EP0822158A1 - Procédé pour positionner automatiquement un objet mobile par rapport à un autre objet mobile - Google Patents

Procédé pour positionner automatiquement un objet mobile par rapport à un autre objet mobile Download PDF

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Publication number
EP0822158A1
EP0822158A1 EP97112698A EP97112698A EP0822158A1 EP 0822158 A1 EP0822158 A1 EP 0822158A1 EP 97112698 A EP97112698 A EP 97112698A EP 97112698 A EP97112698 A EP 97112698A EP 0822158 A1 EP0822158 A1 EP 0822158A1
Authority
EP
European Patent Office
Prior art keywords
master
slave
load
crane
transport
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97112698A
Other languages
German (de)
English (en)
Other versions
EP0822158B1 (fr
Inventor
Stefan Klement
Gerhard Häffner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Noell Mobile Systems GmbH
Original Assignee
NOELL STAHL- und MASCHINENBAU GmbH
PREUSSAG NOELL GES MIT BESCHRA
Preussag Noell Wassertechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NOELL STAHL- und MASCHINENBAU GmbH, PREUSSAG NOELL GES MIT BESCHRA, Preussag Noell Wassertechnik GmbH filed Critical NOELL STAHL- und MASCHINENBAU GmbH
Publication of EP0822158A1 publication Critical patent/EP0822158A1/fr
Application granted granted Critical
Publication of EP0822158B1 publication Critical patent/EP0822158B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the invention relates to a device for automatically positioning one of two objects movable against each other, in particular with a crane system Load suspension device in relation to a load bearing the goods to be handled Mode of Transport.
  • a container crane system is known from EP 0342 655, which containers between different locations or means of transport.
  • the at sensors used in this system in the spreader aim directly from above Loading unit and its upper corner beats. If there are no upper corner blows or does the shaky tarpaulin structure of the loading unit allow precise edge detection not, this applies in particular to swap bodies for combined transport, the exact position from above cannot be determined, and so can the described one System cannot be used universally.
  • DE 43 15 005 A1 describes a device for the measurement of Angular positions of a moving object in relation to its starting position.
  • the sensor system used in the system described there only looks at the cat Spreader.
  • the generic DE 36 06 363 C 2 contains a device for determination the position of a vehicle relative to a container lifting device.
  • the Lifting device preferably on its moving beam with at least two on the Basis of ultrasound sensors with parallel axes and the vehicle is equipped at least on one side with reflectors, the Distance between the reflectors corresponds to that of the sensors among themselves and wherein the number of reflectors on the or each side of the vehicle and the the sensors total is six.
  • the sensors are via an evaluation unit connected to a detection device and / or a data processing system.
  • the system only determines the position of the vehicle in relation to the crane side member, but not to the load handler. Dynamic Deformations in the crane construction are not taken into account. So it can it can not always be ensured that the load suspension device always determines the determined Position hits.
  • the object of the present invention is therefore to provide a device for automatic positioning of one of two moving objects, in particular a crane system with load handler compared to one to convey goods to be handled with which the Disadvantages of the solutions known from the prior art can be avoided can, in particular, that the load handling device is reliable and in a short time securely in the required position to pick up or set down the goods is proceeded.
  • a crane system Load suspension device in relation to a load bearing the goods to be handled
  • the crane has at least one in means of transport for measuring a destination in its longitudinal direction freely movable master measuring system with at least one laterally target located on the means of transport and is used to position the Load suspension device with at least one, appropriately arranged target marks capturing, slave system on the load suspension device or on the trolley or provided together with the master measuring system on the measuring slide, by its Signal the load handler to the required position for lifting or Settling of the goods is proceeded.
  • the device according to the solution is in contrast to that from the prior art Solutions known from technology assume that the goods to be loaded or Loading units are not recognizable from above.
  • the master system is on the side Load unit or aimed at the target position (marking on the means of transport) and thus determines the target position for the load handler.
  • the slave system is determined the purchase of load handler and master system.
  • the master can be moved freely according to the proposed method. For one, can the master uses a controlled procedure to search for the means of transport and himself place directly in front of the corner fittings or drop-off position and the ones present there Data (pictures, etc.) for further verification to another computer system to ship. On the other hand, the process of determining the position of the loading goods or the vehicle parallel to the journey one to
  • the master and slave naturally have the necessary intelligence to Arithmetic. It is also possible for the slave and master to be connected in one unit and the slave is aiming for a mark on the load handler. While of lowering the load, the master looks at the means of transport and thus determines a virtual target point for the slave system. The slave measures the distance of this virtual target point to the lead mark on the load handler. This will Measure the position offset between the load handler and the means of transport.
