JPH1111683A - Apparatus and method for detecting position of truck bed, and apparatus and method for detecting position of container on bed - Google Patents

Abstract

(57) [Problem] To provide a truck bed position detecting device and method capable of detecting the position of a truck bed or a container on the bed with high accuracy and realizing full automation of entry and exit. SOLUTION: A zebra pattern 11 is mounted on a floor surface at a position where a truck is stopped so as to intersect with an edge of a carrier when viewed from above, and an area sensor 14a for detecting a front end position of the carrier and a platform height are detected. A height measuring area sensor 15 is provided, and the CCD camera 13 is positioned above the position at which the truck stops at positions corresponding to the four corners and the middle part of the loading platform.
Set up a table. As a result, the end of the carrier on the image captured by the CCD camera 13 is clarified by the zebra pattern 11, and the position of the carrier is accurately determined from the image data, the information on the front end position of the carrier, and the information on the height of the carrier. I am trying to be.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for detecting the position of a truck bed and a method and apparatus for detecting the position of a container on a truck. It is suitable for.

[0002]

2. Description of the Related Art In an automatic warehouse, a stacker crane or the like is used to automatically load cargo stored in a container from a transfer position provided in the automatic warehouse into the warehouse, or to remove the load from the warehouse to the transfer position. Driving completely unmanned is performed.

On the other hand, it is desired to automate loading a container at a transfer position of an automatic warehouse onto a truck and discharging it to another place, or conversely, loading a container transported by truck from another place into the transfer position. In this case, it is necessary to detect the position of the truck bed and the position of the container on the bed.

Conventional methods for detecting the position of a truck bed and the position of a container on the bed are disclosed in, for example,
As disclosed in JP-A-337390, a swivel is mounted via two bogies that move in the forward and backward directions of a truck and in a direction orthogonal to the truck, and a container spreader that moves up and down a container crane is mounted on the swivel. Cameras are attached to the four corners of the container spreader so that the container spreader is moved, the carrier and the container of the truck are photographed while moving the container spreader, and the carrier position and the container position are obtained from the image data.

[0005]

However, some trucks have different lengths of loading platform from small to large, and also have different loading platform heights. In image processing using image data of four cameras, errors are large. However, there is a problem that it is difficult to detect the edge of the loading platform on the image depending on the material and the color of the loading platform.

In addition, since the camera itself is attached to and moved on a container spreader constituting a container crane, the accuracy of position data subjected to image processing varies depending on the distance (height) from the camera to a carrier or a container. On the other hand, after moving the camera to detect the position of the loading platform or container, it is necessary to separately move the container spreader for lifting and transferring the container, which requires complicated control and processing. There is a problem.

The present invention has been made in view of the above-mentioned problems of the prior art, and is capable of detecting the position of a truck bed or a container on the bed with high accuracy, and realizing fully automatic entry / exit of goods. It is an object of the present invention to provide an apparatus and a method for detecting a position of a truck bed and an apparatus and a method for detecting a position of a container on a bed.

[0008]

According to a first aspect of the present invention, there is provided a truck bed position detecting apparatus for solving the above-mentioned problems.
A zebra pattern provided on the floor corresponding to the position where the truck stops and intersecting with the edge of the carrier, a sensor for detecting the front end position and the height of the carrier at the position where the truck stops, and stopping the truck. A camera which is fixedly installed above the position and shoots the edge of the carrier along with the zebra pattern at six locations at four corners of the carrier and at two intermediate portions in the longitudinal direction, image data of these six cameras and the sensor And an arithmetic processing device for processing the detected data to obtain the platform position.

According to this truck bed position detecting device, a zebra pattern is attached to the floor surface at the position where the truck is stopped so as to intersect the edge of the bed when viewed from above, and the front end position of the bed is detected. A sensor and a sensor for detecting the height of the loading platform are provided, and a camera such as a CCD camera is mounted on the loading platform above the position where the truck stops.
Six units are installed corresponding to the corners and the middle part. The zebra pattern clarifies the end of the carrier on the image taken by the CCD camera, and the image data and information on the front end position of the carrier and the carrier. The position of the loading platform can be accurately obtained from the height information.

