公开(公告)号：US20160167932A1

公开(公告)日：2016-06-16

申请号：US14902791

申请日：2013-08-12

Applicant: ABB TECHNOLOGY LTD

Inventor： Björn HOLMBERG ,  Christer JOHANSSON

IPC: B66C13/08 ,  G06K9/62 ,  G06K9/00 ,  B66C19/00 ,  B66C13/46

CPC classification number: B66C13/085 ,  B66C13/46 ,  B66C19/002 ,  G06K9/00791 ,  G06K9/6212 ,  G06K9/6215

Abstract: A method for automatically landing a container on a landing target using a container crane is disclosed. The container crane includes a trolley and spreader for holding and lifting the container and a crane control system for controlling movements of the container crane. A distance from the container to the landing target is measured and the container is moved towards the landing target dependent on the measured distance. A plurality of images of the landing target is made using at least one camera mounted on the spreader. The images are processed to identify one or more landing features in the images of the landing target. Distances from the container to the landing target are calculated based on a measurement of distance between the container and the landing features in the images. A video control unit, a system for controlling automatic landings of a container, a computer readable data carrier comprising a computer program and a computer program product arranged for carrying out the methods are also described.

Abstract translation: 公开了一种使用集装箱起重机自动着陆在着陆目标上的容器的方法。 集装箱起重机包括用于保持和提升集装箱的手推车和吊具以及用于控制集装箱起重机的运动的起重机控制系统。 测量从容器到着陆目标的距离，并且容器根据测量的距离朝向着陆目标移动。 使用安装在吊具上的至少一个照相机来制作着陆目标的多个图像。 处理图像以识别着陆目标的图像中的一个或多个着陆特征。 基于容器与图像中的着陆特征之间的距离的测量来计算从容器到着陆目标的距离。 还描述了视频控制单元，用于控制容器的自动着陆的系统，包括计算机程序的计算机可读数据载体和用于执行方法的计算机程序产品。