CN108439214B - Automatic loading and unloading method for shore bridge - Google Patents
Automatic loading and unloading method for shore bridge Download PDFInfo
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- CN108439214B CN108439214B CN201810270802.2A CN201810270802A CN108439214B CN 108439214 B CN108439214 B CN 108439214B CN 201810270802 A CN201810270802 A CN 201810270802A CN 108439214 B CN108439214 B CN 108439214B
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- trolley
- weight
- shore bridge
- unloading
- loading
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- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- 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
Abstract
The invention provides an automatic loading and unloading method of a shore bridge, which at least comprises the following steps in one working cycle of a trolley: a first operation step, wherein the trolley is operated to a preset position from a first position of the main beam; a detection step of detecting an offset value of a weight; a judging step, calculating the difference value between the offset value and a preset offset value, and starting the boxing step if the difference value is smaller than an offset threshold value; if the difference is greater than or equal to the offset threshold, entering an adjustment step; adjusting, namely adjusting the position of the trolley from a preset position to a second position; and a box placing step of placing the weight down to a box placing position. According to the shore bridge automatic loading and unloading method provided by the invention, when the trolley enters the box placing step, the position of the trolley is not just above the box placing position, but has a certain distance with the position of the trolley, and the distance is determined according to the offset value of the weight, so that the weight is approximately aligned with the box placing position in the vertical direction, and therefore, the deviation correction amount of the weight in the box placing step can be greatly reduced, and the loading and unloading efficiency is obviously improved.
Description
Technical Field
The invention relates to the field of cargo loading and unloading, in particular to an automatic loading and unloading method for a shore bridge.
Background
The shore bridge, also known as a shore container crane, is a key device for loading and unloading containers on a wharf, and the loading and unloading efficiency of the shore bridge directly affects the handling capacity of the wharf. Due to the special geographical position of the wharf (coast or river bank), the shore bridge is often in a strong wind working environment, and the lifting appliance and/or the container suspended below the small vehicle of the shore bridge can generate large-amplitude deflection under the action of wind load. In order to ensure accurate box landing, the deflection needs to be reduced to an allowable range in the box landing process. If the deflection caused by strong wind is large, the reduction process of the deflection is long, and the efficiency of the box is influenced.
The double-trolley shore bridge is a further improvement of a common single-trolley shore bridge and comprises two trolleys, namely a sea side trolley and a land side trolley, wherein a transfer platform is arranged below the shore bridge. During shipment, the containers are hoisted to the transfer platform from the wharf by the land side trolley, and then the containers are hoisted to the container ship from the transfer platform by the sea side trolley. The ship unloading process is opposite to the ship loading process. The double-trolley shore bridge loads and unloads the ship by utilizing an interactive relay mode, so that the loading and unloading path of each trolley is shortened, and the loading and unloading efficiency is greatly improved compared with that of a single-trolley shore bridge. However, in each working cycle of the double-trolley shore bridge, the frequency of box landing is twice that of the single-trolley shore bridge, and under the action of strong wind, the deflection of a lifting appliance and a container can generate greater influence on the loading and unloading efficiency of the double-trolley shore bridge.
Disclosure of Invention
The invention aims to provide a method for improving loading and unloading efficiency of a shore bridge.
The invention provides an automatic loading and unloading method of a shore bridge, wherein the shore bridge comprises a main beam, a trolley capable of running along the length direction of the main beam and a heavy object suspended below the trolley through a steel wire rope, the heavy object can be suspended and carried to a box landing position in one working cycle of the trolley, and the working cycle at least comprises the following steps: a first running step, wherein the trolley runs from a first position of the main beam to a preset position; detecting, namely detecting deviation values of the heavy object and the trolley in the length direction of the main beam; a judging step, calculating the difference value between the offset value and a preset offset value, and starting the boxing step if the difference value is smaller than an offset threshold value; if the difference is greater than or equal to the offset threshold, entering an adjustment step; adjusting the position of the trolley from the preset position to a second position to reduce the distance between the heavy object and the box placing position, wherein the distance between the preset position and the second position is equal to the difference; a box landing step of lowering the weight to the box landing position; the preset position is a second position in the last working cycle of the trolley, and the preset deviation value is a deviation value detected in the last working cycle of the trolley.
Optionally, the offset threshold is 40-60 mm.
Optionally, the shore bridge is a double-trolley shore bridge, the main beam includes a first main beam and a second main beam, the trolley includes a first trolley and a second trolley, the first trolley can run along the length direction of the first main beam, and the second trolley can run along the length direction of the second main beam; the weight suspended below the first trolley is a first lifting appliance and a container fixedly arranged below the first lifting appliance; the weight suspended below the second trolley is a second lifting appliance; a transfer platform is arranged below the double-trolley shore bridge, and the landing position is positioned on the transfer platform; in one working cycle of the shore bridge, the first trolley is used for hoisting the container from an initial position to the container landing position, and the second trolley is used for hoisting the container from the container landing position to a target position.
