GB2425520A - Vehicle positioning apparatus - Google Patents
Vehicle positioning apparatus Download PDFInfo
- Publication number
- GB2425520A GB2425520A GB0508541A GB0508541A GB2425520A GB 2425520 A GB2425520 A GB 2425520A GB 0508541 A GB0508541 A GB 0508541A GB 0508541 A GB0508541 A GB 0508541A GB 2425520 A GB2425520 A GB 2425520A
- Authority
- GB
- United Kingdom
- Prior art keywords
- video images
- container
- video camera
- vehicle
- positioning apparatus
- 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- Withdrawn
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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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a vehicle positioning apparatus for positioning a container carrying vehicle 10 relative to an overhead crane 1 that is used in the loading and unloading of containers 8, and in particular for loading and unloading shipping containers from sea-going container vessels. The apparatus includes a video camera 20 for capturing video images and a stopping position generator for superimposing a fixed marker onto the video images captured by the video camera to produce modified video images. The modified video images are remotely transmitted by a transmitter device and are detected by a receiver device on the container carrying vehicle. A display means such as a monitor is located in cabin of the container carrying vehicle 10 and displays the modified video images. By viewing the modified video images on the monitor, the driver can stop the container carrying vehicle 10 at a desired location when the fixed marker is aligned with a moving target marker that appears in the video images captured by the video camera (20, Fig 2).
Description
TITLE
Vehicle positioning apparatus
DESCRIPTION
Technical Field
The present invention relates to vehicle positioning apparatus, and in particular to an apparatus for the accurate positioning of container carrying vehicles such as straddle carriers and trailers.
Background Art
Shipping containers are routinely loaded and unloaded from a container vessel using overhead cranes, sometime referred to as ship to shore cranes. Each container is usually transported to and from a storage yard or a remote location by a container carrying vehicle such as a straddle carrier or a trailer. Throughout this patent specification, the term "trailer" is used to describe a flat-bed vehicle for receiving and supporting a shipping container and the term "truck" is used to describe the motorised vehicle that is used to pull the trailer. This distinction is particularly important in the case where two or more trailers are pulled by a truck. The patent specification also refers to a "containerreceiving part" of the trailer (possibly defined by location pins, sometimes known as twist locks, that can be provided on the surface of the trailer to locate and retain the container in position during transport) as being the part of the flat-bed on which a container can be placed. A flat-bed in this context can be further defined as any type of chassis used for transporting a container. A trailer may have two or more container-receiving parts depending on the length of the trailer and the containers to he transported.
It is preferred that the shipping containers are loaded and unloaded in a series of bays across the deck of the vessel so that the crane does not have to make repeated movements in a direction parallel to the edge of the dock. However, this means that the containers must be positioned accurately on the dock so that the crane can pick them up one after the other and place them on the vessel simply by shuttling backwards and forwards in a direction perpendicular to the edge of the dock. For example, if the container is on a trailer then the truck driver must drive along a marked-out lane that runs parallel with the edge of the dock until the trailer reaches the exact location where the container can he properly engaged by the spreader of the crane and lifted off the trailer and onto the vessel. If the container is transported by a straddle carrier then the driver must deposit the container on the dock at the exact location where it can he properly engaged by the spreader of the crane. It also means that the trailer must be positioned at an exact location on the dock to receive a container that is being unloaded from the vessel.
It can be difficult for the driver of the straddle carrier or truck to identify the exact location underneath the spreader for loading and unloading. It is therefore known to assist the driver by providing a vehicle positioning apparatus. One such apparatus is the Trailer Positioning System (TPS) supplied by the present applicant and which provides a simple cost-effective solution to trailer positioning. The TPS uses infrared sensors to detect the position of the trailer relative to the crane and a series of indicator lights to provide the truck driver with basic slowdown and stop commands.
The truck driver can use the slowdown and stop commands to position the trailer at the exact location for loading or unloading to take place. The TPS can cope with any size of container and with trucks pulling one or more trailers.