  • the crane has on its longitudinal beam at least one guide rail on which at least one measuring slide with a Target mark and a master is arranged movable in at least one axis.
  • At least one slave is installed on the load handler or on the trolley. It So two different variants of the arrangement of the slave are possible. If the slave is installed on the trolley above the load handler, then must the load handler also has at least one target for the slave exhibit. If the slave is installed directly on the load handler, there is none additional target required.
  • the number of master systems depends on the Number of envelope positions to be handled. The number of slave systems is depending on the number of load suspension devices and the possible number of different ones Sizes of loading units.
  • the position of the target of the measuring slide is detected by the slave, with the slave Signal the load handler to the required position for lifting or The loading unit is moved.
  • the slave therefore has the task of reference to determine the load handling device to the master system, the master system a reference point defined on at least one side of the means of transport as Marked. This can be a specially arranged marking act. But just as well any suitable and anyway on Characters or components located in the means of transport can be determined.
  • Masters and Slaves have a common computer system, through which the necessary Positions for picking up or setting down the goods can be calculated.
  • Master arranged an image capture device and / or a distance sensor.
  • Image acquisition devices are used to measure the target mark by the slave and / or laser sensors used. These must also depend on the respective application and environmental conditions can be selected or combined.
  • the master system is still a additional, redundant first recognition system supports to at the high Relative speed between master and brand the recognition reliability of the Masters raise.
  • the first detection system is then integrated in each master. During the passage of the means of transport past the master or the The first recognition system recognizes the profile of the master on the means of transport Means of transport. Since the position of the first detection system is known, the Size, type and location of the means of transport are measured. Depending on the Local weather conditions are measuring systems on magnetic sensor, microwave or or use laser technology.
  • Figures 1 and 2 show a schematic representation of a positioning system for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension device 14.
  • Target marks 3 are defined on the side of the means of transport 1.
  • the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable.
  • the target marks 7 are each attached to a holder 8.
  • the master 5, 6 searches for the corresponding target 3 on Means of transport 1. As soon as the master has recognized this target, it calculates the current crane position and the position of the measuring slide 4 the position of the means of transport 1 and passes this position to the crane control as a new one Target position. While the crane is now approaching this new target position, it is tracking Master 5, 6 by controlled movement of the measuring slide 4 the target 3 on Means of transport so that the master is now always in the middle of this. Of the
  • Master now additionally measures the distance from master 5, 6 to means of transport 1 and transmits this to slave 10.
  • the slave 10 measures the target mark 7 on the measuring slide 4 and uses this to calculate and with the known distance "master to means of transport” the current one Deviation of the load-carrying means 14 from the means of transport 1. This measured value becomes continuously transferred to the crane control and this is used for precise Positioning the crane and trolley or the load handling device 14 relative to the Means of transport 1.
  • FIGS. 3 and 4 show a positioning system in a schematic representation for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension means 14, above the load suspension means 14 on the trolley 15 several slaves 10 are arranged.
  • the load suspension device 14 has several Targets 13 on.
  • the target marks 3 are in turn defined on the means of transport 1.
  • Of the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable.
  • the measuring slide 4 is in this case below the Longitudinal bar 9 is pivotally arranged.
  • FIG. 5 shows how slave 10 and master 5, 6 are connected in one unit and the slave aims upwards at a mark on the load handler 2.
  • the master While lowering the load, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system. The slave misses that Distance of this virtual target point to the leading mark 13 on the load suspension device. As a result, the position offset between the load handler and the means of transport measured.
  • FIG. 6 shows how the master system can be redundant first detection system 18 is supported to at high Relative speed between master 5, 6 and mark 3 the detection reliability of the master.
  • the first detection system 18 is integrated in each master. While driving past the means of transport on the master or the master on the means of transport the first recognition system recognizes the profile of the means of transport. Because the position the first detection system is known, the size, type and location of the Means of transport are measured. Depending on the local Weather conditions are measuring systems on magnetic sensor, microwave or Use laser technology.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP97112698A 1996-07-26 1997-07-24 Procédé pour positionner automatiquement un objet mobile par rapport à un autre objet mobile Expired - Lifetime EP0822158B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19630187A DE19630187C2 (de) 1996-07-26 1996-07-26 Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten
DE19630187 1996-07-26

Publications (2)

Publication Number Publication Date
EP0822158A1 true EP0822158A1 (fr) 1998-02-04
EP0822158B1 EP0822158B1 (fr) 2004-12-29

