Load handling by load handling device

• US 9,796,563 B2
• Filed: 10/02/2013
• Issued: 10/24/2017
• Est. Priority Date: 10/02/2012
• Status: Active Grant

• Current Assignee: Konecranes Global Corporation (Konecranes Terex Plc)
• Original Assignee: Konecranes Global Corporation (Konecranes Terex Plc)
• Inventors: Rintanen, Kari
• Primary Examiner(s): LOGAN, KYLE O
• Application Number:
  US14/432,716
• Publication Number:
  US 20150291400A1
• Time in Patent Office: 1,483 Days
• Field of Search: 700214
• CPC Class Codes: B66C 13/00 Other constructional features or details
• CPC Class Codes: B66C 13/46 Position indicators for suspended loads or for crane elements
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

A load is handled by a load handling device comprising gripping means for gripping at least one fastening point of the load, comprising determining, in the gripping means, a distance map within the area of which are described a part of the area of the load to which the gripping means attach and/or on which another load is stacked, as well as surroundings of the load.

Claims

1. A method of handling a load by a load handling device comprising a gripper for gripping at least one fastening point of the load, the method comprising:

determining, in the gripper, a plurality of distance maps each of which includes a plurality of points associated with distance information, and includes an area within which a part of the area of the load to which the gripper attach and/or on which another load is stacked, as well as surroundings of the load, are described, the plurality of distance maps describing different areas of loads within which fastening points or stacking points are located;

forming a set of distance maps, wherein parts of the distance maps comprising loads to be handled are separated from one another and from the surroundings of the loads; and

controlling the gripper on the basis of shapes of areas of the distance maps determined by the loads.

2. The method as claimed in claim 1, comprising:

determining a first area of a load to be handled in the distance map once the load is fastened to the gripper;

determining a second area of the load to be handled in the distance map once the load is off the gripper;

determining a difference between the first area and the second area; and

controlling the gripper on the basis of the difference.

3. The method as claimed in claim 1, comprising:

determining a first area of the load to be handled in the distance map once the load is fastened to the gripper;

determining a second load area in the distance map;

determining a difference between the load areas in the distance map;

controlling the gripper on the basis of the difference between the load areas.

4. The method as claimed in claim 1, wherein the method comprises determining the distance map in a coordinate system of the gripper;

and

converting distance map distance information for a new coordinate system having axes different from those of the coordinate system of the gripper; and

controlling the gripper in the new coordinate system.

5. The method as claimed in claim 1, wherein the controlling of the gripper comprises moving the gripper against a distance of the distance map in a perpendicular plane or in a depth direction in a direction of a distance of the distance map, or in a combination thereof.

6. The method as claimed in claim 1, wherein the step of controlling the gripper comprises:

controlling the gripper on the basis of symmetry of the distance maps.

7. The method as claimed in claim 1, wherein the method comprises the load handling device picking up the load and/or stacking the load on top of another load.

8. The method as claimed in claim 1, wherein the method comprises the gripper being controlled to a load fastening point and/or for stacking the load on top of another load.

9. The method as claimed in claim 1, wherein the method comprises determining the distance map in a plane in a direction of which the load is controlled, the distance map comprising distances in a direction perpendicular to said plane.

10. The method as claimed in claim 1, wherein the distance map comprises an image area containing image points including one or more of distance information, light intensity information, and colour information.

11. The method as claimed in claim 1, wherein the method comprises fastening the load to the gripper, and the distance map comprises an image area including a part of the fastened load.

12. The method as claimed in claim 1, wherein the gripper comprises a spreader, including one or more twist-locks, for attaching to a corner casting of a container.

13. The method as claimed in claim 1, wherein the load comprises a container, the distance map determining locations of a container placed in a container stack or a container to be carried, or both, with respect to the gripper.

14. The method as claimed in claim 1, wherein the gripper comprises a spreader and a sensor measuring a distance map provided in at least one outer corner of the spreader.

15. The method as claimed in claim 1, wherein the method comprises entering the distance map on a computer for picking up and/or stacking the load automatically, controlled by the computer.

16. The method as claimed in claim 1, wherein the method comprises positioning non-simultaneously at least two areas of the load to be handled, and storing the positions of the areas in order to determine the location and skew of the load.

17. The method as claimed in claim 1, wherein the method comprises determining the distance map in a field of vision comprising a corner of a container to be carried, the corner comprising a fastening point for the gripper.

18. The method as claimed in claim 1, wherein the load handling device comprises a crane.

19. The method as claimed in claim 1, wherein the gripper comprises a spreader and a sensor measuring a distance map provided in two longitudinally opposite outer corners of the spreader, in two diagonally opposite outer corners of the spreader, or in all outer corners of the spreader.

20. The method as claimed in claim 1, wherein the method comprises:

fastening the load to the gripper; and

determining a part of the distance map covered by the load while the load is uplifted, to be separate from other loads, and stored in a memory of a computer.

21. The method as claimed in claim 20, wherein the method comprises fastening the load to the gripper, and ignoring the stored part covered by the load in the distance map while monitoring other loads.

22. The method as claimed in claim 1, wherein the method comprises showing the distance map to a driver of the load handling device in order to assist the driver for picking up and/or stacking the load.

23. The method as claimed in claim 22, wherein the method comprises modifying the distance map by image processing in order to better assist the driver in picking up and/or stacking the load.

24. The method as claimed in claim 1, wherein the method comprises using a 3D camera for determining the distance map.

25. The method as claimed in claim 24, wherein the 3D camera is a Time-of-Flight camera.

26. An arrangement comprising:

means for handling a load by a load handling device comprising gripping means for gripping at least one fastening point of the load, and

means for determining, in the gripping means, a distance map that includes a plurality of points associated with distance information, and includes an area within which a part of the area of the load to which the gripping means attach and/or on which another load is stacked, as well as surroundings of the load, are described.

27. A computer program product comprising a non-transitory machine-readable storage medium having program instructions to instruct a load handling device comprising a gripper for gripping at least one fastening point of a load, to perform a method comprising:

determining, in the gripper, a plurality of distance maps each of which includes a plurality of points associated with distance information, and includes an area within which a part of the area of the load to which the gripper attach and/or on which another load is stacked, as well as surroundings of the load, are described, the plurality of distance maps describing different areas of loads within which fastening points or stacking points are located;

forming a set of distance maps, wherein parts of the distance maps comprising loads to be handled are separated from one another and from the surroundings of the loads; and

controlling the gripper on the basis of shapes of areas of the distance maps determined by the loads.

28. A method of updating a load handling device, comprising:

installing on the load handling device;

an arrangement comprising;

means for handling a load by the load handling device comprising gripping means for gripping at least one fastening point of the load, and

means for determining, in the gripping means, a distance map that includes a plurality of points associated with distance information, and includes an area within which a part of the area of the load to which the gripping means attach and/or on which another load is stacked, as well as surroundings of the load;

or

a computer program product comprising a non-transitory machine-readable storage medium having program instructions to instruct the load handling device to perform a method comprising;

determining, in the gripping means, a plurality of distance maps each of which includes a plurality of points associated with distance information, and includes an area within which a part of the area of the load to which the gripper attach and/or on which another load is stacked, as well as surroundings of the load, are described, the plurality of distance maps describing different areas of loads within which fastening points or stacking points are located;

forming a set of distance maps, wherein parts of the distance maps comprising loads to be handled are separated from one another and from the surroundings of the loads; and

controlling the gripping means on the basis of shapes of areas of the distance maps determined by the loads.