An alternative positioning apparatus for straddle carriers is disclosed in WO 2004/002871. The apparatus includes a laser source mounted to the structure of an overhead crane and which provides a narrow vertical fan beam. As the straddle carrier approaches the location for depositing the container, the laser beam intersects with a passive display panel. When the laser beam is aligned with a mark on the display panel, the driver of the straddle carrier knows that the container will be deposited at the desired location. The display panel is preferably mounted on the straddle carrier within easy sight of the driver. However, if this is not possible then an image of the display panel can be viewed using a monochrome video camera or monitor system.
Summary of the Invention
The present invention provides an improved vehicle positioning apparatus for positioning a container carrying vehicle relative to an overhead crane that is used in the loading and unloading of containers, the apparatus comprising: a video camera for capturing video images; a stopping position generator for superimposing a fixed marker onto the video images captured by the video camera to produce modified video images; a transmitter device for remotely transmitting the video images or the modified video images; a receiver device mounted on the container carrying vehicle for receiving the video images or the modified video images transmitted by the transmitter device; and a display means for displaying the modified video images received by the receiver device to a driver of the container carrying vehicle to enable the driver to stop the container carrying vehicle at a desired location when the fixed marker is aligned with a moving target marker that appears in the video images captured by the video camera.
The overhead crane (such as a ship to shore crane or yard crane) can be of any suitable type and the invention is not limited in this regard. However, the overhead crane usually includes a horizontally-extending boom or beam along which a trolley can travel. A spreader for engaging and lifting the containers is suspended underneath the trolley and can be raised and lowered under the control of a crane operator. The crane operator can also control the movement of the trolley backwards and forwards along the boom. The term "centre line" as used below refers to the line along which the centre of the spreader travels as the trolley moves backwards and forwards along the boom.
The container carrying vehicle can be a trailer, a straddle carrier or the like.
The video camera is mounted such that its line of sight is preferably parallel to the centre line of the spreader. It is possible for the line of sight to be angled relative to the centre line but this may lead to inaccuracies in the positioning of the container carrying vehicle unless the video images are processed using known image manipulation techniques to compensate for the angle. The video camera can provide video images in monochrome or colour. A suitable video camera would be a CCD image sensor closed-circuit television camera (CCTV) with a 12 mm or 8 mm or other suitable lens. The video images captured by the video camera (and in some cases, the modified video images output by the stopping position generator) can be electronically processed to improve contrast, remove distortion and even magnify selected parts of the video images, for example. Tn addition, a date-stamp or view
description can be added.
The stopping position generator may superimpose any suitable fixed marker onto the video images but a vertical line (either continuous or broken) is generally preferred.
The fixed marker can be semi-transparent so that the areas underneath the fixed marker remain at least partially visible to the driver of the container carrying vehicle.
The desired stopping position may also be defined by a gap between two or more fixed markers. For example, the stopping position generator may superimpose a pair of parallel lines separated by a small gap. The driver will then bring the container carrying vehicle to a stop when the moving target marker is aligned with the gap between the parallel lines.
The fixed marker is preferably positioned at the centre of the video images.
1-lowever, an offset and/or resizing facility can be provided so that the position of the fixed marker and/or the size of the fixed marker (such as the thickness of the vertical line) can be selectively varied.
The transmitter and receiver devices preferably operate at radio wavelengths and include antennas for transmitting and receiving the modified video images. It will be readily appreciated that other conventional remote transmission systems operating at other wavelengths can also be used. Either the video images or the modified video images can be transmitted and received. It is possible for the video images to be remotely transmitted from the video camera to a stopping position generator using a first transmission system and for the modified video images to be remotely transmitted from the stopping position generator to the display means using a second transmission system.