According to a second aspect of the present invention, there is provided a method for detecting the position of a truck bed, wherein the zebra pattern intersects with an edge of the truck on the floor corresponding to a position where the truck stops when detecting the truck bed position. And a sensor for detecting a platform front end position and a platform height at a position where the truck stops, and a camera that captures an edge of the platform together with the zebra pattern above the position where the truck stops. And fixedly installed at six locations at four corners and two intermediate portions in the length direction, and processing the image data of the cameras at these six locations and the detection data of the sensor to obtain the loading platform position. Things.

According to this method of detecting the position of a truck bed, a zebra pattern in which white and black alternate with each other so as to intersect the edge of the truck when viewed from above is mounted on the floor where the truck is stopped. At the same time, a sensor for detecting the front end position of the carrier and a sensor for detecting the height of the carrier are provided, and six cameras such as CCD cameras are installed above the position where the truck stops, corresponding to the four corners and the middle part of the carrier. CC with the zebra pattern
The end of the carrier on the image is clarified by photographing with a D camera, and the position of the carrier is accurately obtained from the image data, information on the front end position of the carrier, and information on the height of the carrier.

Further, the position detecting device for a container on a carrier according to a third aspect of the present invention includes a marker for position detection attached at a diagonal position on the upper surface of the container, and a diagonal position above the carrier at a position where the truck is stopped. A set of at least two cameras that are fixedly installed in the container and photograph the markers of the container, and an arithmetic processing unit that processes the image data of these cameras to determine the position of the container on the loading platform and the rotational position about the vertical axis. It is characterized by the following.

According to this position detecting device for a container on a carrier, a marker for position detection is attached at a diagonal position on the upper surface of the container, and the marker is attached to the diagonal above the container on the carrier at the position where the truck is stopped. At least 2 in position
A camera such as a CCD camera fixedly installed as a set of bases is used for shooting, and the image data of the obtained CCD camera is processed to obtain the position of the container on the loading platform and the rotation position about the vertical axis. I have.

According to a fourth aspect of the present invention, in the method for detecting the position of a container on a cargo bed, a marker for position detection is attached at a diagonal position on the upper surface of the container when detecting the position of the container on the cargo bed of a truck. At least two cameras for photographing the markers of the container are fixedly installed at a diagonal position above the loading platform at a position where the truck is stopped, and the image data of these cameras is processed to process the position of the container on the loading platform. It is characterized in that a rotational position about a vertical axis is obtained.

According to this method for detecting the position of a container on a carrier, a marker for position detection is attached at a diagonal position on the upper surface of the container, and this marker is attached to a diagonal above the container on the carrier at the position where the truck is stopped. At least two units necessary for detecting one container having a different size at a position are photographed by a camera such as a CCD camera fixedly installed as a set. The position of the container and the rotational position about the vertical axis are determined.

[0016]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of one embodiment of a truck bed position detecting device and a container on baggage position detecting device of the present invention.

The truck bed position detecting device 10 and the container position detecting device 20 on the bed are provided with a transfer table A of an automatic three-dimensional warehouse for storing a container C, for example, a small container Cs and a large container Cb twice as large as the small container Cs. And is used to detect a position for automatic entry / exit between the transfer table A and the truck T.

Incidentally, automatic transfer is performed between the automatic three-dimensional warehouse and the transfer table A by a stacker crane (not shown).

In the truck bed position detecting device 10 used for loading and unloading the containers C carried to the transfer table A of the automatic three-dimensional warehouse on the truck T, the truck T is stopped adjacent to the transfer table A. A stop position S for stopping the truck T is determined.
The width is about ± 200 mm in the front-rear direction with respect to the trailing edge and about ± 200 mm in the width direction with respect to the loading platform of the truck T. The loading platform B of the truck T is positioned and stopped within this range. , Regardless of the size of bed B,
The rear end and both sides of the bed B enter the stop position S.

