Determining position of a container handling equipment

Patent metadata

Field	Value
Publication number	US-12559353-B2
Application number	US-202118245086-A
Country	US
Kind code	B2
Filing date	Sep 16, 2021
Priority date	Sep 18, 2020
Publication date	Feb 24, 2026
Grant date	Feb 24, 2026

Abstract

A method comprising detecting a reflector unit that comprises a plurality of reflector elements arranged in a pre-determined manner with respect to each other, identifying the reflector unit based, at least partly, on its characteristics, and determining a location of a container handling equipment based, at least partly, on the identified reflector unit.

First claim

The invention claimed is:

1 . A method comprising:
detecting a reflector unit using optical detection means comprising one or more of: a multilayer LIDAR; time of flight camera; or stereo camera; where the reflector unit comprises a plurality of reflector elements arranged in a pre-determined manner, the reflector elements having different planar orientations with respect to each other; identifying the reflector unit based, at least partly, on its characteristic reflector element orientation; and determining a location of a container handling equipment based, at least partly, on the identified reflector unit.

2 . A method according to claim 1 , further comprising providing an indication of the determined location to an operating management software.

3 . A method according to claim 1 , wherein the location is used to operate the container handling equipment in an automated manner.

4 . A method according to claim 1 wherein characteristics of the reflector unit are unique within a coverage area of a wireless access point.

5 . A method according to claim 1 wherein the plurality of reflector elements are identical.

6 . A method according to claim 1 , wherein the location of the reflector unit is a known location.

7 . A method according to claim 1 , wherein at least one other reflector unit is detected for determining the location.

8 . A method according to claim 1 , wherein characteristics of the reflector unit comprise at least one of the following: reflection pattern, shape, size, reflectivity, texture, amount of reflector elements, no reflection at a location dedicated for a reflector element of the reflector unit, and/or installation height of the reflector elements comprised in the reflector unit.

9 . A method according to claim 1 , wherein the reflector unit is comprised in at least one of the following: a light pole, a traffic light platform or ship-to-shore gantry crane.

10 . A method according to claim 1 wherein determining the location further comprises detecting location using RF-based positioning technique.

11 . An apparatus comprising:
an optical detection means comprising one or more of: a multilayer LIDAR; time of flight camera; or stereo camera; at least one processor, and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the apparatus to: detect a reflector unit that comprises a plurality of reflector elements arranged in a pre-determined manner, the reflector elements having different planar orientations with respect to each other; identify the reflector unit based, at least partly, on its characteristic reflector element orientation; and determine a location of a container handling equipment based, at least partly, on the identified reflector unit.

12 . An apparatus according to claim 11 wherein the apparatus is comprised in an automated container handling equipment.

13 . An apparatus according to claim 12 wherein the automated container handling equipment is a straddle carrier.

14 . A computer program product comprising computer program code stored in a non-transitory memory medium, the computer program code being configured to cause an apparatus, when executing the program code by a processor circuitry, to perform at least the following:
detect a reflector unit using optical detection means comprising one or more of: a multilayer LIDAR; time of flight camera; or stereo camera where the reflector unit comprises a plurality of reflector elements arranged in a pre-determined manner, the reflector elements having different planar orientations with respect to each other; identify the reflector unit based, at least partly, on its characteristic reflector element orientation; and determine a location of a container handling equipment based, at least partly, on the identified reflector unit.

Assignees

• Konecranes Global Corp

Inventors

• Mannari Ville
• Lehtiö Jussi

Classifications

• G01S17/88 Primary

  Lidar systems specially adapted for specific applications · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• B66C13/48

  Automatic control of crane drives for producing a single or repeated working cycle; Program control · CPC title

• G01S1/42

  Conical-scan beacons transmitting signals which indicate at a mobile receiver any displacement of the receiver from the conical-scan axis, e.g. for "beam-riding" missile control · CPC title

• G08B5/00

  Visible signalling systems, e.g. visible personal calling systems or remote indication of seats occupied · CPC title