EP0985630A1 - Procédé et dispositif pour déterminer le profil de charge lors du chargement et déchargement de containers - Google Patents

Procédé et dispositif pour déterminer le profil de charge lors du chargement et déchargement de containers Download PDF

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Publication number
EP0985630A1
EP0985630A1 EP99116041A EP99116041A EP0985630A1 EP 0985630 A1 EP0985630 A1 EP 0985630A1 EP 99116041 A EP99116041 A EP 99116041A EP 99116041 A EP99116041 A EP 99116041A EP 0985630 A1 EP0985630 A1 EP 0985630A1
Authority
EP
European Patent Office
Prior art keywords
crane
trolley
ship
quay
path
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.)
Withdrawn
Application number
EP99116041A
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German (de)
English (en)
Inventor
Gerd Igelmann
Hans-Joachim Martensen
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.)
Telerob Ges fur Fernhantierungs technik GmbH
Original Assignee
Telerob Ges fur Fernhantierungs technik 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 Telerob Ges fur Fernhantierungs technik GmbH filed Critical Telerob Ges fur Fernhantierungs technik GmbH
Publication of EP0985630A1 publication Critical patent/EP0985630A1/fr
Withdrawn legal-status Critical Current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
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control

Definitions

  • the invention relates to a method for loading and unloading of containers between a quay and an am Quay lying ship by means of a quay crane, one at a trolley movable with a crane boom and one Container lifting gear with hooks. It also affects a device for performing such a method.
  • Each crane can be in the assigned section of the ship either loading or unloading. It is manually by operated by an operator.
  • the lifting gear the usually as a container carrying harness, also as Spreader called, trained, must be with everyone Crane travel to be moved at a height Collision between the crane hook or that on it hanging load and the ship or those on the ship to avoid existing containers.
  • On this crane trip the trolley is moved across an area of the Quays and over the ship to a container from land to ship or around one Pick up containers from the ship and then open the country or a waiting transport vehicle to discontinue.
  • the one required for loading or unloading a container Time expenditure depends to a large extent on the Experience and the skill of the crane operator. Because in particular the actual height difference between the The lower edge of the load and the upper edge of the other containers in the ship Loading profile from the position of the crane operator only is difficult to see, the load is usually raised higher than that required to comply with Safety distances would be necessary. Hereby those phases of the crane movement are extended, in which the load is only raised or lowered.
  • the object of the invention is to provide a method through which the loading and unloading times of containers are essential can be shortened. It is also a task of the invention, a device for performing to provide such a method.
  • the invention solves the first object by a method of the type mentioned, in which means a measuring device arranged on the trolley quay and ship surface contour located below this as well as the container loading of the ship in three Coordinate directions (X, Y, Z) is measured, the Measured values are stored in a computer unit and from the measured values output data for the control of the Trolley path and the crane hook length generated become.
  • Advantageous further developments of the method according to the invention are in claims 2 to 9 specified.
  • the inventive method has the advantage that it also interferes with the loading or unloading process, caused by ship movements due to a changing water level or loading status of the Ship could be caused, reliably excludes. Also sagging of the crane boom due to A load hanging on the hook cannot malfunction cause this process.
  • Contour measurements to record the profile of the This method is intended to transport cargo in the same way for loading and unloading other cuboid or geometrically regularly shaped Objects ideally suited.
  • the further task is solved by a device with the characterizing features of the claim 10.
  • this device according to the invention are used to carry out the method according to the invention, the geometric state of charge and / or that Loading profile recorded, known individual components like a laser rangefinder, a laser scanner Position sensor and a computer unit used. Generate this Profile data required for automatic motion control the load and the load handler become.
  • the range finder is more advantageous Way forward and towards the ship the trolley attached, its measuring direction points vertically down, i.e. in the Z direction.
  • the laser scanner is attached to the same place, its measuring direction, the corresponds to the X-Y plane, is transverse to the direction of movement the trolley on the crane boom, the Y direction.
  • the width of the loading contour is about measure two container lengths.
  • the pioneer finally captures the cat's current position in with respect to the Y direction. This signal can if necessary also from an existing crane control derived, as well as the weight of each load hanging on the hook.