As shown in FIG. 2, the floor surface at the stop position S where the truck T is stopped has white and black stripes so as to intersect the edge of the carrier B when viewed from above. The zebra patterns 11 are provided at a total of six places, that is, at four corners of the bed B of the large car and at two places on both sides in the front-rear direction (corresponding to the front end of the bed of the small car). It is provided by directly drawing or attaching a sheet-shaped member. This zebra pattern 11
Is arranged perpendicular to the edge of the loading platform B, and has a stripe pattern parallel to the width direction of the loading platform B on both the front side and the middle portion of the loading platform B. The zebra pattern 11 is a combination of a stripe pattern parallel to the width direction of B and a stripe pattern parallel to the longitudinal direction of the bed B at the rear end.

Above the stop position S for stopping the truck T coated with such a zebra pattern 11, a ceiling frame 12 framed by beams or girders (not shown) is fixedly installed. Six cameras 13 are installed on the lower surface to obtain image data by photographing the edges of the loading platform B together with the respective zebra patterns 11. These six cameras 1
Reference numeral 3 denotes a CCD camera, for example, and is attached to the ceiling frame 12 downward.

Further, a sensor 14 for detecting the position of the trailing edge of the bed B at the stop position S where the truck T is stopped.
For example, photoelectric sensors are installed on both sides in the width direction of the rear end of the stop position S so that the position of the rear end edge of the loading platform B stopped within a range of ± 200 mm in the front-rear direction can be detected.

A stop position S for stopping the track T
In order to detect the height of the bed B at the height, area sensors 15 for height measurement are installed on both sides in two directions in the front-rear direction of the stop position S, and in the illustrated example, columns 16 are erected at the respective detection positions, 32 transmission-type sensors are attached to the upper and lower sides of each column 16, and are used for detecting the height and inclination of the bed B and correcting image data.

Further, the stop position S at which the track T has stopped
In order to detect the front end position of the loading platform B at the above, the loading platform front end position detecting area sensors 14a are installed on both front sides of the stop position S.

The image data of the six cameras 13, the position information of the front end of the bed B of the area sensor 14a, and the height information of the height measuring area sensor 15 are input to the arithmetic processing unit 17 and processed. The position of B and the direction of the bed B (for example, the rotation angle about the vertical axis of the center of the bed) can be obtained.

Next, the operation of the truck bed position detecting device 10 thus configured and the truck bed position detecting method will be described with reference to the flowchart shown in FIG.

It is necessary to detect the position of the loading platform B of the truck T when the container C is loaded from the transfer platform A to the loading platform B of the truck.

First, when the position detection of the loading bed B of the truck T, that is, the calculation of the container loading position is started,
The right end of the bed B of the truck T (the right side with respect to the front of the truck T) is detected.

Image data is taken into the arithmetic processing unit 17 from the camera 13-1 on the front right side of the loading platform B, and
The height information of the bed B from the height measurement area sensor 15 is also taken in.

Then, the arithmetic processing unit 17 detects, by image processing, the end of the loading bed B which is clearly defined from the image data taken together with the zebra pattern 11.
In this image processing, the height information from the height measurement area sensor 15 is used so that the position of the end of the bed B can be accurately obtained even if the image data has different bed heights from the floor. , A correction based on a change in height is performed.

Similarly, the camera 1 on the right side of the middle part of the loading bed B
3-2, the image data of the camera 13-3 on the rear right side of the loading platform B is transferred to the arithmetic processing unit 1.
7 and corrects the height change due to the height information from the height measurement area sensor 15 so that the zebra pattern 11
At the same time, the end of the loading platform B, which is clarified from the captured image data, is detected by image processing.

The data of the three ends on the right side of the bed B thus obtained are integrated to obtain a straight line at the right end of the bed B.

Next, the left end (left side with respect to the front of the truck T) of the bed B of the truck T is detected.

Image data is taken into the arithmetic processing unit 17 from the camera 13-4 on the front left side of the bed B, and
The height information of the bed B from the height measurement area sensor 15 is also taken in.

Then, the arithmetic processing unit 17 performs correction based on the height information of the height measuring area sensor 15 and performs image processing on the end of the loading bed B which is clarified from the image data taken together with the zebra pattern 11. To detect.

