• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    CONTAINER HANDLER ALIGNMENT SYSTEM AND METHOD The present invention relates to a system and method for helping operators of container semi-trailers (Bomb carts) and shuttle carriers to properly position their vehicles for loading and unloading containers on a gantry crane. The system uses laser scanners mounted at various levels on the gantry crane sill beams to determine the type, position, orientation and lean angle of vehicles, as well as whether the vehicles are in a loaded or unloaded condition. . Additionally, the system provides indicating devices to instruct operators how to move their vehicles.
    公开号:BR112013026301B1
    申请号:R112013026301-6
    申请日:2012-04-09
    公开日:2021-05-18
    发明作者:David G. Stocker；Gregory A. Hedrick；Michael G. Bartel
    申请人:Tmeic Corporation；
    IPC主号:
    专利说明:

    CROSS REFERENCE TO RELATED APPLICATIONS
    [1] This application claims priority from US Provisional Application Serial Number 61/474982, which was filed April 13, 2011, and which is incorporated herein by reference in its entirety. FIELD OF TECHNIQUE
    [2] The present invention generally relates to a simplified apparatus and method for the alignment of container handling equipment, such as container semi-trailers (Bomb carts) and shuttle carriers, with handling cranes. container. More specifically, the revealed system improves collection or delivery efficiency under a Container Crane. BACKGROUND OF THE INVENTION
    [3] Various methods for aligning container handling equipment with container handling cranes have been developed and employed within the industry. However, such methods have been both costly and complex due to the minimal number of laser scanners required to satisfy the required functions and the need for hardware and software for dynamic laser positioning. The present invention addresses both of these issues by reducing the number of lasers required and providing lasers that can remain in fixed orientations.
    [4] For the purpose of this disclosure, the following definitions apply:
    [5] "Container" refers to a shipping container, defined by the ISO standard, used in international shipping. Standard length includes 6, 12 and 14 meters (20, 40 and 45 feet). "Container Crane" and "Container Handling Crane" are terms that refer to gantry cranes used to move ISO standard shipping containers, for example when containers are transferred from a ship to shore at a port, or when containers are transferred from trucks at a container terminal.
    [6] "Container semi-trailer" refers to a truck chassis (trailer) designed and manufactured for the purpose of transferring the standard shipping container at a container terminal.
    [7] "Shuttle" refers to Tire Gantry Cranes that are used to move containers within a container terminal. This can also be referred to as "Straddle carrier", "Transtainer on tires" (Shuttle trucks) and "Self-propelled gantry crane" (Sprinters)*.
    [8] "Laser scanners" refers to LIDAR ("laser radar") sensors that provide a series of distinct distance measurements of angles and distances over a continuous rotational readout profile. Preferably four laser scanners of the SICK LMS type are used in this order. SUMMARY OF THE INVENTION
    [9] The present invention relates to a system and method to assist operators of container semi-trailers and shuttles in positioning their vehicles, both loaded and unloaded with containers, under a gantry crane in an acceptable position for loading and/or additional unloading of containers. The crane has an inland sill beam mounted on an inshore side rail and an inshore side sill beam mounted on an inshore rail. Each threshold beam has an inner side facing the inner side of the opposite threshold beam and an outer side facing away from the opposite threshold beam. The acceptable position is one where the center of the side of the vehicle closest to any threshold beam is less than a predetermined known distance away from the center line of the crane, represented by a line drawn from the center of the threshold beam. coast side through the center of the land side threshold beam and the vehicle is less inclined than a predetermined known amount of inclination which is the angle, if present, formed between a line drawn parallel to any threshold beam and a line drawn parallel to the longitudinal center line of the vehicle. At least one first laser scanner is attached to the outer side of the land-side threshold beam, and at least one first laser scanner is attached to the inner side of the land-side threshold beam. At least one first target, each of which has a known shape and dimensions, is attached to each side of each vehicle. The function of the first laser scanners is to detect the presence, location and orientation of any loaded or unloaded vehicle that falls within the range of said first laser scanners, as a result of reflection by the first emission targets of the first laser scanners . At least one second laser scanner is attached to both the outside and the inside of the earth side beam. At least one second target, each of which has a known shape and dimensions, is attached to each side of each container. The function of the second laser scanner is to detect the presence, location and orientation of