Optionally, in the step of landing, the lowering parameters of the weight are manually controlled.
Optionally, in the step of placing the box, a descending parameter of the weight is controlled by a controller, and the step of placing the box comprises: detecting the distance between the heavy object and the box landing position in the horizontal direction; if the distance exceeds a deflection threshold value, controlling the trolley to stop dropping the heavy object through the controller; and if the distance does not exceed the deflection threshold value, controlling the trolley to lower the weight through the controller.
Optionally, in the step of placing the first trolley in the box, when the height of the weight is 1100-2600 mm, the deflection threshold value is 150-450 mm; in the step of placing the second trolley, when the height of the heavy object is 700-2000 mm, the deflection is 100-360 mm; the yaw threshold decreases linearly with decreasing height of the weight.
Optionally, in the first operation step of the second trolley, the position of the hook on the second spreader may be controlled by a controller so that the position of the hook matches the position and size of the container to be lifted on the transfer platform.
Optionally, in the first running step of the first and/or second trolley, the height of the weight may be controlled by a controller so that the weight avoids obstacles in the way of running.
Optionally, in the first operation step of the first trolley and/or the second trolley, the operation parameters of the first trolley and/or the second trolley can be controlled by an anti-swing and anti-twist control module to reduce the swing amplitude and/or the twisting amplitude of the weight.
Optionally, after the step of placing the box, a lifting step of lifting the heavy object to a safe height by the trolley is further included.
According to the shore bridge automatic loading and unloading method provided by the invention, when the trolley enters the box placing step, the locating position of the trolley is not just above the box placing position, but has a certain distance with the position just above the box placing position, and the distance is determined according to the deflection value of the weight, so that the weight is approximately aligned with the box placing position in the vertical direction, and therefore, the deflection correction amount of the weight in the box placing step can be greatly reduced, and the loading and unloading efficiency is obviously improved.
Drawings
FIG. 1 is a schematic structural diagram of a quayside crane hoisting system;
FIG. 2 is a flow chart of an auto-loading and unloading method provided by the present invention;
FIG. 3 is a schematic diagram of an auto-loading and unloading method provided by the present invention;
fig. 4 is a schematic structural diagram of a double-trolley quayside crane hoisting system.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the alternative embodiments, this is not intended to limit the features of the invention to that embodiment. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, and the present invention may be practiced without these specific details. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terms "upper", "lower", "left", "right", "top" and "bottom" used in the following description should not be construed as limiting the present invention.
Fig. 1 shows a simplified construction of a shore crane hoisting system, which comprises a main beam 110 of the shore crane, a trolley 120 which can run along the length of the main beam 110, and a weight 140 suspended below the trolley 120 by a wire rope 130. The weight 140 may be hoisted from the initial position to the target position by the trolley 120 and the hoisting mechanism located thereon. During shipment, the initial position is the location on the quay where the container is stored, either at a location, such as a container storage area, or on land, such as a transfer cart; the destination location is the stacking location allocated for the container on the transport vessel (e.g., container ship). The ship unloading process is opposite to the ship loading process, the initial position is located on the transport ship, and the target position is located on the wharf.
In the present invention, each time a boxing operation or a unpacking operation is completed, it is called that a shore bridge completes one work cycle. For a single trolley shore crane, one working cycle of the shore crane is one working cycle of the trolley 120; for a double-trolley shore crane, one working cycle of the shore crane means that the land-side trolley and the sea-side trolley respectively complete one working cycle, namely, the container is lifted to a target position from an initial position through a transfer platform by the relay of the two trolleys.
In addition, in the present invention, the container landing can mean container landing, that is, the container is lowered to a designated position by the trolley 120, and the designated position is the container landing position of the container; the loading of the container may also refer to loading of the spreader, that is, lowering the spreader by the trolley 120 to a position where the container can be aligned with the container, where the aligned position is the loading position of the spreader. Therefore, in the present invention, the weight 140 may be a spreader, or may be a spreader and a container disposed below the spreader.
Due to the special geographical position of the wharf (coast or river bank), the shore bridge is often in a strong wind working environment, under the action of wind load, the heavy object 140 suspended by the steel wire rope 130 generates large deflection, and the deflection value must be corrected in the process of putting the heavy object 140 into the box. The prior art box-landing process comprises the following steps: first, the cart 120 is moved to a position right above the box position, then the weight 140 is lowered, the deflection of the weight 140 is corrected during the lowering process, and finally the weight 140 is accurately lowered to the box position. Under the action of strong wind, it takes a long time to rectify the deviation of the heavy objects 140, thereby increasing the difficulty of box landing and reducing the loading and unloading efficiency of the quay crane.
