be pressed by an operator to immediately stop the light positioning system 20 at any point in time.
- the light position system 20 also includes a chassis sensor 108 and a thru beam sensor 1 10.
- the chassis sensor 108 and the thru beam sensor 110 are also located near the entry 26 of the buffer 21.
- the chassis sensor 108 senses movement of an object, i.e., a chassis, into the buffer 21.
- the thru beam sensor 1 10 senses movement of an object, i.e., a container, into the buffer 21 and is used to determine the length L of the container.
- the chassis sensor 108 may be an ultrasonic sensor.
- the thru beam sensor 1 10 is comprised of separate receiver and emitter portions, in one embodiment, a thru beam sensor receiver 1 12 is attached to the light post 92. As best shown in FIG. 7, the thru beam sensor receiver is attached to the light post 92 behind the light bar 94. Substantially aligned with the light post 92 and disposed adjacent the first vertical support 42 of the second frame member 24 is an emitter post 116. Attached to the emitter post 116 is a thru beam sensor emitter 120.
- the thru beam receiver 1 12 and the thru beam sensor emitter 120 together form the thru beam sensor 1 10 and are located at a height on the light post 92 and the emitter post 116, respectively, thai enables the thru beam sensor 1 10 to sense a container of any length that is entering the buffer 21.
- the thru beam 1 10 may be a through-beam laser or a photo electric sensor or other emitter and receiver device.
- the rear frame 28 of the light positioning system 20, as shown in FIGS. 1, 4, and 5, includes a cross bar member 122 and rear support members 124. Located at a distance from the rear frame 28 is a distance sensor post 126. Attached to the distance sensor post 126 are a container distance sensor 128 and chassis distance sensors 130A and 130B. The distance sensor post 126 is shown disposed at a point that is substantially centered between the first frame member 22 and the second frame member 24. Although a centered position is preferred, the distance sensor post 126 may be disposed at any point between the first and second frame members 22 and 24 that enables an unobstructed viewpoint from the container distance sensor 128 or the chassis distance sensors 130A, 130B to a container or chassis.
- the container distance sensor 128 measures the distance from the container distance sensor 128 to a container.
- the chassis distance sensor 130A is used to measure the distance from the chassis distance sensor 130A to a chassis that is 20' in length.
- the chassis distance sensor 130B is used to measure the distance from the chassis distance sensor 130B to a chassis that is 40', 45', 48', or 53' in length. A13 the distance sensors 128 and 130A, 130B are electronically connected as inputs to the PLC 52.
- the container distance sensor 128 and the chassis distance sensors 130 A, 130B comprise a single unit and include both emitter and receiver portions.
- the container distance sensor 128 and the chassis distance sensors 13 OA, 130B may comprise a laser system such as a DT series distance sensor that is commercially available under the trademark SICKTM.
- the container distance sensor and the chassis distance sensor may also be other suitable proportional distance sensing devices.
- the container distance sensor 128 and the chassis distance sensors 13 OA, 130B of the light positioning system 20 measure the time it takes for an emitted beam to reflect off an object (e.g., a container or a chassis) and return to the receiver portion of the distance sensor. The time measurement is then converted into a distance measurement signal that is proportional to the distance from the distance sensor to the object. This distance measurement signal is then sent to the PLC 52.
- Power can be provided to the electrical components of the light positioning system 20 including the motors 40, the vertical actuators 38 A, 38B and 50A, 50B, the PLC 52, the support pad actuators 60A-D, 62A-D, the light signal 90, the light bar 94, the various lights 98, 100, 102, and 106, and the multiple sensors 108, 110, 128, and 130, through a standard power grid or with a stand alone engine driven electric generator.
- Wires 132 may run along the outer portion of the first lift beam 34 and the second lift beam 46 to connect the aforementioned components to the power source,
- one embodiment of a method of transferring a container includes the steps of backing a chassis with a container into a buffer 200; sensing a rear edge of the container 202; sensing a front edge of the container 204; determining a length of the container 206; determining a final stopping distance of the container 208; storing the final stopping distance in the PLC 210; sensing the longitudinal position of the container 212; actuating a light bar based on the position of container in relation to the final stopping distance 214; and indicating on the light bar that the final stopping distance has been reached 216,
- another embodiment of a method of transferring a container includes the steps of sensing movement of the container carried by a chassis into the buffer using a plurality of sensors 230; determining a length of the container based on data received from the plurality of sensors 232; guiding an operator via a light signal to position the chassis into the buffer based on the length of the container 234; extending a plurality of support pads associated with the buffer to an underside of the container 236; raising the support pads so as to support the container 238; and withdrawing the chassis from the buffer 240.