containers loaded in a vehicle that falls within the range of said second laser scanner. At least one turn signal is attached to each of the outer and inner sides of the land-side threshold beam to indicate to vehicle operators whether their vehicle is properly positioned or needs to be moved forward or backward and if its vehicle orientation is tilted in excess of a predetermined acceptable amount and needs to be repositioned. A computer is connected to the crane as well as every first laser scanner, every second laser scanner, and every turn signal. The computer receives the reading data from the first laser scanners and the second laser scanners in order to calculate the location and orientation of any vehicle within range of the first laser scanners and the location and orientation of any container loaded in a vehicle within reach of the second laser scanners and additionally to activate the direction indicators. BRIEF DESCRIPTION OF THE DRAWINGS
    [10] The foregoing and other foregoing and other objects, aspects and advantages of the invention will be better understood from the following detailed description of the invention with reference to the drawings, in which Figure 1 is a perspective view of a gantry crane. Figure 2 is a partial plan view of one side of an earth-side threshold beam. Figure 3 is a perspective view of a container-carrying semi-trailer. Figure 4 is a perspective view of a shuttle. Figure 5 is a plan view of a position indicating device. Figure 6 is a block diagram showing the standard coarse stop positions for the various stent lengths. DETAILED DESCRIPTION OF THE INVENTION
    [11] Referring now to Figure 1, a partial perspective view of a gantry crane in a dock arrangement is shown. The crane structure is situated on a series of lanes that can be occupied by container semi-trailers and loaded and unloaded shuttles. Crane boom 5 extends away from the structure on the shore side of the crane. Extender 10 attaches below boom 5. Unloaded container semi-trailer 15 and loaded container semi-trailers 20 and 25 are located on the ground under the crane. The inshore side threshold girder 30 and the inland side threshold girder 35 (not clearly visible in this figure) connect the vertical crane support elements parallel to the lanes occupied by the loaded and unloaded container semi-trailers. Both of these sills are affixed to storage beams under each upright support which typically include wheels fitted into an inshore side rail 40 and an inland side rail 45.
    [12] Figure 2 shows a plan view of the land-side threshold beam 35 on the side facing the loaded container semi-trailer 25. Four laser scanners 50, 55, 60 and 65 are mounted on the threshold beam of the land side 35, where the two facing the land sides are visible in Figure 2 and the two facing the water sides are not visible in Figure 2. The first readers 50 and 55 are mounted on opposite sides of the side threshold beam groundside 35, each at the same height which is approximately one meter above the level of the groundside rail 40. The second readers 60 and 65 are also mounted on opposite sides of the groundside threshold beam 35, each at the same height which is approximately three meters above the level of the ground side rail 40. Horizontally, all readers are located at the approximate center of the ground side threshold beam 35 at points equidistant from the opposite vertical supports at each end of the land side sill beam 35 along with the approximate centerline of the AA crane shown in Figure 6. The purpose of the different mounting heights of the various readers is to allow the first readers 50 and 55 to read container and semi-trailer vehicles. shuttle, while the second readers 60 and 65 read the containers that arrive loaded on the container semi-trailers and shuttles. These readers provide many different distance measurements on the continuous rotational profile of the scanned area. The reading data collected represents the detection and measurement of container semi-trailer, shuttle and container positions relative to the crane. The accuracy and range of laser scanners are typically specified for a dark target at maximum range. The nominal range of laser scanners for this order is 40 meters for a dark target, which is more than enough to satisfy the order's requirements. However, lasers that have a range of at least 30 meters are required for this order. All lasers have a horizontal field of 180 degrees of operation parallel to the ground such that the area read by readers 50 and 60 is denoted by the semicircle X in Figure 1, while the area read by readers 55 and 65 is denoted by the semicircle Y in Figure 1. The measurements provided by this system are continuously over the measurement range of each reader. The apparatus of this invention is capable of providing alignment information over at least a total of six tracks, up to five of which are under the crane's portal beams, i.e. within the semicircle X, and at least one of which is in the area range, that is, within the Y semicircle even though the system can be configured to handle a large number of lanes. The data collected by the readers is transmitted to a computer system running proprietary MAXVIEW® software. MAXVIEW is a registered trademark owned by TMEIC Corporation of Virginia.