Similarly, the camera 1 on the left side of the middle part of the loading platform B
3-5, the image data of the camera 13-6 on the rear left side of the loading platform B is read by the arithmetic processing unit 1.
7, the image data taken together with the zebra pattern 11 is corrected by a change in height, and the end of the loading bed B that has become clear is detected by image processing.

The data at the three left end portions of the bed B thus obtained are integrated to obtain a straight line at the left end of the bed B.

After the straight lines representing the left and right ends of the bed B are obtained in this way, the detection information of the area sensor 14a for detecting the front end of the bed B of the truck T is taken into the arithmetic processing unit 17.

Then, from the obtained front end position of the loading platform B and the straight lines representing the left and right ends of the loading platform B, the position of the loading platform B, for example, the position of the loading platform B with respect to the coordinates having the transfer platform A as the origin and the loading platform B Direction (for example, the angle of rotation about the vertical axis around the loading platform)
Is required, and the height of the bed B is also required.

When the position of the loading bed B of the truck T is obtained in this way, by further inputting the length of the container C to be unloaded, the loading position of the container C and the container C for making the truck T parallel to the loading bed B are set. , The rotation angle about the vertical axis at the center of the container T is obtained, output to the container crane, and the container C on the transfer table A is lifted by automatic operation and loaded on the bed B of the truck T.

Such a truck bed position detecting device 1
0 and the method of detecting the position of the truck bed,
Since the camera 13 for detecting the position of the camera is fixed to the ceiling frame 12, the detection can be performed with higher accuracy than when the camera is moved, and the processing for obtaining the position of the platform by image processing becomes easier.

The camera 13 for detecting the position of the loading platform is
Since the platform is installed and the position of the loading platform B is detected from these image data, it can be detected with high accuracy.

Further, the obtained position of the loading bed B can be directly output to the container crane and used for unloading the container C.

Next, one embodiment of the apparatus for detecting the position of the container on the carrier and the method for detecting the position of the container on the carrier of the present invention will be described in detail.

The container position detecting device 20
As shown in FIG. 1, the container C is used for storing the container C loaded on the carrier B of the truck T and transported from the carrier B to the transfer platform A of the automatic three-dimensional warehouse. Is a small container Cs and a large container Cb (twice the small container Cs).

In the position detecting device 20 for the container on the loading platform, a stop position S for stopping the same track T as in the case of detecting the loading platform B is determined. S stops the track T.

As shown in FIGS. 1 and 2, a marker 21 is attached to each of the large and small containers C whose position is to be detected by the on-loading container position detecting device 20, as shown in FIGS.

The marker 21 may be any marker which can be clearly identified from the container C on the image taken by the CCD camera, and is attached to the same position at the corner of each container C.

On the other hand, on the ceiling frame 12 above the stop position S for stopping the truck T, two sets of CCD cameras are used as cameras 22 for photographing the markers 21 attached to the container C. Four CCD cameras are installed so that it can cope with both the case where two small containers Cs are loaded on the loading bed B back and forth, and the case where one large container Cb is loaded and stored. It is.

The camera 22 is different from the camera 13 for detecting the position of the loading platform B, in that the camera 22 takes an image at a position where the range of the detection height is higher by the height of the container C.

Then, the image data of these four cameras 22 is input to the arithmetic processing unit 17.

Next, a description will be given of a method of detecting the position of the container on the bed together with the operation of the position detecting device 20 for the container on the bed configured as described above with reference to a flowchart shown in FIG.

In order to drop the container C on the carrier B of the truck T for which the position of the container on the carrier needs to be detected,
When the calculation of the container gripping position is started, a driver of the truck T entering the warehouse or the like uses a magnetic card or the like to send information about the size of the container C, the front and rear information indicating the mounting position of the small container Cs to the carrier B in the case of the small container Cs. Is obtained.

From the information on the magnetic card and the like, the container C
Is determined, and when the container C is small, it is determined whether or not the container C is at the front of the bed B of the truck T.

When the small container Cs is mounted on the front, the camera 2 on the right front side of the loading platform of the truck T
Image data is taken into the arithmetic processing unit 17 from 2-7.