- FIG. 11 discloses a further embodiment of a method of transferring a container including the steps of backing an empty chassis into a storage buffer to retrieve a stored container 250; sensing the longitudinal position of the chassis 252; retrieving a previously stored final stopping distance 254; actuating a light bar based on position of chassis in relation ⁇ the previously stored final stopping distance 256; indicating on the light bar that the chassis has reached final stopping distance 258.
- FIG. 12 A still further embodiment of a method of transferring a container is shown in FIG. 12 and is comprised of the steps of providing a buffer in which the container is positioned on a plurality of support pads associated with the buffer 270; sensing movement of the chassis into the buffer using a plurality of sensors 272; retrieving stored data relating to the container, wherein the stored data includes the container's length 274; guiding an operator via a light signal to position the chassis beneath the container, wherein the light signal illuminates in a specific color to guide the operator based on the stored data and data received from the plurality of sensors 276; lowering the plurality of support pads such that the container rests upon the chassis 278; retracting the plurality of support pads from under the container to a retracted position 280; and withdrawing the chassis carrying the container from the buffer 282.
- the container distance sensor 128 When the chassis sensor 108 senses an object (e.g., a chassis) entering the bay, the container distance sensor 128 is activated and a data signal, which includes a measurement of the distance from the container distance sensor 128 to the container, is sent to PLC 52.
- a data signal which includes a measurement of the distance from the container distance sensor 128 to the container.
- Each container of a particular length L has a corresponding final stopping distance 138B.
- the final stopping distance 138B of each container length L is stored in the PLC 52 prior to use. As shown in FIG, 8, for example, the final stoppmg distance 138B for a 20' container is 414.4 inches, the final stopping distance 138B for a 40' container is 174,5 inches, the final stopping distance 138B for a 45' container is 126 inches, the final stopping distance 138B for a 48'container is 90 inches, and the final stopping distance 138B for a 53' container is 30 inches.
- each of the containers 134 is a particular distance 138A from the container distance sensor 128.
- the 20' container is a distance of 455.5 inches from the container distance sensor 128, the 40' container is 214 inches from the container distance sensor 128, the 45' container is 154 feet from the container distance sensor 128, the 48' container is 118 inches from the distance sensor 128, and the 53' container is 58 inches from the container distance sensor 128.
- These distances 138A are stored in the PLC 52 prior to use. Therefore, once the container distance sensor 128 is activated by the reestahlishirtent of the through-beam laser of the thru beam sensor 1 10 at point A, the distance measured from the container distance sensor 128 to the container 134 when the container is at Point A is used by the program logic of the PLC 52 to determine the length L of the container, which is recorded and stored in the PLC 52. The light positioning system 20 via the PLC 52 then uses the container length measurement along with the corresponding final stopping distance 138B to guide the operator of the chassis 136 into the buffer 21.
- the data the PLC 52 receives from the container distance sensor 128 is used to direct the light signal 90 to illuminate a particular set of LEDS. More specifically, when the container 134 initially enters the buffer 21 the light signal 90 is activated by the PLC 52 and illuminates the first set of lights 98 (i.e., green LEDs) on the light bar 94. Once the container length L and the final stopping distance 138B are determined, illumination of the light bar 94 progresses to the second set of lights 100 (i.e., yellow LEDS).
- the first set of lights 98 i.e., green LEDs
- the container distance sensor 128 continues to send data regarding the distance measurements to the PLC 52 as the container 134 moves from point A, the point in which the through-beam laser of the thru beam sensor 110 is reestablished, to a position deeper within the buffer 21 (i.e., a point closer to the rear frame 28).
- the PLC 52 directs the light signal 90 to illuminate the light subsets 104 A, B, ... N of the second set of lights 100.
- the light subsets 104 A, B, ... N illuminate in a progressive manner up the light bar 94 (see FIG. 7). This illumination progression will continue until the container reaches its final stopping distance 138B.
