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1. WO2002034662 - CONTAINER POSITION MEASURING METHOD AND DEVICE FOR CARGO CRANE AND CONTAINER LANDING/STACKING METHOD

Publication Number WO/2002/034662
Publication Date 02.05.2002
International Application No. PCT/JP2001/009255
International Filing Date 22.10.2001
IPC
B66C 13/08 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
13Other constructional features or details
04Auxiliary devices for controlling movements of suspended loads, or for preventing cable slack
08for depositing loads in desired attitudes or positions
B66C 13/46 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
13Other constructional features or details
18Control systems or devices
46Position indicators for suspended loads or for crane elements
B66C 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
19Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
CPC
B66C 13/085
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
13Other constructional features or details
04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
08for depositing loads in desired attitudes or positions
085electrical
B66C 13/46
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
13Other constructional features or details
18Control systems or devices
46Position indicators for suspended loads or for crane elements
B66C 19/007
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
19Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
007for containers
Applicants
  • MITSUBISHI HEAVY INDUSTRIES, LTD. [JP]/[JP] (AllExceptUS)
  • UCHIDA, Kouji [JP]/[JP] (UsOnly)
  • MIYATA, Noriaki [JP]/[JP] (UsOnly)
  • OBATA, Kanji [JP]/[JP] (UsOnly)
  • YOSHIKAWA, Hirohumi [JP]/[JP] (UsOnly)
Inventors
  • UCHIDA, Kouji
  • MIYATA, Noriaki
  • OBATA, Kanji
  • YOSHIKAWA, Hirohumi
Agents
  • SAKAI, Hiroaki
Priority Data
2000-32963827.10.2000JP
2001-19994329.06.2001JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) CONTAINER POSITION MEASURING METHOD AND DEVICE FOR CARGO CRANE AND CONTAINER LANDING/STACKING METHOD
(FR) PROCEDE ET DISPOSITIF PERMETTANT DE MESURER LA POSITION D'UN CONTENEUR, DESTINES A UNE GRUE A CROCHET, ET PROCEDE DE DEPOT/GERBAGE DE CONTENEURS
Abstract
(EN)
Image data on an objective container acquired from imaging means (20L, 20R, 21L, 21R) such as CCDs installed on a hoisting part (16) is processed. If a line approximating the arrangement of pixels where there are luminance variation or hue variation larger than a predetermined value can be applied, such pixels is assumed to exhibit an edge of the container, and the position of the container is determined. By such a method in which an edge of the objective container is reliably detected by processing image data acquired by means of imaging means (20L, 20R, 21L, 21R) such as CCDs installed on the hoisting part (16) by eliminating the influence of the states and conditions of the actual operation environment, the relative positions of the objective container and a hoisted container (A) are accurately and reliably determined.
(FR)
L'invention concerne un procédé et un dispositif de traitement de données d'image situées sur un conteneur cible, acquises à l'aide de dispositifs d'imagerie (20L, 20R, 21L, 21R), tels que des CCD installés sur une zone de levage (16). Pour déterminer la position du conteneur, on utilise une ligne située à proximité de l'arrangement des pixels comprenant une variation de luminance ou de teinte supérieure à une valeur prédéterminée, ces pixels représentant le bord du conteneur. Ce procédé permet de déterminer de façon précise et fiable les positions relatives du conteneur cible et d'un conteneur soulevé (A). Ce procédé consiste à traiter les données d'image acquises à l'aide de dispositifs d'imagerie (20L, 20R, 21L, 21R), tels que des CCD installés sur la zone de levage (16), tout en éliminant l'influence des états et des conditions de l'environnement opérationnel réel.
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