Reliable detection of container crane and harness

A container crane, container technology, applied in the direction of crane, trolley crane, transportation and packaging, etc.

Active Publication Date: 2021-06-25
SIEMENS AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, the lowering of the container must be manually controlled by the operator

Method used

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  • Reliable detection of container crane and harness
  • Reliable detection of container crane and harness
  • Reliable detection of container crane and harness

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0044] according to figure 1 with figure 2 , The container crane has a mast 1 . The portal frame 1 has two supports 2 which are connected to each other via crossbeams 3 . Container cranes can be configured as container gantry or other gantry cranes. The support 1 is travelable in the travel direction x of the container crane. Direction x is referred to below as crane direction x, since the container crane travels as a whole in this x direction. The tackle 4 of the container crane can travel on the beam 3 . The direction along which the trolley 4 can travel is hereinafter referred to as the trolley direction and is provided with the reference symbol y. The block direction y is orthogonal to the crane direction x. Both the crane direction x and the trolley direction y are generally oriented horizontally.

[0045]The rigging 5 is arranged at the tackle 4 . The rigging 5 is used to lift and lower the container 6 . The rigging 5 can include, in particular, so-called sprea...

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PUM

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Abstract

A container crane has a trolley (4), which can be moved on a cross-member (3) of a gantry (1) of the container crane. A harness (5) for picking up and setting down a container (6), and at least one laser scanner (8) are arranged on the trolley (4). By means of the laser scanner (8), a depth image (B) is captured which, as a function of a first and a second angle (alpha, beta) in each case indicates the distance (a) of object points (10) detected by the laser scanner (8) by means of a laser beam (9). The captured depth image (B) is evaluated such that, based on the object points (10), objects are detected and the locations thereof are determined. The objects comprise the harness (5) and / or a container (6) picked up by the harness (5), and further objects (7, 12, 13). Based on the detected object points (10), the contour of the harness (5) and / or of the container (6) picked up by the harness (5) is determined, and detection of the further objects (7, 12, 13) within regions defined by the determined contour is suppressed. A control device (16) of the container crane takes the detected objects and the locations thereof into account in the context of controlling the container crane.

Description

technical field [0001] The invention relates to a method of operation for a container crane, wherein the container crane has a block that can run on the beam of the mast of the container crane, wherein a rigging for lifting and lowering the container is provided on the block, Wherein, at least one laser scanner is arranged at the trolley, [0002] - wherein a depth image is detected by means of a laser scanner, which depth image, as a function of the first angle and the second angle, respectively describes the distance of the object point detected by the laser scanner by means of the laser beam, [0003] - wherein the detected depth image is evaluated by means of the evaluation device in order to recognize the object from the object point and to derive the position of the object, [0004] - where objects include rigging and / or containers lifted by rigging, and other objects, [0005] - wherein the contour of the rigged and / or container lifted by the rigging is derived from t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/08B66C13/46B66C19/00
CPCB66C13/085B66C13/46B66C19/007G06T7/64G06T7/521G06T7/70B66C13/48B66C19/002G06T7/0004G06T2207/10028G06T2207/20036G06T2207/30108
Inventor 阿克塞尔·瓦尔瑟尔姆法布里乔·德·卡瓦略·费雷拉
Owner SIEMENS AG
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