Container position measuring method and device for cargo crane and container landing/stacking method

Abstract

When image data of a target container obtained by an image pickup unit such as a CCD installed on a hoisting accessory is processed, and a line approximating the arrangement of a pixel group which causes a change in luminance or hue larger than a set value can be fitted thereto, the pixel group having the arrangement that can be approximated by such a line is determined as a ridge of the container, that is, one representing the edge of the container held by the hoisting accessory, to detect the position of the target container. Thereby, edge extraction of the target container by the processing of the image data obtained by the image pickup unit such as a CCD camera installed on the hoisting accessory can be reliably and positively performed, while eliminating influences of various situations and conditions in the actual operating environment, and relative position detection of the target container and the suspended container can be performed accurately and reliably, by utilizing the edge extraction.

Description

technical field [0001] The invention relates to a container position detection method and device in a loading and unloading crane, in particular to a method for landing or stacking a suspended container held by the spreader itself or the spreader on the target container, or holding the spreader A container position detection method and device in a loading and unloading crane for stacking containers at designated positions on the ground, and a container landing and stacking control method. Background technique [0002] In order to catch the containers stacked on the ground by a loading and unloading crane such as a bridge crane for a container yard, when a spreader (generally called a spreader (spreader)) is dropped on the container, or when the container is stacked ( Including the case where the container is stacked on the ground at a designated position), the spreader or the container held by the spreader needs to be positioned at a specified angle relative to the container...

AI Technical Summary

Problems solved by technology

[0007] In the technology of detecting the distance between the spreader and the side of the container by the horizontal distance detector, there is a problem that the horizontal distance detector interferes with the container. When the detector is at the detection position, there is a danger of the horizontal distance detector colliding with the target container, which is difficult to be practical in practice

[0008] The technology of finding the edge of the target container from the image data under the spreader with a camera such as a CCD camera using image processing technology, although there is no risk of interference or collision, in the actual crane operating environment, it is difficult for handling There is also a problem in finding the target container without error from image data captured by a CCD camera, etc.

In the actual operating environment, in addition to the influence of changes in weather and climate conditions, changes in the intensity of sunlight, shadows produced by the crane itself, suspended containers, or adjacent stacked containers, etc., there are also the effects of container painting. Spots, differences in the reflectivity of the container surface, etc., will not be able to find out the practical target container unless these effects are excluded.

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