公开(公告)号：WO2020098933A1

公开(公告)日：2020-05-22

申请号：PCT/EP2018/081188

申请日：2018-11-14

Applicant: ABB SCHWEIZ AG

Inventor： HOLMBERG, Björn

IPC: B66C13/08 ,  B66C13/46

Abstract: It is provided a method for loading a container (21) on a landing target (59) on a land vehicle (23) using a container crane (51) comprising a trolley (53) and a spreader (55) for holding and lifting the container. The method is performed in a container crane control system (1) and comprises the steps of: obtaining (40) two- dimensional images of the landing target from a first pair of cameras arranged on the spreader; performing (42) feature extraction based on the two-dimensional images to identify key features of the landing target; generating (44) a point cloud based on the feature extraction, wherein each point in the point cloud contains co-ordinates in three dimensions; and controlling (46) movement of the container to the landing target based on the point cloud and the identified key features of the landing target.

公开(公告)号：WO2018229067A1

公开(公告)日：2018-12-20

申请号：PCT/EP2018/065537

申请日：2018-06-12

Applicant: ABB SCHWEIZ AG

Inventor： ZANARINI, Alessandro ,  HOLMBERG, Björn ,  SCHMITT, Susanne

IPC: B66C13/08 ,  B66C19/00

Abstract: It is provided a method for supporting remote control of a container crane, the container crane being configured to move containers from one location to another. The method is performed in a container crane control system, and comprises the steps of: receiving work order information, each work order specifying a location of a container to be picked up and a destination of the container to be placed; obtaining a first video stream of images of a pick-up location; identifying the container to be picked up in the images of the first video stream; modifying the first video stream images, which comprises highlighting the container to be picked up; and presenting the modified video stream of images on a display.

公开(公告)号：EP3275831A1

公开(公告)日：2018-01-31

申请号：EP17176351.9

申请日：2017-06-16

Applicant: ABB Schweiz AG

Inventor： ZANARINI, Alessandro ,  HOLMBERG, Björn ,  SCHMITT, Susanne

IPC: B66C13/08 ,  B66C19/00

Abstract: Method for supporting remote control of a container crane (51), the container crane being configured to move containers (21) from one location to another. The method is performed in a container crane control system, and comprises the steps of: receiving (40) work order information, each work order specifying a location of a container to be picked up and a destination of the container to be placed; obtaining (42) a first video stream of images of a pick-up location; identifying (44) the container to be picked up in the images of the first video stream; modifying (46) the first video stream images, which comprises highlighting the container to be picked up; and presenting (48) the modified video stream of images on a display. A container crane control system as wel as a computer program for supporting the crane is also provided.

Abstract translation: 一种用于支持集装箱起重机（51）的远程控制的方法，该集装箱起重机被构造成将集装箱（21）从一个位置移动到另一个位置。 该方法在集装箱起重机控制系统中执行，并且包括以下步骤：接收（40）工单信息，每个工单指定要拾取的集装箱的位置和要放置的集装箱的目的地; 获得（42）拾取位置的图像的第一视频流; 识别（44）要在所述第一视频流的所述图像中拾取的所述容器; 修改（46）第一视频流图像，其包括突出显示要拾取的容器; 以及在显示器上呈现（48）修改的视频图像流。 还提供了集装箱起重机控制系统以及用于支撑起重机的计算机程序。

公开(公告)号：EP3033293B1

公开(公告)日：2017-10-11

申请号：EP13748296.4

申请日：2013-08-12

Applicant: ABB Schweiz AG

Inventor： HOLMBERG, Björn ,  JOHANSSON, Christer

IPC: B66C13/46 ,  B66C19/00 ,  B66C13/08

CPC classification number: B66C13/085 ,  B66C13/46 ,  B66C19/002 ,  G06K9/00791 ,  G06K9/6212 ,  G06K9/6215

公开(公告)号：EP3275831B1

公开(公告)日：2019-12-18

申请号：EP17176351.9

申请日：2017-06-16

Applicant: ABB Schweiz AG

Inventor： ZANARINI, Alessandro ,  HOLMBERG, Björn ,  SCHMITT, Susanne

IPC: B66C13/08 ,  B66C19/00

公开(公告)号：EP3418244A1

公开(公告)日：2018-12-26

申请号：EP17176830.2

申请日：2017-06-20

Applicant: ABB Schweiz AG

Inventor： HOLMBERG, Björn

IPC: B66C1/10 ,  B66C19/00

CPC classification number: B66C1/101 ,  B66C19/002

Abstract: Method for loading a container on a landing target (59) on a land vehicle using a container crane comprising a trolley (53) and a spreader (55) for holding and lifting the container. The method is performed in a container crane control system (1) and comprises the steps of: obtaining (40) two-dimensional images of the landing target from a first pair of cameras arranged on the spreader; performing (42) feature extraction based on the two-dimensional images to identify key features of the landing target; generating (44) a point cloud based on the feature extraction, wherein each point in the point cloud contains co-ordinates in three dimensions; and controlling (46) movement of the container to the landing target based on the point cloud and the identified key features of the landing target.