    [13] At least two (one on each side), but preferably four, of the first 70 passive targets are mounted on each container semi-trailer and each shuttle, two on each side of each of these vehicles. Although a triangularly formed target is typically used, the shape and dimensions of the target are irrelevant as long as the data describing the shape and dimensions is provided in advance to the computer system that processes the reading data. In order to maximize target detection and measurement, each passive target is preferably white. These targets act as reference points for detection by the readers and use by the software for determining position measurements. Figure 3 illustrates the location of two targets 70 in an empty container semi-trailer. The remaining two targets are not visible, but are mounted similarly on the other side of the container semi-trailer opposite the two targets that are visible. Figure 4 illustrates the location of four targets 70 on a shuttle. The mounting positions of the targets on each vehicle type need to be known and consistent within the same vehicle category, ie container semi-trailer and shuttle, in order to enable MAXVIEW®, a brand of TMEIC Corporation, software used with this system to calculate exact position data. Additionally, at least one second passive target 72 is mounted on each side of each container at the approximate longitudinal center of the container and at the same height as readers 60 and 65, which is approximately three meters above the height of a land-side rail .
    [14] Each crane employing the apparatus and method of this invention requires at least the following computer hardware: industrial quality, Pentium grade, PC compatible embedded computer, 100Bast-T Cat5 Ethernet port to connect to crane and rail network DIN mounting. This equipment is mounted in a crane control cabinet inside the crane's electrical house. The computer is preconfigured with the OS built into Microsoft Windows, the MAXVIEW® Platform Support Software and the MAXVIEWRT application. MaxviewRT is the real-time read processing engine for all MAXVIEW® functions. The engine also includes system installation and troubleshooting features. MaxviewRT proprietary software receives the distinct read point measurements provided by the laser scanners, detects the edges of key objects within the laser scanners, and reports measurements of those edge positions in various coordinate systems to the Control System. MAXSPEED® crane. MAXSPEED® is a trademark owned by TMEIC Corporation. For this order, the interface between MAXVIEW® and MAXSPEED® systems and software is via Global Ethernet Data (EGD). Interface equipment and power supplies are also required for the readers and computer system.
    [15] Additionally, each crane employing the system and method of this invention is equipped with at least one position indicating device 75 mounted to the crane at a location from which it is visible to the operator of any container semi-trailer or shuttle when the operator is in the vicinity of the appropriate location to enable the loading or unloading of a container from that vehicle. For example, the devices can be mounted on either or both sides of the land side threshold beam 35 and/or on the land side of the coast side threshold beam 30 near the base of each crane leg. Preferably, there are at least four devices 75 mounted on the land side threshold beam 35, two on each side thereof on each crane leg and two devices 75 mounted on the shore side threshold beam 30 on the inner side thereof on each leg. of the crane. The exact placement of the devices can be adjusted to accommodate vehicles that have different dimensions and varying operator positions. In one configuration shown in Figure 2, two fixtures 75 are mounted higher on the vertical legs of the crane, while three more fixtures 75 are mounted on one side of the ground-side threshold beam 35 grouped towards the center of that threshold beam. This arrangement accommodates both the overhead shuttle operator who has a 360 angle view around the vehicle (and therefore can see the three centered devices 75) and the container semi-trailer operator whose unrestricted view is the better immediately beside the cab of the truck (and therefore allows a better view of the two devices 75) mounted on the vertical columns of the crane. An example of such a device 75 itself is shown in Figure 5. In this example, there are three areas capable of being activated or illuminated by backlighting, LED lamps or otherwise. When the first area is activated, it signals the operator to move the vehicle backwards. When the second area is activated, it signals the operator to stop as the vehicle is in the proper position. Finally, when the third area is activated, it signals the operator to move the vehicle forward. Indicator 75 may also be used to indicate to an operator by color, sound, brightness intermittently or otherwise that the vehicle is leaning in excess of a predetermined acceptable maximum known bank angle. For the purpose of this disclosure it is assumed that the tilt of any container loaded or locked onto the vehicle is equivalent to the tilt of the vehicle itself. This is an appropriate assumption for the normal types of container handling equipment at these terminals. Any or all colors, flashing intermittently, different lighting periods or varying durations, sounds and various motion indicators plus arrows can be used in the device 75.
