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.


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    Title :

    Reliable detection of container crane and harness


    Contributors:

    Publication date :

    2022-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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