EP0822158B1 - 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
EP0822158B1
EP0822158B1 EP97112698A EP97112698A EP0822158B1 EP 0822158 B1 EP0822158 B1 EP 0822158B1 EP 97112698 A EP97112698 A EP 97112698A EP 97112698 A EP97112698 A EP 97112698A EP 0822158 B1 EP0822158 B1 EP 0822158B1
Authority
EP
European Patent Office
Prior art keywords
crane
master
slave
measuring
accordance
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.)
Expired - Lifetime
Application number
EP97112698A
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German (de)
English (en)
Other versions
EP0822158A1 (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 Crane Systems 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 Crane Systems GmbH filed Critical Noell Crane Systems 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 crane system according to the preamble of the first claim.
  • cranes can be positioned using a wide variety of techniques, with newer methods involving the use of laser rangefinders that measure the distance on reflectors and pass it on to the crane controller.
  • a known system assumes that the loading unit or the target position can be reliably recognized from above. However, this is not possible in the case of carrier wagons and swap bodies with a typical tarpaulin structure. The system can therefore only be used for dimensionally stable containers. Furthermore, it is not possible with the system described, even during crane travel, i.e. H. at high crane speeds to determine the position of a transport vehicle ("Laser sensors for crane automation" in lifting and conveying, 42 (1992) No. 11, p.890-892).
  • a container crane system is known from EP-A-0 342 655, which is intended to move containers between different stands or means of transport.
  • the sensors used in this system in the spreader aim directly at the loading unit and its top corner blows from above. If there are no upper corner blows or the shaky tarpaulin structure of the loading unit does not permit precise edge detection, this applies in particular to swap bodies for combined transport, the exact position cannot be determined from above and the system described cannot be used universally.
  • DE-A-43 15 005 describes a device for measuring angular positions of a moving object relative to its starting position.
  • the sensors used in the system described there only look at the spreader from the cat. However, the position of the loading unit to be picked up or its target position is not measured.
  • the generic DE-A-36 06 363, which corresponds to the preamble of independent claim 1, includes a device for determining the position of a vehicle relative to a container lifting device.
  • the lifting device is preferably equipped on its traveling beam with at least two sensors based on ultrasound with parallel axes and the vehicle on at least one side with reflectors, the distance between the reflectors corresponding to that of the sensors among one another and the number of reflectors the or each side of the vehicle and that of the sensors is a total of six.
  • the sensors are connected to an identification device and / or a data processing system via an evaluation unit.
  • the effect of the system shown is limited by the fixed mounting on the side member of the crane.
  • the system only determines the position of the vehicle in relation to the side member of the crane, but not to the load handler. Dynamic deformations in the crane construction are not taken into account. It can therefore not always be ensured that the load handler always hits the determined position.
  • the object of the present invention is therefore to provide a device for automatically positioning one of two objects that can move against one another, a crane system with load-handling means, in relation to a means of transport carrying the goods to be handled, with which the disadvantages of the solutions known from the prior art can be avoided, in particular that the load handler is reliable and quick the required position for picking up or setting down the goods is safely moved.
  • the crane has at least one master measuring system with at least one target mark located on the side of the means of transport that is free to move in the direction of travel, and is for positioning the load suspension device with at least one, appropriately arranged Providing target marks, slave system on the load handler or on the trolley or together with the master measuring system on the measuring slide, by whose signal the load handler is moved into the required position for picking up or setting down the goods.
  • the device according to the solution assumes that the goods or loading units to be loaded cannot be recognized from above.
  • the master system is directed laterally towards the loading unit or the target position (marking on the means of transport) and thus determines the target position for the load handler.
  • the slave system determines the relationship between the load handler and the master system.
  • the master can be moved freely according to the proposed method.
  • the master can use a controlled process to search for the means of transport and stand directly in front of the corner fittings or drop-off position and the data (pictures etc.) there for further checking to another computer system to ship.
  • the process of determining the position of the goods to be loaded or the vehicle can take place parallel to the journey
  • the master and slave naturally have the intelligence required for computing. It is also possible that the slave and master are connected in one unit and the slave is aiming upwards at a mark on the load handler. While 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 from this virtual target point to the leading mark on the load handler. This measures the position offset between the load handler and the means of transport.
  • the crane has at least one guide rail on its longitudinal beam, on which at least one measuring slide with a target mark and a master is arranged to be movable in at least one axis.
  • At least one slave is installed on the load handler or on the trolley. Two different variants of the arrangement of the slave are therefore possible. If the slave is installed on the trolley above the load handler, then the load handler must also have at least one target mark for the slave. If the slave is installed directly on the load handler, no additional target mark is required.
  • the number of master systems depends on the number of handling positions to be handled. The number of slave systems depends on the number of load suspension devices and the possible number of different sizes of loading units.
  • the position of the target mark of the measuring carriage is detected by the slave, with the signal of which the load-carrying device is moved into the required position for picking up or setting down the loading unit.
  • the slave therefore has the task of reference to determine from the load suspension device to the master system, the master system detecting a reference point defined on at least one side of the means of transport as a marking. This can be a specially arranged marking. However, any suitable symbol or component that is located on the means of transport can also be determined.
  • Master and slave have a common computer system, which is used to calculate the positions required to pick up or put down the goods.
  • an image capturing device and / or a distance sensor are arranged as masters for measuring the destination.
  • Image acquisition devices and / or laser sensors are used to measure the target mark by the slave. These must also be selected or combined depending on the respective application and environmental conditions.
  • the master system is supported by an additional, redundant first recognition system in order to increase the recognition reliability of the master given the high relative speed between master and brand.
  • the first detection system is then integrated in each master.
  • the first detection system recognizes the profile of the means of transport as the means of transport passes the master or the master of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.
  • FIGS. 1 and 2 show in a schematic representation 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 a load-carrying means 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 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged so as to be movable.
  • the target marks 7 are each attached to a holder 8.
  • Two slaves 10 are each arranged on a fastening profile 12 on the load suspension device 14.
  • the master 5, 6 searches for the corresponding target 3 on the means of transport 1. As soon as the master has recognized this target 3, it calculates the position of the means of transport 1 from the current crane position and the position of the measuring carriage 4 and transfers this position to the crane controller as a new target position. While the crane is now approaching this new target position, the master 5, 6 follows the target mark 3 on the means of transport by controlled movement of the measuring carriage 4, so that the master is now always in the middle of this.
  • the master now additionally measures the distance from the master 5, 6 to the means of transport 1 and transmits this to the slave 10.
  • the slave 10 observes and measures the target mark 7 on the measuring slide 4 and calculates the instantaneous deviation of the load suspension device 14 from the transport device 1 from this and with the known distance "master to transport device". This measurement value becomes continuously transmitted to the crane controller and this is used for the exact positioning of the crane and trolley or the load handling device 14 relative to the transport means 1.
  • Figures 3 and 4 show in a schematic representation 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 a load suspension device 14, several above the load suspension device 14 on the trolley 15 Slaves 10 are arranged.
  • the load suspension device 14 has a plurality of target marks 13.
  • the target marks 3 are in turn defined on the means of transport 1.
  • the lower longitudinal bar 9 of the crane scaffold 17 has a guide rail 11 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged to be movable. In this case, the measuring slide 4 is pivotably arranged below the longitudinal bar 9.
  • 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 suspension device 2.
  • the master While the load is being lowered, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system.
  • the slave measures the distance from this virtual target point to the guide mark 13 on the load suspension device. This measures the position offset between the load handler and the means of transport.
  • FIG. 6 shows how the master system is supported by an additional, redundant first recognition system 18 in order to increase the recognition reliability of the master given the high relative speed between masters 5, 6 and mark 3.
  • the first detection system 18 is integrated in each master. During the passage of the means of transport past the master or the master past the means of transport the first recognition system recognizes the profile of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (8)