  • the procedure is carried out by means of the Measuring device a height profile below the route included, including all details of the Ship and its container loading. With that, at the same time the free space above the ship seized and it can the for the return trip and the next outward journey of the Cat optimal, i.e. shortest, travel distance calculated become.
  • the laser scanner measures that Distance in the X-Z plane and the associated angle.
  • the encoder for the Y direction delivers the Travel path of the trolley on the crane boom.
  • the Influence of any deflection of the crane boom, caused by a load on the crane hook, recorded as a correction variable and by the crane control the height setting of the crane hook is taken into account become.
  • the laser scanner sends a pulsed laser beam which is deflected by a rotating mirror and the Scans the surroundings in a fan shape.
  • the beam is at Hitting an object reflects and in the receiver of the scanner registered.
  • the measured time difference between sending and receiving a beam proportional to the distance between the transmitter and the object.
  • the current angle of rotation of the mirror is a measure of the angular position of the object, which is in the field of vision of the Scanner is located. So that the loading profile and the Measure the upper edge of the cross-section of the ship and the load and recorded, at the same time disturbances like that Hook load and the water level also recorded, so that too this information for automatic loading and unloading can be used with.
  • the measuring arrangement 9 consists of a range finder 10 and a laser scanner 11. Both sensors 10 and 11 are in the direction of the ship 1 in front of the trolley 4 arranged below the crane boom 7, their measuring beams capture, as indicated in Fig. 2, the height contour vertically below these sensors 10 and 11 and thus the load height of the container 8 on the Ship 1 and also on the quay 2. Both sensors 10 and 11 are connected to a computer unit 12 to which as indicated in the figure, an additional one on the Trolley 4 located encoder 13 is connected, which registers the current position of the trolley 4. This information can also be used if necessary derived from an existing crane control and as a measurand for the crane coordinate Y to the computer unit 12 be handed over.
  • FIG. 3 shows the basic arrangement of the sensors 10 and 11, here for the sake of simplicity as one unit shown above the ship 1 and the containers 8.
  • the height in the Z direction is determined by the range finder 10 with one indicated by a heavily dashed line Measuring beam detected.
  • the measuring plane of the laser scanner 11, represented by several thin dashed lines Lines, runs in the X-Z plane of the Crane coordinates. So that the linear expansion of the Container 8 in the X direction, i.e. across the trolley movement, detected. At the same time it is also avoided that an incorrect measurement, for example due to the fact that the Sensor 10 detects a gap between two rows of containers, leads to a malfunction of the arrangement.
  • the distance sensor 10 measures during each crane run the distance vertically down towards the Crane coordinate Z and transfers the measured value to the Computer unit 12.
  • the laser scanner 11 with its measuring beam distance and angle in the X-Z plane, which is perpendicular to the crane coordinate Y, where the measuring beam is about two containers wide 8 sweeps in the X direction.
  • the laser scanner 11 transfers its measured values to the computer unit 12.
  • Further input variables are route data, either by means of a displacement sensor 13 located on a trolley 4 or recorded from the existing crane control and as Measured variable for the crane coordinate Y to the computer unit 12 passed.
  • the computing unit 12 now calculates that for the Crane control required profile data and gives them as output variables.
  • This profile data contains the linked measurement data from sensors 10, 11 and 13 and are used to control trolley 4 and hook 5 in with respect to the crane coordinates Y and Z.
  • a hook harness 5 hanging container 6 between a pick-up point 14 at quay 2 and a delivery point 15 on ship 1 or on another container 8 on different trajectories 16 or 17 are carried, the hook tackle 5 together with the attached load 6 in height, i.e. in the Z direction and laterally, i.e. in the Y direction, by means of the trolley 4 and the crane control for the Hook tackle 5 is moved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Ship Loading And Unloading (AREA)
  • Control And Safety Of Cranes (AREA)
EP99116041A 1998-09-11 1999-08-16 Procédé et dispositif pour déterminer le profil de charge lors du chargement et déchargement de containers Withdrawn EP0985630A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19841570 1998-09-11
DE1998141570 DE19841570C2 (de) 1998-09-11 1998-09-11 Kaikran zum Be- und Entladen von Containern

Publications (1)

Publication Number Publication Date
EP0985630A1 true EP0985630A1 (fr) 2000-03-15

Family

ID=7880602

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99116041A Withdrawn EP0985630A1 (fr) 1998-09-11 1999-08-16 Procédé et dispositif pour déterminer le profil de charge lors du chargement et déchargement de containers

Country Status (2)