    [16] After the system hardware has been installed as described above, the system process is as follows: 1. All laser scanners are activated to emit laser beams within the X and Y semicircles. 2. One operator selects any lane in the portal area or in the rear range area where it triggers a vehicle. 3. In the event that an unloaded container semi-trailer or shuttle is being operated, the second laser scanners 60 and 65 will register no return target signal while the first laser scanners 50 or 55, depending on whether the vehicle is in the portal area or rear range, will detect the targets in the vehicle, so the computer to which the scanners are connected concludes that the incoming vehicle is an unloaded vehicle. 4. As the unloaded vehicle progresses through the chosen range, repetitive emissions from the at least one second laser scanner produce reflective data, allowing the computer to determine the following: a. the lane the vehicle is traveling in as indicated by the vehicle's distance from the shoreside sill beam, b. the distance of the vehicle position from the centerline of the A-A crane in the direction of travel of the truck, and c. the angle of inclination, if present, forming between the longitudinal centerline of the vehicle and a line parallel to the longitudinal centerline of the coastal side threshold girder 30 or the inland side threshold girder 35, whichever is closest to the vehicle. 5. In the event of a container semi-trailer or a shuttle loaded with a container being driven, at least one first laser scanner 50 or 55 and at least one second laser scanner 60 or 65, depending on whether the vehicle is in the area portal or rear range, will detect the targets in the vehicle and container(s), so that the computer the scanners are connected to concludes that the incoming vehicle is a loaded vehicle. 6. As the loaded vehicle progresses along the chosen lane, repetitive emissions from the at least one first laser scanner produce reflective data allowing the computer to determine the following: a. the lane the vehicle is traveling in as indicated by the vehicle's distance from the shoreside sill beam, a. the length of the container(s) in the vehicle: 6 meters (20 feet), 12 meters (40 feet), 14 meters (45 feet) or 6 double meters (Twin-20 feet), b. the distance of the position of the container(s) from the centerline of the A-A crane in the direction of travel of the truck, c. the position of the coastal side sill beam container(s) (ie the truck lane), d. the slope angle, if present, formed between the longitudinal centerline of the container(s) and a line parallel to the waterside hearth beam of the longitudinal centerline 30 or land side hearth beam 35, and e. for double 6 meter (twin-20 feet) containers: the clearance distance between the two containers in the vehicle.
    [17] All measurements listed above are provided regardless of vehicle drive direction. Position data provided by the system is accurate to approximately +/- 50 mm (2 inches), while tilt angle data is accurate to approximately 0.4 degrees.
    [18] Based on the known length of the extender 10 attached to the crane's crane, the computer applies the following rules on the activation indicating device 75 to provide positioning information to the operating vehicle: 1. For an unloaded container semi-trailer or a shuttle loaded or unloaded: a. If the extender length is 12 meters (40 feet), 14 meters (45 feet), or 6 double meters (Twin-20 feet): Match the center of the container semi-trailer or shuttle with the centerline of the AA crane, and b. If the extender length is 6 meters (20 feet): Match the center of the container semi-trailer or shuttle with a point of 3 meters (10 feet) plus a known fixed offset for forward or reverse relative to the centerline of the AA crane . The forward/reverse selection depends on the cargo condition of the container semi-trailer (ie whether there is already a single 6 meter (20 feet) container in the front or rear half of the vehicle) and the load condition of the extender (whether the extender is locked in a container or unlocked with no container attached to it). 2. For a loaded container semi-trailer: a. If the extender length is 12 meters (40 feet), 14 meters (45 feet), or 6 double meters (Twin-20 feet): Match the center of the containers on the container semi-trailer with the centerline of the AA crane, and b. If the extender length is 6 meters (20 feet): Match the center of one of the 6 meters (20 feet) containers with the centerline of the A-A crane. the forward/reverse container selection depends on the cargo condition of the container semi-trailer (that is, whether there is already a single 6 meter (20 feet) container in the front or rear half of the vehicle) and the condition of the cargo of the extender (locked or unlocked). The default approximate stop positions for an operator are shown in block diagram form above in Figure 6. 3. For any loaded or unloaded container semi-trailer or shuttle: a. If the reading data reveals a measured tilt angle beyond a known predetermined limited active position indicating device 75 to signal to the operator, through intermittent flashing, beeping, color change, signal sequentially or other method, that that condition exists. Crane operation is terminated until the vehicle is repositioned such that the tilt angle is set to be less than or equal to the known predetermined limit.
