ES2627498T3 - Method for automatic, optical determination of an objective position for a container lifting device - Google Patents
Method for automatic, optical determination of an objective position for a container lifting device Download PDFInfo
- Publication number
- ES2627498T3 ES2627498T3 ES14186240.9T ES14186240T ES2627498T3 ES 2627498 T3 ES2627498 T3 ES 2627498T3 ES 14186240 T ES14186240 T ES 14186240T ES 2627498 T3 ES2627498 T3 ES 2627498T3
- Authority
- ES
- Spain
- Prior art keywords
- lifting device
- calculation unit
- sensor
- container lifting
- containers
- 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.)
- Active
Links
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Método para posicionar un dispositivo de elevación de contenedores (1) mediante un dispositivo de sujeción (21) para contenedores (12), donde al menos una cámara 2D, como sensor (3) que proporciona una imagen, está fijada en el dispositivo de elevación de contenedores (1) con una parte saliente, y el sensor (3) determina un área visual (A, B) orientada esencialmente de forma perpendicular hacia abajo, donde el sensor (3) proporciona valores de medición desde un entorno del dispositivo de elevación de contenedores (1), en particular la vista superior del dispositivo de sujeción (21), a una unidad de cálculo, donde el dispositivo de sujeción (21) presenta al menos una marca (7) sobre su superficie, donde la unidad de cálculo (22) forma datos a partir de los valores de medición, en base a los cuales la unidad de cálculo (22) para el dispositivo de elevación de contenedores calcula datos de posición objetivo en posiciones de anclaje (2, 11), caracterizado porque, las marcas (7) presentan dimensiones de un tamaño definido que se encuentran a disposición de la unidad de cálculo (22) como parámetros, y la unidad de cálculo (22) calcula los datos de posición objetivo en posiciones de anclaje (2, 11) en base a la medición bidimensional de las marcas (7), de una información de la altura (8) entre el sensor (3) y la superficie del dispositivo de sujeción (21), y en base a un desplazamiento horizontal (23, 30) del dispositivo de elevación de contenedores (1) con respecto a la marca.Method for positioning a container lifting device (1) by means of a holding device (21) for containers (12), where at least one 2D camera, as a sensor (3) that provides an image, is fixed on the lifting device of containers (1) with a protruding part, and the sensor (3) determines a visual area (A, B) oriented essentially perpendicularly downwards, where the sensor (3) provides measurement values from an environment of the lifting device of containers (1), in particular the top view of the clamping device (21), to a calculation unit, where the clamping device (21) has at least one mark (7) on its surface, where the calculation unit (22) forms data from the measurement values, on the basis of which the calculation unit (22) for the container lifting device calculates target position data at anchor positions (2, 11), characterized in that, the brand s (7) present dimensions of a defined size that are available to the calculation unit (22) as parameters, and the calculation unit (22) calculates the target position data at anchor positions (2, 11) in based on the two-dimensional measurement of the marks (7), of a height information (8) between the sensor (3) and the surface of the clamping device (21), and based on a horizontal displacement (23, 30) of the container lifting device (1) with respect to the mark.