- the PLC 52 instructs the light signal 90 to illuminate the third set of lights 102 (e.g., red LEDs).
- the third set of lights 102 on the light bar 94 emits a steady red light. If the operator continues to back the chassis into the buffer 21 so that the final stopping distance 138B is surpassed, the red LEDs 102 will flash, thereby signaling to the operator that the chassis has gone too far.
- the light signal 90 of the light positioning system 20 guides the operator of the tractor trailer to position a container within the buffer 21.
- the PLC 52 instructs specific support pads 56 and 58 to move from the default retracted position (first position) 64 to the extended position (second position) 66. As shown in Table 1, in one embodiment, support pads 56A, 56C and 58A, 58C will be moved from the retracted position 64 to the extended position 66 if, for example, a 20' container is in the buffer 21.
- the PLC" 52 instructs the motors 40 to raise the first and second lift beams 34 and 46, respectively, from a default starting position, which is lower than any chassis or chassis/container combination, to a pre-programmed height that is appropriate for the container's size. Further, the first and second lift beams 34 and 46, respectively, will raise the container 134 to a height that is higher than that of the chassis 136. to enable the chassis 136 to 1 ⁇ be easily withdrawn from the buffer 21 and prevent the chassis 136 from coining into contact with the underside of the container 134 as the chassis 136 is moved out of the buffer 21. Once the container 134 has been lifted off of the chassis 136, the empty chassis 136 is withdrawn from the buffer 21 by the operator.
- the light positioning system 20 works in substantially the same manner.
- the wheels of the chassis 136 engage the guide tracks 54 as the tractor trailer is backed into the buffer 21 by the operator.
- the length L of the container 134 which was previously transferred to the buffer 21, was recorded and stored in the PLC 52.
- the stored container length L and the corresponding final stopping distance 138B provides the necessary data for the light positioning system 20 to guide an operator of the tractor trailer into the buffer 21 to pick-up the container 134.
- the thru beam sensor 1 10 is not used because the container length L is already known.
- the container distance sensor 128 is not used.
- one of the chassis distance sensor 130A and the chassis distance sensor 130B is used to provide data relating to the movement of the chassis 136 into the buffer 21 to the PLC 52, which in turn provides a signal to the light signal 90.
- the chassis distance sensor 130 A. is used for a container having a length of 20'
- the chassis distance sensor 130B is used for a container having length of 40', 45', 48'; or 53'.
- the PLC 52 instructs either the chassis distance sensor 130A or the chassis distance sensor DOB to be activated based on the stored container length L. Similar to when the container 134 is being transferred to the buffer 21, when a chassis 136 is being positioned in the buffer 21 to pick up the container 134, the light signal 90 guides the operator. Based on the measured distance of the chassis 136 from its current position to its final stopping position 138B, the PLC 52 will instmct the light signal 90 to illuminate the first, second, or third set of lights 98, 100, 102, respectively, and the light suhsets 104 A, B, ... N in the same manner as discussed above with regard to the transferring of the container 134 from the chassis 136 to the buffer 21.
- the PLC 52 directs the motors 40 to lower the first and second lift beams 34 and 46, respectively, to a default height that is sufficiently low to clear the chassis 136, As the container 134 is lowered onto the chassis 136, the motors 40 continue to lower the first and second lift beams 34 and 46, respectively, until the default starting position is reached.
- the PLC 52 directs the support pads 56 and 58 that were previously extended to move from the extended position 66 to the default retracted position 64. After the support, pads 56 and 58 have been retracted, the operator may then withdraw the chassis carrying the container from the buffer 21. The operator must secure the chassis 136 to the container 134 for transport after withdrawing the chassis 136 and the container 134 from the buffer 21.
- the above light positioning system 20 can also be used in conjunction with an overhead crane.
- an overhead crane places a container onto the buffer 21 .
- the first and second lift beams 34 and 46 are in a raised position and the proper support pads 56A-D and 58A-D, which are determined based on the container's length, are in an extended position to accept the container.
- a guidance system on the overhead crane positions the container into the correct position on the lift beams 34 and 46 so that the container ca be lowered properly onto an empty chassis as described above.
- chassis and container surfaces are not uniform from one manufacturer to another, a stationary distance sensor such as the container and chassis distance sensors 130A, 130B, described above, may not always be able to obtain a readable or accurate signal to send to the PLC 52.