    [19] For example, a container semi-trailer can load up to two 20-foot (6-meter) containers with one (20-foot) 6-meter container located in front of the container semi-trailer, and the other toward the rear. When the crane is configured to handle 20-foot (6-meter) containers, the container semi-trailer must be aligned in such a way that the crane can pick up (or unload) each container individually. If the extender is unlocked (which means it is configured to pick up one container from the container semi-trailer) and set to 6 meters (20 feet), and if two 6 meters (20 feet) containers are detected in the container semi-trailer , then the system guides the operator in aligning the container semi-trailer in such a way that the container in front is aligned with the crane extender. If the extender is unlocked and set to 6 meters (20 feet), and if a single 6 meter (20 feet) container is detected in the container semi-trailer, then the system guides the operator in aligning the container semi-trailer with that container, regardless of its position in the container semi-trailer. If the extender is locked and set for 6 meters (20 feet), and if no container is detected in the container semi-trailer, then the system guides the operator in aligning the container semi-trailer such that the 6-meter container ( 20 ft) on the extender is unloaded in the area in front of the container semi-trailer. If the spreader is locked and set by 6 meters (20 feet) and if a single container is detected in the container semi-trailer, then the container semi-trailer is aligned such that the 6 meter (20 feet) container in the extender it will be unloaded in the free area opposite the container semi-trailer (front/rear).
    [20] The system apparatus revealed above works under all weather conditions expected in port environments. Additionally, it is customizable and flexible to suit the needs of the operation and provide maximum efficiency in the use of equipment already installed.
    [21] The system arrangement described above is capable of providing positioning information for a maximum of two vehicles: the first located under the crane between the inshore side threshold girder 30 and the overland side threshold girder 35 and the second located in the rear reach area, in addition to the outer side of the land side threshold beam 30. In an alternative arrangement, additional readers 80 and 85 can be placed on the inner side of the coast side threshold beam 30, positioned relative to each other. others similarly to the readers 50, 55, 60 and 65, together with additional position indicating devices 75, positioned as on the land side threshold beam 35. This arrangement allows the system to provide positioning information for two vehicles occupying two lanes under the gantry crane.
    [22] The present invention has been described in terms of a preferred embodiment. It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed apparatus and method without departing from the scope or spirit of the invention and that legal equivalents can be substituted for the specifically disclosed elements of the invention. The specification and examples are only exemplary, while the true scope of the invention is defined by its claims.
    权利要求:
    Claims (13)
    [0001]
    1. System for positioning a vehicle, which is either unloaded or loaded with one or more containers under a gantry crane, the system characterized by the fact that it comprises: first laser scanners (50) fixed to both the outside and the inside of an earth-side threshold girder (35) of a gantry crane, first targets (70), affixed to each vehicle to reflect the emissions of said first laser scanner (50), second laser scanners (60) affixed either to the outer side as to the interior of the earth-side beam (35), second targets, fixed to each container loaded in the vehicle, if any, to reflect the emissions of said second laser scanners (60), direction indicators (75) to indicate whether the vehicle needs to be repositioned or not, and a computer to: activate said turn signals, which computer is connected to each of said first laser scanners (50), and said second laser scanners (60), every u m of said additional first (80) and additional second (85) laser scanners, and for each of said direction indicators (75); and receiving reading data and to calculate the location and orientation of the vehicle and any container loaded on the vehicle that is within range of said second laser scanners (50, 60, 80, 85).
