Container position measuring method and device for cargo crane and container landing/stacking method
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A detection method and detection device technology, applied in cranes, trolley cranes, transportation and packaging, etc., can solve the problems of container collision, difficulty in practical use, and inability to find containers
What is AI technical title?
AI technical title is built by PatSnap AI team. It summarizes the technical point description of the patent document.
A detection method and detection device technology, applied in cranes, trolley cranes, transportation and packaging, etc., can solve the problems of container collision, difficulty in practical use, and inability to find containers
CN1394190AInactive 📅 Publication Date: 2003-01-29SUMITOMO HEAVY IND MATERIAL HANDLING SYST
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[0050] Hereinafter, embodiments of the container position detection method and device for a loading and unloading crane, or the container landing and stacking control method of the present invention will be described in detail with reference to the accompanying drawings.
[0051] First, refer to figure 1 The overall configuration of a crane using the container position detection device of the present invention will be described. The crane is a tire-type freight yard bridge crane for stacking containers, and has a gantry crane traveling body 10 that travels on a trackless surface with a tire-type traveling device 11 . A traverse crane 13 that moves horizontally along the upper beam 12 is provided on the horizontal upper beam 12 of the crane traveling body 10 . A winding device 14 is mounted on the traverse crane 13 , and a spreader (spreader) 16 for containers is suspended on a cable 15 that is wound up and unwound by the winding device 14 . The spreader 16 can hold the conta...
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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...
Claims
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