- the chassis or container surfaces may have different colors, reflective labels, latches, decals, signs, etc. that are located in various positions on the chassis or container, which interrupt the distance sensor signal.
- Such inconsistencies in the chassis and container surfaces may also prevent a stationary distance sensor from obtaining accurate distance data of a container or chassis, even if the signal produced by the stationary distance sensor is readable.
- a dynamic sensor system 300 is provided, As shown in FIG. 13, the dynamic sensor system 300 includes a mounting member 302, a distance sensor 312, and a distance sensor actuator 304 to which the distance sensor 312 is connected.
- the distance sensor actuator 304 may be disposed on or adjacent to the mounting member 302 and is electronically connected to and driven by a motor 306.
- the motor 306 may be disposed on or adjacent to the mounting member 302 and may be a servo type motor or other suitable electronically controlled motor.
- the motor 306 optionally includes a motor cover 308 to protect the motor 306 from a user, the sun, rain, wind, and other external elements.
- a motor control box 310 may also be disposed on the mounting member 302.
- the motor control box 310 provides the necessary electronics to connect the motor 306, which powers the actuator 304, to the PLC 52 so that data or instruction signals can be sent to and received from the PLC 52.
- Other control arrangements, which control the motor 306 directly by means of a CAN bus, may also be used.
- the distance sensor actuator 304 vertically raises and lowers the distance sensor 312 at various heights along the mounting member 302.
- a single distance sensor 312 measures the distance to a container, a 20 foot chassis, or a chassis having a length of 40-53 feet.
- the distance sensor 312 includes both emitter and receiver portions (not shown), so that it may send and receive a signal.
- the distance sensor 312 may be a laser system or the like.
- the distance sensor 312 provides the signal it receives to the PLC 52.
- the PLC 52 uses the signal received by the distance sensor 312 to send a separate signal to the light signal 90.
- the distance sensor 312 could be moved in a horizontal, diagonal, or circular direction.
- the distance sensor 312 may include a sensor cover 314 to protect the distance sensor 312 from damage caused by users and external elements such as the wind, sun, and rain.
- a container height sensor 316, a 20 foot chassis height sensor 318A, and a 40-50 foot chassis height sensor 31 8B may also be disposed on or adjacent to the mounting member 302.
- the container height sensor 316 is located approximately 70 inches from the ground.
- the 20 foot chassis height sensor 318A is located approximately 54 inches from the ground, and the 40-50 foot chassis height sensor 319A, it is located approximately 48 inches from the ground.
- the container height sensor 316, the 20 foot chassis height sensor 318A, and the 40- 50 foot chassis height sensor 318B may be a proximity switch or other similar device.
- the container height sensor 316 and the chassis height sensors 318A and 318B are activated by the PLC 52 and are used to signal to the PLC 52 that the distance sensor 312 has reached the location or height of the particul r sensor.
- the container height sensor 316 will generate a signal to the PLC 52 when the distance sensor 312 has reached the height, of the container height sensor 316, which is the default sensing height.
- the PLC 52 may signal the distance sensor actuator 304 to stop movement of the distance ensor 312.
- the chassis height sensor 318A or 318B sends a signal to the PLC 52.
- the PLC 52 may then instruct the distance sensor actuator 304 to stop movement of the distance sensor 312.
- reestablishment of the through-beam laser of the thru beam sensor 1 10 begins the distance sensor's 312 distance measurement to the container 134.
- the distance sensor 312 sends a signal, which strikes the container at the default sensing height for approximately 0.1 seconds to obtain a readable signal. If a readable signal is obtained, the data is sent to the PLC 52, which determines the container length L and the final stopping distance 214 in the same manner as discussed above. This information is then used by the light signal 90 to guide the operator.
- the distance sensor 312 If the distance sensor 312 for any reason does not receive a readable signal, the distance sensor 312 via the sensor actuator 304 is lowered from the default or first position 322A to a second position 322B that is approximately 0.20 inches below the first position. The distance sensor 312 will again send a signal, which will strike the container for approximately 0.1 seconds, and if a readable signal is not obtained, the distance sensor 312 will be moved by the sensor actuator 304 to a third position 322C that is approx 0.20 inches below the second position, The distance sensor 312 will continue to send signals, which will strike the container at each position, and will be lowered in 0.20 inch increments until a readable distance measurement is obtained.