Description
Claims (1)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14186240.9A EP3000762B1 (en) | 2014-09-24 | 2014-09-24 | Method for automatic, optical determination of a target position for a container lifting device |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2627498T3 true ES2627498T3 (en) | 2017-07-28 |
Family
ID=51619013
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES14186240.9T Active ES2627498T3 (en) | 2014-09-24 | 2014-09-24 | Method for automatic, optical determination of an objective position for a container lifting device |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3000762B1 (en) |
CN (1) | CN105438993B (en) |
ES (1) | ES2627498T3 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI582036B (en) * | 2016-05-05 | 2017-05-11 | 中國鋼鐵股份有限公司 | Storage space identification system of automatic crane and storage space identification method thereof |
FI129963B (en) * | 2017-03-16 | 2022-11-30 | Konecranes Global Oy | Monitoring a container transfer device when lowering a container on a transport platform or lifting up from a transport platform and an optical identification device for monitoring a container transfer device |
DE102017112661A1 (en) | 2017-06-08 | 2018-12-13 | Konecranes Global Corporation | Automatically guided portal lifting device for containers and method for operating such a portal lifting device |
CN107161861A (en) * | 2017-06-30 | 2017-09-15 | 海航创新科技研究有限公司 | The operating method and cloud box hanger of cloud box hanger |
CA3066891A1 (en) | 2017-07-04 | 2019-01-10 | Psa International Pte Ltd | Apparatus and method for remote crane control |
JP6965050B2 (en) * | 2017-07-21 | 2021-11-10 | 株式会社タダノ | Guide information display device and crane equipped with it and guide information display method |
CN109384150A (en) * | 2017-08-03 | 2019-02-26 | 南通通镭软件有限公司 | The container tapered end framing of automated handling slings method with anti- |
EP3713866A4 (en) * | 2017-11-24 | 2021-08-25 | TMEIC Corporation | Methods and systems for generating landing solutions for containers on landing surfaces |
DE102018003640B4 (en) * | 2018-05-04 | 2020-06-04 | Wolfgang Wichner | Tool grab pliers of a transport crane for pressing tools |
CN110113511A (en) * | 2019-01-29 | 2019-08-09 | 上海驭矩信息科技有限公司 | The design of a novel three mesh camera with image identification function |
EP3750842B1 (en) * | 2019-06-11 | 2021-10-20 | Siemens Aktiengesellschaft | Loading a load with a crane system |
US20220335735A1 (en) * | 2019-08-16 | 2022-10-20 | Abb Schweiz Ag | Method and apparatus for determining object location |
JP2021151909A (en) * | 2020-03-24 | 2021-09-30 | 住友重機械搬送システム株式会社 | Remote operation system and remote operation method |
CN111709996A (en) * | 2020-06-16 | 2020-09-25 | 北京主线科技有限公司 | Method and device for detecting position of container |
CN215048146U (en) * | 2021-02-04 | 2021-12-07 | 博众精工科技股份有限公司 | Lifting appliance and battery replacing station |
JP2023031723A (en) * | 2021-08-25 | 2023-03-09 | 住友重機械搬送システム株式会社 | Pallet for container transfer |
CN114604764B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Automatic detection and control method and device for loosening of intelligent tower crane lifting hook |
CN116621032B (en) * | 2023-05-25 | 2024-04-09 | 广州港股份有限公司 | Method suitable for accurate positioning characteristic of container spreader and improving adjustment efficiency |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4598999B2 (en) * | 2001-07-18 | 2010-12-15 | 三菱重工業株式会社 | Crane and crane control method |
JP3785061B2 (en) * | 2000-10-27 | 2006-06-14 | 三菱重工業株式会社 | Container position detection method and apparatus for cargo handling crane, container landing and stacking control method |
JP4365246B2 (en) * | 2004-03-17 | 2009-11-18 | 三井造船株式会社 | Container lifting operation support method and container spreader positioning device |
JP5039385B2 (en) * | 2007-01-05 | 2012-10-03 | 三菱重工業株式会社 | Misalignment amount calculation method, misalignment amount calculation device, crane, and cargo handling system |
JP5689534B2 (en) * | 2011-09-29 | 2015-03-25 | 住友重機械工業株式会社 | Overhead crane with object detection device |
EP2574587B1 (en) | 2011-09-30 | 2014-06-25 | Siemens Aktiengesellschaft | Method for determining a target position for a container spreader and the container spreader |
DE102012020953B4 (en) | 2012-10-25 | 2016-03-10 | LASE Industrielle Lasertechnik GmbH | 3D laser scan measuring system for determining the position in which an ISO container is to be placed on a carrier vehicle |
-
2014
- 2014-09-24 EP EP14186240.9A patent/EP3000762B1/en active Active
- 2014-09-24 ES ES14186240.9T patent/ES2627498T3/en active Active
-
2015
- 2015-09-23 CN CN201510613626.4A patent/CN105438993B/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN105438993A (en) | 2016-03-30 |
EP3000762B1 (en) | 2017-03-08 |
EP3000762A1 (en) | 2016-03-30 |
CN105438993B (en) | 2017-07-28 |
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