The display means is preferably a monitor such as a cathode ray tube (CRT) or liquid crystal display (LCD) monitor, for example. The display means can include a facility for splitting the screen to display two or more sets of modified video images at the same time. This would allow the display means to show stopping locations for different size containers simultaneously.
The vehicle positioning apparatus is used to accurately position a container carrying vehicle at a desired location as follows. As the container carrying vehicle approaches the desired location, the container carrying vehicle will appear on the video images captured by the video camera. The driver of the container carrying vehicle can view the modified video images on the display means and use them to bring the vehicle to a stop at the desired location when the fixed marker is aligned with the moving target marker. The target marker is preferably a part or feature of the container carrying vehicle or, in the case where the vehicle is transporting a container to be loaded, a part or feature of the container itself. For example, the target marker can be the leading edge of the container (that is the edge or face that is closest to the truck) or the twist lock locating blocks that are provided in the corners of the container. The target marker can also be the location pins that are provided on the surface of the trailer to locate and retain the container in position during transport.
It will be readily appreciated that the video camera is located at a predetermined perpendicular distance relative to the centre line of the spreader such that the container carrying vehicle is in the desired location when the target marker and the fixed marker are aligned on the display means. More particularly, if the container carrying vehicle is transporting a container to be loaded, then the container is centred on the centre line of the spreader when the fixed marker and the target marker are aligned, and if the container carrying vehicle is to ready to receive a container then the container-receiving part of the vehicle is centred on the centre line of the spreader when the fixed marker and the target marker are aligned.
The vehicle positioning apparatus according to the present invention has considerable flexibility. Once the target marker has been selected, the perpendicular distance between the target marker and the centre of the container or the centre of the container-receiving part of the vehicle can be accurately determined. Different target markers can he selected depending on the circumstances. The perpendicular distance between the line of sight of the video camera and the centre line of the spreader can then be selected so that the two perpendicular distances are the same. The video camera can be easily re-positioned relative to the centre line of the spreader by mounting it on a sliding or moving unit, for example. In an alternative embodiment, two or more video cameras can be fixedly mounted at the appropriate position for containers having different standard lengths.
Drawings Figure 1 is a schematic side view showing an overhead crane for loading and unloading shipping containers to and from a vessel, and a trailer equipped with a vehicle positioning apparatus according to the present invention; Figure 2 is a schematic top view through the overhead crane of Figure 1; Figure 3 is a view that would be displayed on the monitor of the vehicle positioning apparatus; and Figure 4 is a block diagram showing the component parts of the vehicle positioning apparatus.
Although the present invention is described below with reference to the loading and unloading of shipping containers to and from a container vessel, it will be readily appreciated that the vehicle positioning apparatus can be easily adapted to cover other situations where containers or the like are loaded and unloaded to and from a vehicle using a fixed or moveable overhead crane.
Figures 1 and 2 show an overhead crane 1 that is used to load and unload shipping containers. The crane 1 is positioned at the edge of a dock 2 and includes vertical superstructure Ia supporting a horizontally extending boom lb. A trolley lc travels backwards and forwards along the boom I b and can raise and lower a spreader I d that is sized and shaped to engage with the containers.
A vessel 4 is moored alongside the dock 2 and includes a single row of stacked containers 6. In the case where the vessel 4 is being loaded, a container 8 is transported from a storage yard or a remote location to the dock on the back of a trailer 10. The truck driver approaches the crane 1 along a marked-out lane 12 that runs parallel to the edge 2a of the dock 2. The truck driver then uses the vehicle positioning apparatus (described below) to accurately position the trailer 10 at a desired location underneath the crane 1. The trolley I c is moved along the boom lb by a crane operator until the spreader Id is located directly above the container 8.
The spreader id is then lowered into engagement with the container 8 and subsequently raised to lift the container 8 off the trailer 10. The trolley Ic moves forward along the boom I b until the container 8 is located above the vessel. The container 8 is then finally lowered into position and secured.