    [0002]
    2. System according to claim 1, characterized in that one of said laser readers (50) is mounted on each side of the ground-side threshold beam (35) at a selected height above the ground-side rail (45).
    [0003]
    3. System according to claim 2, characterized in that two of said first targets are fixed to one side of the vehicle at positions within the range of said first laser readers (50).
    [0004]
    4. System according to claim 1, characterized in that one of said second laser readers (60) is mounted on each side of the threshold beam (35) on the ground side at a selected height above the side rail terrestrial (45).
    [0005]
    5. System according to claim 4, characterized in that at least one of said second targets (72) is fixed to one side of each container, each of which is located in a position arranged at a height within the range of said second laser scanners (60).
    [0006]
    6. System according to claim 1, characterized in that at least two direction indicators (75) are mounted on each of the ground side threshold beams (35) on the inner side and on the outer side at a height able to be visible to the vehicle operator.
    [0007]
    7. System according to claim 6, characterized in that additionally the at least one direction indicator (75) is mounted on the inner side of the coastal side threshold beam (30).
    [0008]
    8. System according to claim 1, characterized in that each of said at least one first target (70) and said at least one second target are triangularly formed and white in color.
    [0009]
    9. System according to claim 1, characterized in that an additional first laser scanner (80) and an additional second laser scanner (85) are fixed to the inner side of the coastal side threshold beam (30) .
    [0010]
    10. Method, to assist operators of container semi-trailers and shuttles to position a vehicle in one of several lanes located in the portal area and in the rear reach area under a gantry crane, vehicles both unloaded and loaded with a or more containers for additional loading or unloading of containers under the crane, the method characterized by the fact that it comprises: activating the first laser scanners (50) attached to both the outer and inner sides of a land-side threshold beam (35 ) of a gantry crane at a selected height above a land-side rail (45) of the gantry crane and activate the second laser scanners (60) attached to both the outer and inner sides of the land-side threshold beam ( 35) at a different height above an earth-side rail (45); send collected reflective data, if any, from each of the first and second laser scanners (50, 60) to a computer, where the data is received from first targets (70) attached to the vehicle and second targets (72) attached to a container, if any, where the vehicle and container, if any, are arranged below the crane; determine from the collected reflected data a vehicle position, container length of any container loaded on the vehicle, a number of containers loaded on the vehicle, the position offset of each container, and the distance of each container from a threshold beam. coast side (30) of the crane; and use a turn signal (75) indicating whether repositioning of the vehicle and any containers loaded on the vehicle is necessary.
    [0011]
    11. Method according to claim 10, characterized in that: the first laser readers (50) are fixed to the ground-side threshold beam (35) one meter above the ground-side rail (45); and the second laser scanners (60) are attached to the ground-side threshold beam (35) one meter above the ground-side rail (45).
    [0012]
    12. Method according to claim 11, characterized in that: the collected reflective data is received from a first target (70) attached to one side of the vehicle facing the ground-side threshold beam (35) and a another first target (70) attached to a side of the vehicle facing the coast side threshold beam (30); wherein the first targets (70) are fixed to the vehicle one meter above the ground-side track (45).
    [0013]
    13. Method according to claim 11, characterized in that: the collected reflective data is received from a second target (72) attached to one side of the container facing the ground-side threshold beam (35) and a another second target (72) attached to one side of the container facing the coastal side threshold beam (30); wherein the second targets (72) are attached to the container three meters above the landside rail (45).
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    法律状态:
    2020-01-07| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-06-02| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-01-19| B06G| Technical and formal requirements: other requirements [chapter 6.7 patent gazette]|
    2021-03-30| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-18| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/04/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201161474982P| true| 2011-04-13|2011-04-13|
    US61/474,982|2011-04-13|
    PCT/US2012/032684|WO2012141987A1|2011-04-13|2012-04-09|Container handler alignment system and method|
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