Aiming at the problem in the prior art, the invention provides an automatic loading and unloading method of a shore bridge. As shown in fig. 2 and 3, at least one working cycle of the cart 120 includes:
s100: a first operating step, in which the trolley 120 is moved from the first position 110a of the main beam 110 to the preset position 110ci；
S200: a detection step of detecting the deviation value S of the weight 140 and the trolley 120 in the length direction of the main beam 100 in the current working cyclei；
S300: a judging step of comparing the detected offset value S in the current work cycleiAnd a predetermined offset value S0If the difference Δ is less than the offset threshold, then start the binning step S500; if the difference Δ is greater than or equal to the offset threshold, then go to the adjustment step S400;
s400: adjusting the position of the cart 120 from the preset position 110ciAdjusted to the second position 110biTo reduce the distance between the weight 140 and the loading position, wherein the predetermined position 110ciAnd a second position 110biThe distance between is equal to the difference Δ;
s500: a box placing step of placing the weight 140 down to a box placing position A;
wherein the predetermined position 110c is the previous position of the cart 120Second position 110b in the secondary duty cyclei-1A predetermined offset value S0Is the offset value S detected in the detection step in the last working cycle of the trolley 120i-1。
In the above expression, the current duty cycle is the ith duty cycle, and the last duty cycle is the (i-1) th duty cycle, where i > 1.
According to the technical scheme provided by the invention, before entering the box placing step S500, the trolley 120 does not travel to the position right above the box placing position A, but has a certain distance with the position right above the box placing position A, and the distance is determined according to the deflection value of the heavy object 140 under the action of strong wind. As shown in FIG. 3, if the weight 140 has an offset value S under the action of strong windiThen the distance between the cart 120 and the position just above the box-placing position a is approximately S before entering the box-placing step S500i. In this way, when entering the box landing step S500, the weight 140 and the box landing position a can be substantially aligned in the vertical direction, so that the deviation correction amount of the weight 140 in the box landing step S500 can be greatly reduced, the box landing efficiency can be remarkably improved, and the loading and unloading efficiency of the shore bridge can be improved.
Applicants further realized that the environmental load (i.e., wind load) variation is typically relatively small between two consecutive work cycles, i.e., the wind load induced yaw value of the weight 140 is substantially the same between two consecutive work cycles, and then the location of the cart 120 when it enters the binning step S500 in the current work cycle (i.e., the ith work cycle) of the cart 120 may be referenced to its location in the previous work cycle (i-1 st work cycle). Thus, in the handling method according to the invention, the trolley 120 is first moved to the previous in-position, i.e. the preset position 110c in the first operating step S100 of the current cycle of operation of the trolley 120iAnd is also the second position 110b of the cart 120 in the last cyclei-1. Further, for the first working cycle of the cart 120, the positioning position of the cart when entering the box step S500 may be a position right above the box position a, or a position determined by calculation (i.e. the deflection value of the weight 140 is calculated first, and then the deflection value is calculated according to the deflection valuePendulum value adjustment of the position of the cart 120 on the main beam 110 such that the weight 140 is substantially vertically aligned with the bin position a), or may simply rely on manual adjustment of the cart 120 position.
Further, the present invention also contemplates that there may be a large difference in the deflection S of the weight 140 between two work cycles in the case of a large change in wind load between two work cycles of the cart 120 (e.g., in the case of a long interval between two work cycles). Therefore, the loading and unloading method provided by the present invention further includes a determination step S300 to determine whether the cart 120 can start the loading step S500. I.e. the trolley 120 is driven to the second position 110b of the last work cycle (i-1 st work cycle)i-1Thereafter, the offset value S of the weight 140 in the current working cycle (i-th working cycle) of the cart 120 is further adjustediOffset value S from the last duty cycle (i-1 st duty cycle)i-1Comparing, and if the difference value delta is smaller than the set offset threshold value, starting the box step S500; if the difference Δ is greater than or equal to the set offset threshold, the adjustment step S400 is entered, and the position of the cart 120 is further adjusted.
Specifically, in the adjusting step S400, the position of the cart 120 is adjusted from the preset position 110biAdjusted to the second position 110ciThe adjustment direction is a direction in which the distance between the weight 140 and the seating position a is decreased, and the adjusted distance is equal to the difference Δ calculated in the determination step S400. That is, in the adjusting step S400, the position of the weight 140 at the time of entering the container step S500 is adjusted to be substantially the same as the position in the previous work cycle.
Further, in the determination step S300, if the offset threshold is set too small, the position of the cart 120 needs to be adjusted too frequently in the adjustment step S500; if the offset threshold is set too large, there is a possibility that the amount of correction of the counterweight 140 in the box step S500 is increased. In one embodiment, the threshold is set to 40-60 mm, which can achieve both of the above factors and achieve higher loading and unloading efficiency.