In the case where the vessel 4 is being unloaded, the truck driver approaches the crane I along the marked-out lane 12 and uses the vehicle positioning apparatus (described below) to accurately position the trailer 10 at a desired location underneath the crane 1. A shipping container 6 is lifted off the deck of the vessel 2 using the spreader I d and the trolley Ic is moved backwards along the boom lb until the container is located directly above the container-receiving part of the trailer 10. The spreader id is then lowered to place the container 8 on the trailer 10.
It will be readily appreciated that the accurate positioning of trailers underneath the crane I means that a number of containers can be loaded to or from a single row without having to move the crane in the direction parallel to the edge 2a of the dock 2.
The vehicle positioning apparatus will now be described with retérence to Figures 2 to 4. The system includes a video camera 20 that is located at a predetermined position relative to the centre line 22 of the spreader id (that is the line along which the centre of the spreader I d travels as it moves backwards and forwards along the boom lb). Although the video camera 20 is mounted to the crane 1, it will be readily appreciated that the video camera can be independently secured to any suitable surface or using any suitable mounting means. The only requirement is that the line of sight 24 of the video camera 20 should be parallel to the centre line 22 of the spreader I d. Of coLirse, one advantage of mounting the video camera to the crane is that the video camera will move automatically when the crane moves in a direction parallel to the edge of the dock.
The video images provided by the video camera 20 are supplied to a line generator 26 which superimposes a vertical line 28 (see Figure 3) down the centre of each video image. The modi lied video images are then supplied to a radio transmitter device 30.
The modified video images transmitted by the radio transmitter device 30 are detected and processed by a radio receiver device 32 located on the truck. The detected modified video images are then displayed on a monitor 34 inside the cabin of the truck where they can be easily viewed by the truck driver.
The perpendicular distance Dl between the video camera 20 and the centre line 22 of the spreader Id is selected according to the length of the container that is to be loaded or unloaded. For example, if the container is a 20 ft (6.058 m) long standard container then the distance between the video camera 20 and the centre line 22 is selected SC) that the vertical line 28 in the displayed video images is aligned with a target marker when the container-receiving part of the trailer (or the 20 ft standard container if the vessel is being loaded) is perfectly centred on the centre line of the spreader id. Similarly, if the container is a 40 ft (12.192 m) long standard container then the distance between the video camera 20 and the centre line 22 is selected so that the vertical line 28 in the displayed video images is aligned with a target marker when the container-receiving part of' the trailer (or the 40 ii standard container if the vessel is being loaded) is perfectly centred on the centre line of the spreader I d.
The vehicle positioning apparatus shown in Figure 2 includes two video cameras.
The video camera 20 is used for 40 ft standard containers and the video camera 36 is used or 20 ft standard containers. The apparatus can automatically or manually switch between the video images supplied by the video cameras 20 and 36 depending on the length of the container to be loaded or unloaded. Alternatively, two sets of video images, one from each of the video cameras 20 and 36, can be shown on the monitor 34 using a split screen or "picture-in-picture" mode.
In the case when the trailer 1 0 is carrying a container 8 to be loaded onto the vessel 2 then the target marker can he the leading edge 38 of the container or the twist lock locating blocks 40 that are located in the corners of the container. For example, Figure 3 shows a modified image displayed on the monitor 34 inside the cabin of the truck where the vertical line 28 is aligned with the twist locks 40. In the case where the vessel is being unloaded then the target marker can be the location pins (not shown) that can be formed into the surface of the trailer to locate and retain the container in position, for example. It will be readily appreciated that any other suitable target marker can be used and the video camera 20 can be positioned accordingly. In general, the perpendicular distance D2 between the target marker and the centre line 42 of the container-receiving part of the trailer 10 (or the container 8 if the vessel is being loaded) will he the same as the perpendicular distance Dl between the video camera 20 and the centre line 22 of the spreader I d.
The vehicle positioning apparatus is activated when the truck approaches the crane.