Family

ID=7800917

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97112698A Expired - Lifetime EP0822158B1 (fr) 1996-07-26 1997-07-24 Procédé pour positionner automatiquement un objet mobile par rapport à un autre objet mobile

Country Status (2)

Country Link
EP (1) EP0822158B1 (fr)
DE (2) DE19630187C2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
US7286683B2 (en) 2002-12-31 2007-10-23 Abb Ab Container identification and tracking system
WO2009052854A1 (fr) * 2007-10-22 2009-04-30 Abb Ab Dispositif, procédé et système d'enregistrement de données d'inspection relatives à un conteneur de marchandises

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29818025U1 (de) 1998-10-09 1999-02-04 Noell Stahl- und Maschinenbau GmbH, 97080 Würzburg Vorrichtung zum Personen- und Kollisionsschutz an Krananlagen
FR2791963B1 (fr) * 1999-04-09 2001-06-29 Nfm Tech Procede de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs
GR990100238A (el) * 1999-07-09 2001-03-30 Συστημα ευθυγραμμισης οχηματων στοιβαξης και μεταφορας εμπορευματοκιβωτιων με την γερανογεφυρα
DE10004329C2 (de) * 2000-02-01 2002-06-27 Deutsche Bahn Ag Fahrzeugseitige Sicherheitseinrichtung zur Überwachung der Standsicherung von mit Hebezeugen ausgerüsteten Schienenfahrzeugen
DE10024039A1 (de) * 2000-05-16 2001-11-29 Noell Crane Sys Gmbh Krananlage mit einem System zum automatischen Ermitteln der Istposition über einer Fläche
DE10039629B4 (de) * 2000-08-09 2007-01-11 Railion Deutschland Ag Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern
DE10202399A1 (de) * 2002-01-19 2003-08-07 Noell Crane Sys Gmbh Einrichtung und Verfahren zur Positionierung von Transportfahrzeugen
AUPS325302A0 (en) * 2002-06-27 2002-07-18 Satellite Telemetry (Aust) Pty. Limited Straddle carrier position guidance system
WO2004058623A1 (fr) * 2002-12-31 2004-07-15 Abb Ab Procede et systeme d'identification de conteneurs
FI121402B (fi) 2009-04-15 2010-10-29 Konecranes Oyj Järjestelmä kontinkäsittelykoneen tunnistamiseen ja/tai sijainnin määrittämiseen
EP2730532A1 (fr) * 2012-11-09 2014-05-14 CAMCO Technologies NV Système de balayage de récipient

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3891100A (en) * 1972-10-18 1975-06-24 Hitachi Ltd Storage with automatic handling means for storing articles
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
DE3606363A1 (de) * 1986-02-27 1987-09-03 Krupp Gmbh Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung
US5089972A (en) * 1990-12-13 1992-02-18 Nachman Precision Systems, Inc. Moored ship motion determination system
US5142658A (en) * 1991-10-18 1992-08-25 Daniel H. Wagner Associates, Inc. Container chassis positioning system
EP0668237A1 (fr) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Procédé pour la manutention d'une charge à l'aide d'une grue

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3445830A1 (de) * 1984-12-15 1986-06-19 Dürr Anlagenbau GmbH, 7000 Stuttgart Foerderanlage mit positioniervorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3891100A (en) * 1972-10-18 1975-06-24 Hitachi Ltd Storage with automatic handling means for storing articles
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
DE3606363A1 (de) * 1986-02-27 1987-09-03 Krupp Gmbh Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung
US5089972A (en) * 1990-12-13 1992-02-18 Nachman Precision Systems, Inc. Moored ship motion determination system
US5142658A (en) * 1991-10-18 1992-08-25 Daniel H. Wagner Associates, Inc. Container chassis positioning system
EP0668237A1 (fr) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Procédé pour la manutention d'une charge à l'aide d'une grue

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
US7286683B2 (en) 2002-12-31 2007-10-23 Abb Ab Container identification and tracking system
CN100406371C (zh) * 2002-12-31 2008-07-30 Abb股份有限公司 用于货柜识别的系统与方法
WO2009052854A1 (fr) * 2007-10-22 2009-04-30 Abb Ab Dispositif, procédé et système d'enregistrement de données d'inspection relatives à un conteneur de marchandises

Also Published As

Publication number Publication date
DE19630187A1 (de) 1998-01-29
EP0822158B1 (fr) 2004-12-29
DE19630187C2 (de) 2001-03-22
DE59712144D1 (de) 2005-02-03

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