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EP (1) EP0985630A1 (fr)
DE (1) DE19841570C2 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1116684A1 (fr) * 2000-01-13 2001-07-18 Siemens Aktiengesellschaft Système de transport de charges, en particulier pour des conteneurs
WO2002014203A1 (fr) * 2000-08-09 2002-02-21 Db Cargo Aktiengesellschaft Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises
WO2004016543A1 (fr) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Procede d'utilisation d'une grue a conteneurs
CN103613015A (zh) * 2013-11-26 2014-03-05 中联重科股份有限公司 安全吊载控制方法、装置、系统及起重机
AT504557A3 (de) * 2006-11-16 2014-10-15 Siemens Ag Verfahren zum navigieren eines transportmittels für waren
WO2019197725A1 (fr) * 2018-04-10 2019-10-17 Kongsberg Maritime Finland Oy Procédé et appareil pour détecter des déplacements de cargaison pendant qu'un navire est en route
CN112551373A (zh) * 2020-11-30 2021-03-26 三一海洋重工有限公司 集装箱轮廓的扫描系统和集装箱轮廓的扫描方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10224312A1 (de) * 2002-05-31 2004-12-02 Siemens Ag Verfahren zur Automatisierung des Be- und Entladens von Containerschiffen in Containerterminals und entsprechende Kranautomatisierungsanlage
DE10251910B4 (de) * 2002-11-07 2013-03-14 Siemens Aktiengesellschaft Containerkran
JP2014144836A (ja) * 2013-01-28 2014-08-14 Mitsubishi Heavy Industries Machinery Technology Corp コンテナクレーン
EP2910512B1 (fr) * 2014-02-21 2016-05-25 Siemens Aktiengesellschaft Procédé d'étalonnage de scanners laser sur une grue de manutention de conteneurs

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
US4753357A (en) * 1985-12-27 1988-06-28 Ishikawajima-Harima Heavy Industries Co., Ltd. Container crane
DE4005066A1 (de) * 1990-02-14 1991-08-29 Bremer Lagerhaus Ges Containerbruecke
WO1994005586A1 (fr) * 1992-08-28 1994-03-17 Johann Hipp Procede et dispositif de commande d'un pont dechargeur pour conteneurs
DE4403898A1 (de) * 1993-02-14 1994-08-18 Alexander Lepek Hebezeug
EP0668237A1 (fr) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Procédé pour la manutention d'une charge à l'aide d'une grue
DE19519741A1 (de) * 1995-06-02 1996-12-05 Siemens Ag Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
US4753357A (en) * 1985-12-27 1988-06-28 Ishikawajima-Harima Heavy Industries Co., Ltd. Container crane
DE4005066A1 (de) * 1990-02-14 1991-08-29 Bremer Lagerhaus Ges Containerbruecke
WO1994005586A1 (fr) * 1992-08-28 1994-03-17 Johann Hipp Procede et dispositif de commande d'un pont dechargeur pour conteneurs
DE4403898A1 (de) * 1993-02-14 1994-08-18 Alexander Lepek Hebezeug
EP0668237A1 (fr) * 1994-02-22 1995-08-23 Siemens Aktiengesellschaft Procédé pour la manutention d'une charge à l'aide d'une grue
DE19519741A1 (de) * 1995-06-02 1996-12-05 Siemens Ag Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1116684A1 (fr) * 2000-01-13 2001-07-18 Siemens Aktiengesellschaft Système de transport de charges, en particulier pour des conteneurs
WO2002014203A1 (fr) * 2000-08-09 2002-02-21 Db Cargo Aktiengesellschaft Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises
WO2004016543A1 (fr) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Procede d'utilisation d'une grue a conteneurs
AT504557A3 (de) * 2006-11-16 2014-10-15 Siemens Ag Verfahren zum navigieren eines transportmittels für waren
AT504557B1 (de) * 2006-11-16 2015-09-15 Siemens Ag Verfahren zum navigieren eines transportmittels für waren
CN103613015A (zh) * 2013-11-26 2014-03-05 中联重科股份有限公司 安全吊载控制方法、装置、系统及起重机
CN103613015B (zh) * 2013-11-26 2015-08-26 中联重科股份有限公司 安全吊载控制方法、装置、系统及起重机
WO2019197725A1 (fr) * 2018-04-10 2019-10-17 Kongsberg Maritime Finland Oy Procédé et appareil pour détecter des déplacements de cargaison pendant qu'un navire est en route
CN112551373A (zh) * 2020-11-30 2021-03-26 三一海洋重工有限公司 集装箱轮廓的扫描系统和集装箱轮廓的扫描方法
CN112551373B (zh) * 2020-11-30 2024-04-09 三一海洋重工有限公司 集装箱轮廓的扫描系统和集装箱轮廓的扫描方法

Also Published As

Publication number Publication date
DE19841570A1 (de) 2000-03-23
DE19841570C2 (de) 2001-04-12

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