- the chassis 136 and container 134 continue to move into the buffer 21.
- the distance sensor 312 has established that the container 134 is at its final stopping distance 138B
- the light signal 90 illuminates a set of red lights on the light bar 94.
- the container 134 is then lifted off the chassis 136 via the support pads 56, 58 and lift beams 34, 46 as discussed above.
- the container 134 When the container 134 has been raised by the support pads 56, 58 and lift beams 34, 46 to its appropriate transfer height, the empty chassis is withdrawn.
- the distance sensor actuator 304 then automatically lowers the distance sensor 312 to the proper chassis sensing height based on the container length L information stored in the PLC 52.
- the chassis height sensors 318 A, 318B are used to signal to the PLC 52 that the appropriate chassis sensing height has been reached. For example, if a 20 foot container is in the buffer, then the 20 foot chassis height sensor 318A will be activated and will notify the PLC 52 when the distance laser 312 has reached the chassis sensing height.
- the known length L of the container 134 having been previously established by the PLC 52 provides the input position command to the distance sensor actuator 304 so that the distance sensor 312 may be positioned at the proper height to generate a signal for an empty 20 foot chassis or a 40-53 foot chassis that is backing into the buffer 21 to retrieve the stored container.
- the distance sensor actuator 304 will automatically lower the distance sensor 312 in approximately 0.20 inch increments until a readable distance measurement is obtained. If the distance sensor 312 reaches a point B and no readable signal is obtained, then the light signal 90 stops working and the operator can either start the process over or manually hack the chassis 136 and container 134 into the buffer 21.
- FIG. 14 shows another embodiment of the dynamic sensor system 300.
- the dynamic sensor system 300 includes a filter system 400.
- the filter system 400 is used when the distance sensor 312 is overloaded with signals due to the presence of reflective material on the container 134 or chassis 1.36.
- the filter system 400 includes a filter actuator 402, an arm member 404, a filter positioning mechanism 406, and a filter 408.
- the filter 408 may be a film or lens such as LAMIN-xTM film or other suitable optical filter material.
- the filter actuator 402 is connected to the mounting member 302 and the arm member 404 and can move the arm member 404 in a vertical direction.
- the arm member 404 is connected on one end to the filter actuator 402 and projects horizontally away from the mounting member 302.
- the arm member 404 is connected via a second end to the filter positioning mechanism 406.
- the filter positioning mechanism 406 includes an extension member 410.
- the filter positioning mechanism 406 also includes the electronics (not shown) needed to communicate with the PLC 52 and to move the filter 408 from a stored position 412 to an engaged position 414.
- the default position of the filter 408 is the stored position 412. in the stored position 412, the filter 408 is position away from the distance sensor 312 so that the filter does not interfere with the signal 416 of the distance sensor 312.
- the stored position may be a vertical or upright position.
- the filter positioning mechanism 406 via extension member 410 moves the filter 408 from the stored position 412 to the engaged position 414.
- the filter 408 In the engaged position 414, the filter 408 is located in front of the distance sensor 312 such that, the distance sensor's signal 416 passes through the filter 408,
- the distance sensor 312 When in use, the distance sensor 312 begins sending a signal that strikes the designated target of the container or chassis at a starting height.
- the starting height of the distance sensor 312 may be the container sensing height, the 20 foot chassis sensing height, or the 40-53 foot chassis sensing height depending on whether a. chassis 136 carrying a container 134 is entering the buffer 21 or if an empty chassis is entering the buffer 21 to retrieve a stored container as discussed above.
- the filter 408 If a readable signal is not received by the distance sensor 312 at the starting height, the filter 408 is moved by the filter position mechanism 406 to the engaged position 414 so that the signal 416 of the distance sensor 312 passes through the filter 408. If a readable distance measurement is obtained, the data is sent to the PLC 52, which determines the container length L and the final stopping distance 214. This information is then used by the light signal 90 to guide the operator.
- the distance sensor 312 and the filter 408, which is in the engaged position 414 are lowered by the distance sensor actuator 304 and the filter actuator 402, respectively, to a height that is approximately 0.2 inches below the starting height.