This can be done automatically (for example, the modified video images can be constantly transmitted by the radio transmitter device 30 within a limited area and are automatically displayed on the monitor 34 as soon as the radio receiver device 32 picks up them up) or it can he switched on manually by the truck driver and/or a remote operator. In the event that there is more than oiie crane in operation then it is preferred that the video images associated with each crane will be transmitted at sligl1tly different radio frequencies and the truck driver can select the appropriate radio lIcquency to receive the right video images. The truck driver will see the real- time video images captured by the video camera 20 displayed on the monitor 34 with the vertical line 28 superimposed down the middle of the screen. As soon as the truck and the trailer 10 come into the line of sight of the video camera 20 they will be displayed on the monitor 34 (prior to this the displayed video images will simply he parts of the crane I, the side of the container vessel 2 and anything else that happens to be in the line of sight). The truck driver can then follow target marker 40 as the trailer 10 moves forward across the screen of the monitor 34 and can bring the trailer to a complete stop when the vertical line 28 is aligned with the target marker 40 as shown in Figure 3. Once the vertical line 28 is aligned with the target marker the truck driver will know that the container 8 that is being transported on the trailer 10 is perfectly centred on the centre line 22 of the spreader I d (in other words, the centre line 42 of the container 8 is aligned with the centre line of the spreader). In this position the container 8 can be loaded onto the vessel 2 by the crane I as described above.
Claims (7)
1. A vehicle positioning apparatus for positioning a container carrying vehicle relative to an overhead crane that is used in the loading and unloading of containers, the apparatus comprising: a video camera for capturing video images; a stopping position generator for superimposing a fixed marker onto the video images captured by the video camera to produce modified video images; a transmitter device fbr remotely transmitting the video images or the modified video images; a receiver device mounted on the container carrying vehicle for receiving the modified video images transmitted by the transmitter device; and a display means for displaying the modified video images received by the receiver device to a driver of the container carrying vehicle to enable the driver to stop the container carrying vehicle at a desired location when the fixed marker is aligned with a moving target marker that appears in the video images captured by the video camera.
2. A vehicle positioning apparatus according to claim 1, wherein the fixed marker superimposed onto the video images captured by the video camera is a vertical line.
3. A vehicle positioning apparatus according to claim 2, wherein the vertical line is superimposed down the centre of the video images captured by the video camera.
4. A vehicle positioning apparatus according to any preceding claim, wherein the transmitter device is a radio transmitter device including an antenna for remotely transmitting the modified video images and the receiver device is a radio receiver device including an antenna for receiving the modified video images.
5. A hicJe positioning apparatus a' cording to any preceding claim, wherein the display means is a monitor.
- 12 -
6. A vehicle positioning apparatus according to any preceding claim, further comprising: a second video camera for capturing video images; a slopping position generator for superimposing a fixed marker onto the video images captured by the second video camera to produce additional modified video images; and wherein the display means can display the modified video images and the additional modified video images simultaneously to the driver of the container carrying vehicle.