The image data from the CCD camera 22-7 is processed by image processing to make a marker 21 at the upper right corner of the upper surface of the container.
Is detected. Also in this image processing, the height is corrected using the height information of the bed B from the two height measurement area sensors 15 for detecting the height of the bed.

Next, since the small container Cs is mounted on the front, the camera 22 on the left side of the middle part of the loading platform of the truck T
-8 image data is taken into the arithmetic processing unit 17.

A marker 21 at the lower left corner of the upper surface of the container is obtained by image processing from the image data of the CCD camera 22-8.
Is detected. In this image processing, the loading platform B
Height measurement area sensors 15 for detecting the height of the object
Height is corrected using the platform height information from.

After the positions of the two markers 21 at the diagonal positions of the small container Cs are detected in this way, the center position of the container and the rotation angle about the vertical axis at this center position are calculated by calculation. The position is determined.

When the small container Cs is mounted behind the loading platform B, the CCD camera 22-9 captures the image data of the marker 21 at the upper right corner of the container, and the CCD camera 22-10 transmits the image data. The image data of the marker 21 at the lower left corner of the upper surface of the container is fetched, and after detecting the positions of these two markers 21 in the same manner as described above, the center position and the rotation angle of the container are obtained.

Further, in the case of the large container Cb, CC
Marker 21 at the upper right corner of the upper surface of the container with D camera 22-7
Image data is captured and the CCD camera 2
In step 2-10, the image data of the marker 21 at the lower left corner of the upper surface of the container is fetched. After detecting the positions of these two markers 21 in the same manner as above, the center position and the rotation angle of the container are obtained.

Therefore, in any case of these containers C, automatic storage is performed by outputting the center position of the container C and the position information of the rotation angle about the vertical axis at the center position to the control device (computer) of the container crane. Can be.

According to the position detecting apparatus 20 for the container on the carrier and the method for detecting the position of the container on the carrier, the marker 21 is attached to the diagonal position of the upper surface of the container C,
Since image processing is performed by photographing with a fixed CCD camera, the position of the container C can be detected stably and with high accuracy.

Further, since two sets of four CCD cameras 22 are installed, the CCD camera 22 can be mounted in any case such as when two small containers Cs are mounted on the loading platform B or when a large container Cb is mounted on the loading platform B. Can also detect the position of the container C.

Further, since the four CCD cameras 22 are fixed to the ceiling frame 12, the position of the container C can be detected with higher accuracy than when the cameras are moved. Processing for obtaining the position of C is also facilitated.

The obtained position of the container C can be directly output to a container crane and used for storing the container.

[0067]

As described above in detail with the embodiments, according to the truck bed position detecting device according to the first aspect of the present invention, when the truck is viewed from above on the floor where the truck is stopped. Attaching a zebra pattern so as to intersect the edge of the carrier, providing an area sensor for detecting the front end position of the carrier and a height sensor for detecting the height of the carrier,
Six cameras, such as CCD cameras, are installed above the position where the truck stops, corresponding to the four corners and the middle part of the carrier, so that the end of the carrier on the image taken by the CCD camera is clarified by the zebra pattern. At the same time, the position of the platform can be accurately determined from the image data, the information on the front end position of the platform, and the information on the platform height.

According to the method for detecting the position of a truck bed according to the second aspect of the present invention, the white and black portions of the floor where the truck is stopped intersect with the edges of the truck when viewed from above. The zebra pattern is alternated, and an area sensor for detecting the front end position of the carrier and an area sensor for detecting the height of the carrier are provided. Cameras such as CCD cameras and the four corners of the carrier are provided above the position where the truck stops. Since six units were installed corresponding to the middle part, the end of the stage on the image can be clarified by photographing the stage with a CCD camera together with the zebra pattern, and this image data and information on the front end position of the stage and the stage The position of the loading platform can be accurately determined from the height information.