- the distance sensor 312 will again send a signal through the engaged filter, which will strike the container or chassis, and if no readable signal is obtained, the distance sensor 312 and filter 408 will be lowered again in an increment of approximately 0.2 inches. This will continue until a readable signal is obtained or an error message is generated as discussed above.
- a method of transferring a container using a sensor system having a distance sensor is shown in FIG. 15, The method is comprised of at least the steps of sensing movement of the container carried by a chassis into the buffer using a plurality of sensors including a thru beam sensor and the distance sensor 500; sending a signal from the distance sensor to the container 502; and determining a distance from the distance sensor to the container using a signal generated by the distance sensor 504.
- the method also comprises the steps of moving the distance sensor if the distance sensor cannot obtain a readable signal 506; determining a length of the container based on data received from the plurality of sensors 508; and guiding an operator via a light signal to position the chassis into the buffer based on the length of the container 510,
- the method may further include the step of moving a filter associated with the distance sensor from a stored position to an engaged position if the distance sensor cannot obtain a readable signal.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Loading Or Unloading Of Vehicles (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/073,431 US9463962B2 (en) | 2013-03-13 | 2013-11-06 | Dynamic sensor system and method for using the same |
PCT/US2014/063716 WO2015069597A1 (en) | 2013-11-06 | 2014-11-03 | Dynamic sensor system and method |
Publications (2)
Publication Number | Publication Date |
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EP3066037A1 true EP3066037A1 (de) | 2016-09-14 |
EP3066037A4 EP3066037A4 (de) | 2016-11-02 |
Family
ID=53041983
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP14859737.0A Withdrawn EP3066037A4 (de) | 2013-11-06 | 2014-11-03 | Dynamiksensorsystem und -verfahren |
Country Status (6)
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EP (1) | EP3066037A4 (de) |
JP (1) | JP2016540967A (de) |
CN (1) | CN105829220A (de) |
AU (1) | AU2014347030A1 (de) |
CA (1) | CA2925566A1 (de) |
WO (1) | WO2015069597A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108204793A (zh) * | 2017-12-08 | 2018-06-26 | 中国船舶重工集团公司第七〇九研究所 | 一种基于双级隔离方式的运动***置测试***及测试方法 |
RU197689U1 (ru) * | 2019-10-26 | 2020-05-21 | Виктор Юрьевич Боушев | Устройство мониторинга положений канатов грузовой тележки башенного крана |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5142658A (en) * | 1991-10-18 | 1992-08-25 | Daniel H. Wagner Associates, Inc. | Container chassis positioning system |
US8821099B2 (en) * | 2005-07-11 | 2014-09-02 | Brooks Automation, Inc. | Load port module |
US8585347B2 (en) * | 2007-06-26 | 2013-11-19 | Mi-Jack Products, Inc. | Hub and distribution system |
JP2009156772A (ja) * | 2007-12-27 | 2009-07-16 | Topcon Corp | 測量システム |
CN102186761B (zh) * | 2008-10-20 | 2013-06-19 | 株式会社日本工程 | 集装箱位置测定方法以及集装箱位置测定装置 |
US9310482B2 (en) * | 2012-02-10 | 2016-04-12 | Ascent Ventures, Llc | Methods for locating and sensing the position, orientation, and contour of a work object in a robotic system |
US9463962B2 (en) * | 2013-03-13 | 2016-10-11 | Mi-Jack Products, Inc. | Dynamic sensor system and method for using the same |
-
2014
- 2014-11-03 CN CN201480060453.1A patent/CN105829220A/zh active Pending
- 2014-11-03 AU AU2014347030A patent/AU2014347030A1/en not_active Abandoned
- 2014-11-03 CA CA2925566A patent/CA2925566A1/en not_active Abandoned
- 2014-11-03 JP JP2016526041A patent/JP2016540967A/ja active Pending
- 2014-11-03 EP EP14859737.0A patent/EP3066037A4/de not_active Withdrawn
- 2014-11-03 WO PCT/US2014/063716 patent/WO2015069597A1/en active Application Filing
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WO2015069597A1 (en) | 2015-05-14 |
CN105829220A (zh) | 2016-08-03 |
CA2925566A1 (en) | 2015-05-14 |
AU2014347030A1 (en) | 2016-04-07 |
JP2016540967A (ja) | 2016-12-28 |
EP3066037A4 (de) | 2016-11-02 |
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