Reliable detection of container crane and harness

Patent metadata

Field	Value
Publication number	US-11279597-B2
Application number	US-201917290609-A
Country	US
Kind code	B2
Filing date	Oct 28, 2019
Priority date	Nov 15, 2018
Publication date	Mar 22, 2022
Grant date	Mar 22, 2022

Abstract

A container crane has a trolley movable on a cross-member of a gantry. A harness for picking up and setting down a container and at least one laser scanner are arranged on the trolley. The laser scanner captures a depth image which, as a function of a first and a second angle, indicates the distance of object points detected by a laser beam. The captured depth image is evaluated. Based on the object points, objects are detected and their locations are determined. The objects comprise the harness and/or a container picked up by the harness, and further objects. Based on the detected object points, the contour of the harness and/or of the container picked up by the harness is determined. Detection of further objects within regions defined by the contour is suppressed. A control device takes the detected objects and their locations into account for controlling the container crane.

First claim

What is claimed is:

1. A method for operating a container crane which includes a trolley movable on a cross-member of a gantry of the container crane, a harness for picking up and setting down a container arranged on the trolley, and a laser scanner arranged on the trolley, said method comprising the steps of:
a) capturing with the laser scanner a depth image as a function of first and second angles that respectively indicate a distance of object points detected by a laser beam of the laser scanner;
b) evaluating with an evaluation facility the captured depth image to enable, based on the object points, detection of objects and determination of locations of the detected objects, with the objects comprising the harness and/or the container picked up by the harness and further objects;
c) determining a contour of the harness and/or the container picked up by the harness based on the detected object points;
d) suppressing detection of the further objects within areas defined by the determined contour; and
e) controlling the container crane with a control facility of the container crane by taking the detected objects and the locations of the detected objects into account.

2. The method of claim 1 , further comprising subjecting the captured depth image or an image derived therefrom to a first mathematical morphological operation to filter out objects having a size beneath a first maximum size in the captured depth image or the image derived therefrom, wherein the determination of the contour of the harness and/or the container picked up by the harness is executed based on the captured depth image or the image derived therefrom subjected to the first mathematical morphological operation.

3. The method of claim 2 , wherein the first mathematical morphological operation is a morphological dilatation and a morphological erosion following the morphological dilatation or a morphological erosion and a morphological dilatation following the morphological erosion, and further comprising using first filter cores of a same size for the morphological dilatation and the morphological erosion.

4. The method of claim 3 , wherein the detection of the further objects within areas defined by the determined contour is suppressed by subjecting the captured depth image or the image derived therefrom subjected to the first mathematical morphological operation to a second mathematical morphological operation, and filtering out objects having a size below a second maximum size in the captured depth image or an image derived therefrom subjected to the first mathematical morphological operation.

5. The method of claim 4 , wherein the second mathematical morphological operation is a morphological dilatation and a morphological erosion following the morphological dilatation or a morphological erosion and a morphological dilatation following the morphological erosion, and further comprising using second filter cores of a same size for the morphological dilatation and the morphological erosion of the second mathematical morphological operation, with a sequence of the morphological erosion and the morphological dilatation of the second mathematical morphological operation being inverse to a sequence of the morphological erosion and the morphological dilatation of the first mathematical morphological operation.

6. The method of claim 5 , wherein the second filter cores have a size which is different than a size of the first filter cores.

7. The method of claim 5 , wherein the second filter cores have a size which is larger than a size of the first filter cores.

8. The method of claim 1 , wherein the steps a) to e) are executed while it is raining or snowing in a vicinity of the container crane.

9. A container crane, comprising:
a gantry including a cross-member;
a trolley movable on the cross-member of the gantry;
a harness for picking up and setting down a container arranged on the trolley;
a laser scanner arranged on the trolley and configured to capture a depth image as a function of first and second angles respectively indicating a distance of object points detected by a laser beam of the laser scanner;
an evaluation facility configured to evaluate the captured depth image, and based on the object points, to detect objects and to determine locations of the detected objects, with the objects comprising the harness and/or the container picked up by the harness and further objects, said evaluation facility configured to determine a contour of the harness and/or of the container picked up by the harness based on the object points, and to suppress the detection of the further objects within areas defined by the determined contour; and
a control facility configured to control the container crane by taking into account the detected objects and the locations of the detected objects.

10. The container crane of claim 9 , wherein the evaluation facility is configured to subject the captured depth image or an image derived therefrom to a first mathematical morphological operation, such that in the captured depth image or the image derived therefrom objects having a size below a first maximum size are filtered out, and to determine the contour of the harness and/or the container picked up by the harness on the basis of the captured depth image or an image derived therefrom subjected to the first morphological operation.

11. The container crane of claim 10 , wherein the first mathematical morphological operation is a morphological dilatation and a morphological erosion following the morphological dilatation or a morphological erosion and a morphological dilatation following the morphological erosion, with first filter cores of a same size being used for the morphological dilatation as well as for the morphological erosion.

12. The container crane of claim 11 , wherein the evaluation facility is configured to suppress the detection of the further objects within areas defined by the determined contour by subjecting the captured depth image or the image derived therefrom subjected to the first mathematical morphological operation to a second mathematical morphological operation, such that objects having a size below a second maximum size are filtered out in the captured depth image or the image derived therefrom subjected to the first mathematical morphological operation.

13. The container crane of claim 12 , wherein the second mathematical morphological operation is a morphological dilatation and a morphological erosion following the morphological dilatation or a morphological erosion and a morphological dilatation following the morphological erosion, with second filter cores of a same size being used for the morphological dilatation and for the morphological erosion of the second mathematical morphological operation, wherein a sequence of the morphological erosion and the morphological dilatation in the second mathematical morphological operation is inverse to a sequence of the morphological erosion and the morphological dilatation in the first mathematical morphological operation.

14. The container crane of claim 13 , wherein the second filter cores have a size which different than a size of the first filter cores.

15. The container crane of claim 2 , wherein the second filter cores have a size which is larger than a size of the first filter cores.

Assignees

• Siemens Ag

Inventors

• Walthelm Axel
• De Carvalho Ferreira Fabricio

Classifications

• G06T7/64

  of convexity or concavity · CPC title

• B66C19/002

  Container cranes (B66C19/007 takes precedence) · CPC title

• G06T2207/20036

  Morphological image processing · CPC title

• B66C13/46

  Position indicators for suspended loads or for crane elements · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title