7. A vehicle positioning apparatus substantially as herein described and with reference to the drawings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0508541A GB2425520A (en) | 2005-04-27 | 2005-04-27 | Vehicle positioning apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0508541A GB2425520A (en) | 2005-04-27 | 2005-04-27 | Vehicle positioning apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB0508541D0 GB0508541D0 (en) | 2005-06-01 |
| GB2425520A true GB2425520A (en) | 2006-11-01 |
Family
ID=34640245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB0508541A Withdrawn GB2425520A (en) | 2005-04-27 | 2005-04-27 | Vehicle positioning apparatus |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2425520A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009052854A1 (en) * | 2007-10-22 | 2009-04-30 | Abb Ab | Device, method and system for recording inspection data about a freight container |
| US20120092643A1 (en) * | 2009-04-15 | 2012-04-19 | Konecranes Plc | System for the identification and/or location determination of a container handling machine |
| WO2013076366A1 (en) * | 2011-11-22 | 2013-05-30 | Cargotec Finland Oy | System for indicating and measuring the position of a container in a vehicle and/or trailer loaded with containers |
| WO2016107979A1 (en) * | 2014-12-31 | 2016-07-07 | Konecranes Global Corporation | Apparatus, methods, computer program, and collection for generating image data of load stack |
| EP3333113A1 (en) * | 2016-12-07 | 2018-06-13 | Cargotec Patenter AB | A vehicle, and a method for a vehicle, including target marker on an overview image |
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|---|---|---|---|---|
| US5142658A (en) * | 1991-10-18 | 1992-08-25 | Daniel H. Wagner Associates, Inc. | Container chassis positioning system |
| JPH08101008A (en) * | 1994-09-29 | 1996-04-16 | Asia Marine Kk | Device for positioning vehicle |
| EP1043262A1 (en) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Method for loading a container on a platform of a transport means and installation for stocking and handling of containers |
| JP2001220087A (en) * | 2000-02-03 | 2001-08-14 | Mitsui Eng & Shipbuild Co Ltd | Crane hoisted cargo position detector |
-
2005
- 2005-04-27 GB GB0508541A patent/GB2425520A/en not_active Withdrawn
Patent Citations (4)
| 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 |
| JPH08101008A (en) * | 1994-09-29 | 1996-04-16 | Asia Marine Kk | Device for positioning vehicle |
| EP1043262A1 (en) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Method for loading a container on a platform of a transport means and installation for stocking and handling of containers |
| JP2001220087A (en) * | 2000-02-03 | 2001-08-14 | Mitsui Eng & Shipbuild Co Ltd | Crane hoisted cargo position detector |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009052854A1 (en) * | 2007-10-22 | 2009-04-30 | Abb Ab | Device, method and system for recording inspection data about a freight container |
| US20120092643A1 (en) * | 2009-04-15 | 2012-04-19 | Konecranes Plc | System for the identification and/or location determination of a container handling machine |
| AU2010238448B2 (en) * | 2009-04-15 | 2014-07-03 | Konecranes Global Corporation | System for the identification and/or location determination of a container handling machine |
| US9150389B2 (en) | 2009-04-15 | 2015-10-06 | Konecranes Plc | System for the identification and/or location determination of a container handling machine |
| WO2013076366A1 (en) * | 2011-11-22 | 2013-05-30 | Cargotec Finland Oy | System for indicating and measuring the position of a container in a vehicle and/or trailer loaded with containers |
| US9221655B2 (en) | 2011-11-22 | 2015-12-29 | Cargotec Finland Oy | System used with a crane for indicating and measuring the position of a container in a vehicle and/or trailer loaded with containers |
| WO2016107979A1 (en) * | 2014-12-31 | 2016-07-07 | Konecranes Global Corporation | Apparatus, methods, computer program, and collection for generating image data of load stack |
| CN107108184A (en) * | 2014-12-31 | 2017-08-29 | 科尼全球公司 | Device, method, computer program and external member for generating the view data that load is stacked |
| US10336586B2 (en) | 2014-12-31 | 2019-07-02 | Konecranes Global Corporation | Apparatus, methods, computer program, and collection for generating image data of load stack |
| CN107108184B (en) * | 2014-12-31 | 2019-10-29 | 科尼全球公司 | For generating device, method, computer readable storage medium and the external member of the image data that load stacks |
| EP3333113A1 (en) * | 2016-12-07 | 2018-06-13 | Cargotec Patenter AB | A vehicle, and a method for a vehicle, including target marker on an overview image |
| WO2018103928A1 (en) * | 2016-12-07 | 2018-06-14 | Cargotec Patenter Ab | A vehicle, and a method for a vehicle, including target marker on an overview image |
Also Published As
| Publication number | Publication date |
|---|---|
| GB0508541D0 (en) | 2005-06-01 |
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| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |