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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 PDF

Info

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
Application number
ES14186240.9T
Other languages
Spanish (es)
Inventor
Thomas Dobler
Jörg Meyer
Tobias Müller
Stephan Wöbse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Application granted granted Critical
Publication of ES2627498T3 publication Critical patent/ES2627498T3/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (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

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Claims (1)

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ES14186240.9T 2014-09-24 2014-09-24 Method for automatic, optical determination of an objective position for a container lifting device Active ES2627498T3 (en)

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 (20)

* Cited by examiner, † Cited by third party
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
FI127422B (en) * 2016-12-20 2018-05-31 Konecranes Global Oy Method, computer program and apparatus for controlling a crane, and method to update a crane
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
WO2019009800A1 (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-
CN111587215B (en) 2017-11-24 2024-10-15 东芝三菱电机工业系统有限公司 Method and system 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
CN114364618B (en) * 2019-08-16 2023-03-14 Abb瑞士股份有限公司 Method and device for determining the position of an object
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
JP7616969B2 (en) 2021-08-25 2025-01-17 住友重機械搬送システム株式会社 Pallets for container transfer
CN114275673A (en) * 2021-10-30 2022-04-05 中冶(上海)钢结构科技有限公司 A positioning aid for hoisting a steel truss and a method of using the same
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
EP3000762A1 (en) 2016-03-30
CN105438993A (en) 2016-03-30
EP3000762B1 (en) 2017-03-08
CN105438993B (en) 2017-07-28

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