Further, according to the position detecting device for a container on a carrier according to the third aspect of the present invention, a marker for position detection is attached at a diagonal position on the upper surface of the container, and the marker is attached to the carrier at a position where the truck is stopped. At least two cameras are fixedly mounted as a set at a diagonal position above the upper container. Images are taken with a camera such as a CCD camera fixedly installed. The position and the rotational position around the vertical axis can be obtained with high accuracy.

According to the method for detecting the position of a container on a carrier according to a fourth aspect of the present invention, a marker for position detection is attached at a diagonal position on the upper surface of the container.
In order to detect one container having a different size at a diagonal position above the container on the loading platform at the position where the truck is stopped, at least two units necessary for detecting one container are photographed by a camera such as a CCD camera fixedly installed. Therefore, by processing the obtained image data of the CCD camera, the position of the container on the carrier and the rotational position about the vertical axis can be obtained with high accuracy.

According to these inventions, it is possible to automate the loading and unloading of containers.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram according to an embodiment of a truck bed position detecting device and a container on baggage position detecting device of the present invention.

FIG. 2 shows the relationship between the position of the loading platform, the location of the container marker, and the field of view of the camera according to one embodiment of the apparatus and method for detecting the location of the loading platform of a truck and the apparatus and method for detecting the location of a container on a loading platform according to the present invention. FIG.

FIG. 3 is a flowchart according to an embodiment of the truck bed position detecting method of the present invention.

FIG. 4 is a flowchart according to an embodiment of the method for detecting the position of a container on a carrier according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 10 Truck position detecting device 11 Zebra pattern 12 Ceiling frame 13 Camera (CCD camera) 14 Sensor for detecting position of rear end of platform 14a Area sensor (sensor) for detecting position of front end of platform 15 Area sensor (sensor) for measuring height 17 Arithmetic processing unit 20 Container position detecting device on loading platform 21 Marker 22 Camera (CCD camera) A Transfer platform B Loading platform C Container S Stop position T Truck

Continuing on the front page (72) Inventor Junji Yamagami 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Tomohisa Ehara 3-1-1, Toyosu, Koto-ku, Tokyo No. Ishikawajima Harima Heavy Industries, Ltd. Tojin Technical Center (72) Inventor Yasuo Sakai 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tojin Technical Center

Claims (4)

[Claims] 1. A zebra pattern provided on a floor surface corresponding to a position where a truck is stopped and intersecting an edge of a carrier, a sensor for detecting a front end position and a height of the carrier at a position where the truck stops, and A camera that is fixedly installed above the position where the truck is stopped, and that captures the edge of the carrier along with the zebra pattern at four locations of the carrier and two locations in the middle in the longitudinal direction, and a camera of these six locations An apparatus for detecting the position of a truck bed, comprising an arithmetic processing unit for processing image data and detection data of the sensor to obtain a bed position. 2. When detecting the position of a truck bed,
A zebra pattern that intersects with the cargo bed edge is provided on the floor corresponding to the position where the truck is stopped, and a sensor for detecting the cargo bed front end position and the cargo bed height at the position where the truck is stopped is provided. A camera for photographing the edge of the loading platform together with the zebra pattern is placed above the stop position at four corners of the loading platform and an intermediate portion 2 in the longitudinal direction.
A method of detecting the position of a truck bed, characterized in that the truck is fixedly installed at six places and the image data of the six cameras and the detection data of the sensor are processed to determine the bed position. 3. A pair of a marker for position detection attached at a diagonal position on the upper surface of the container, and at least two pairs of at least two markers fixedly installed at a diagonal position above the loading platform at a position where the truck is stopped and photographing the marker of the container. An apparatus for detecting the position of a container on a carrier, comprising: a camera; and an arithmetic processing unit that processes image data of the cameras to determine a position of the container on the carrier and a rotational position about a vertical axis. 4. A method for detecting a position of a container on a bed of a truck, wherein a marker for position detection is attached at a diagonal position on an upper surface of the container, and the container is positioned at a diagonal position above the bed at a position where the truck is stopped. Characterized in that at least one set of cameras for photographing the markers is fixedly installed, and image data of these cameras is processed to determine the position of the container on the carrier and the rotational position about the vertical axis. Position detection method.