  1. Dispositif de positionnement automatique d'un objet mobile par rapport à un autre objet mobile, en particulier d'une grue avec un chariot roulant (15) et un moyen de réception de charges (14) par rapport à un moyen de transport (1) supportant les produits à transborder (2), comprenant un système maître pour l'identification de position et la définition de la position cible, caractérisé en ce que, pour mesurer un emplacement cible, la grue présente au moins un système de mesure maître (5, 6) librement mobile dans sa direction longitudinale avec au moins un repère de visée (3), situé latéralement par rapport à ce dernier sur le moyen de transport (1), et en ce que, pour le positionnement du moyen de réception de charges (14), au moins un système esclave (10) détectant des repères de visée (7, 13) disposés en conséquence est installé sur le moyen de réception de charges (14) ou sur le chariot roulant (15) ou avec le système de mesure maître (5, 6) sur le chariot de mesure (4), système dont le signal déplace le moyen de réception de charges (14) dans la position requise pour recevoir ou déposer le produit (2).
  2. Dispositif suivant la revendication 1, caractérisé en ce que la grue présente sur son longeron (9) au moins un rail de guidage (11), sur lequel est disposé avec une possibilité de déplacement au moins un chariot de mesure (4) avec un repère de visée (7) pour le système esclave (10) et avec un maître (5, 6).
  3. Dispositif suivant les revendications 1 et 2, caractérisé en ce que le chariot de mesure (14) est monté avec une possibilité de pivotement avec le maître (5, 6) et le repère de visée (7).
  4. Dispositif suivant les revendications 1 à 3, caractérisé en ce qu'au moins un esclave (10) est installé sur le chariot roulant, le moyen de réception de charges (14) présentant au moins un repère de visée (13) pour l'esclave (10).
  5. Dispositif suivant les revendications 1 à 4, caractérisé en ce que le système de mesure maître (5, 6) comporte un dispositif de détection d'image et/ou un capteur de distance et un repère de visée (3).
  6. Dispositif suivant les revendications 1 à 15, caractérisé en ce que l'esclave (10) comprend une caméra de traitement d'images et/ou un scanner laser.
  7. Dispositif suivant les revendications 1 à 6, caractérisé en ce que le système de mesure maître (5, 6) et l'esclave (10) disposent d'un système informatique commun, par l'intermédiaire duquel sont calculées les positions requises pour la réception ou la dépose du produit.
  8. Dispositif suivant l'une des revendications précédentes, caractérisé en ce que le système de mesure maître (5, 6) renferme un système de première identification (18) redondant.
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 EP0822158A1 (fr) 1998-02-04
EP0822158B1 true EP0822158B1 (fr) 2004-12-29

Family

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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

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

Families Citing this family (14)

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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
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
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
SE0203906D0 (sv) 2002-12-31 2002-12-31 Abb Ab Container character recognition 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
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

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DE3445830A1 (de) * 1984-12-15 1986-06-19 Dürr Anlagenbau GmbH, 7000 Stuttgart Foerderanlage mit positioniervorrichtung
DE3606363C2 (de) * 1986-02-27 1995-04-13 Vulkan Kocks Gmbh Einrichtung zur Bestimmung der Lage eines Fahrzeugs relativ zu einer Container-Hebevorrichtung
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DE4405683A1 (de) * 1994-02-22 1995-08-24 Siemens Ag Verfahren zur Förderung einer Last mittels eines Krans

Also Published As

Publication number Publication date
DE19630187A1 (de) 1998-01-29
EP0822158A1 (fr) 1998-02-04
DE19630187C2 (de) 2001-03-22
DE59712144D1 (de) 2005-02-03

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