The invention further provides a scheme for applying the automatic loading and unloading method to the double-trolley shore bridge. As shown in fig. 4, the double trolley quayside container crane comprises two trolleys 120, a first trolley 120a and a second trolley 120 b. The first cart 120a may run along the length of the first main beam 110a and the second cart 120b may run along the length of the second main beam 110 b. The weight 140 suspended below the first trolley 120a is a first spreader 140a and a container 140c fixedly disposed below the first spreader 140a, that is, the container is placed in the first trolley 120 a; the weight 140 suspended below the second trolley 120b is a second spreader 140b, i.e. the container of the second trolley 120b is a spreader container.
A transfer platform 150 is arranged below the double-trolley shore bridge, and a box landing position A is positioned on the transfer platform 150; in one work cycle of the shore bridge, the first trolley 120a is used to hoist containers from the initial position to the landing position and the second trolley is used to hoist containers from the landing position to the target position. The initial position and the target position are defined as described above, and the box position a is located on the transfer platform 150. That is, in the present invention, for a two-car quayside, container landing as referred to above refers to lowering a container to a landing position on a transfer platform, and spreader landing refers to lowering a spreader to a position aligned with the container on the transfer platform.
One of the first cart 120a and the second cart 120b is a land-side cart, and the other is a sea-side cart. According to the above description of the working process of the double-trolley, it can be known that, when the double-trolley shore bridge works in the shipping cycle, the first trolley 120a is a trolley on the land side, the first girder 110a is a girder on the land side, the second trolley 120b is a trolley on the sea side, and the second girder 110b is a girder on the sea side; when the double-trolley shore bridge works in the ship unloading cycle, the first trolley 120a is a sea side trolley, the first main beam 110a is a sea side main beam, the second trolley 120b is a land side trolley, and the second main beam 110b is a land side main beam.
For a double-trolley shore bridge, the shore bridge needs a land-side trolley and a sea-side trolley to respectively complete one working cycle every time the shore bridge completes one working cycle of one working cycle, namely the frequency of landing boxes of the double-trolley shore bridge is twice that of the single-trolley shore bridge. The loading and unloading method provided by the invention can be applied to both the land side trolley of the double-trolley shore bridge and the sea side trolley of the double-trolley shore bridge, and can obviously improve the loading and unloading efficiency of the double-trolley shore bridge.
Further, the box closing step S500 may be controlled manually or automatically. Specifically, the manual control means that a driver designates a descent parameter of the weight 140, and the automatic control means that the descent parameter of the weight 140 is designated by the controller. The descent parameters refer to parameters such as a descent speed and an acceleration of the weight 140.
When the controller automatically controls the loading of the weight 140, the loading step S500 may further include the following steps:
s501: detecting the distance M between the actual position of the weight 140 and the position of the container in the horizontal direction;
s502: if the distance M exceeds the set deflection threshold value, the controller controls the trolley 120 to stop lowering the heavy object 140; if the distance M does not exceed the set yaw threshold, the weight 140 is lowered down by the trolley 120 under the control of the controller.
During the descending process of the weight 140, a simple pendulum system is formed by the weight and the steel wire rope, and the simple pendulum motion, namely the reciprocating motion taking the balance position as the center, can be generated under the external action. In the step S500 of placing the box, the position of the heavy object 140 is detected in real time, and when the distance M between the position of the heavy object and the position of the box is greater than the deflection threshold, the heavy object 140 stops descending; as the weight 140 swings, the descending weight 140 is restarted when its distance M from the container position is less than the yaw threshold. In the box attaching step S500, the above process is repeated continuously, so that the automatic control of the box attaching step S500 can be realized, and the accurate box attaching of the heavy object 140 can be ensured.
Further, the setting value of the yaw threshold is different depending on the meaning of the weight 140.
When the weight 140 is a spreader and a container fixedly disposed under the spreader (i.e., the cart 120 is the first cart 120 a), the container is placed. Because the transfer platform 150 is typically provided with guides where containers are placed, the guides can be used to guide the containers while they are in the container. Therefore, the deflection threshold value when the container is placed can be set according to the guide range of the guide frame. When the container is lowered to the position near the container, the distance between the container and the container position only needs to be within the guiding range of the guide frame. In one embodiment, when the height of the weight 140 is 1100 to 2600mm, the yaw threshold may be set to 150 to 450 mm.
When the weight 140 is a spreader (i.e., the cart 120 is the second cart 120 b), the next container is a spreader container. Because the guide plate is usually arranged below the lifting appliance, the guide plate can be used for providing guidance for the lifting appliance when the lifting appliance is aligned with a container below the lifting appliance. Therefore, the deflection threshold value when the hanger is at the box can be set according to the guide range of the guide plate. When the lifting appliance descends to a position close to the box, the distance between the lifting appliance and the box position only needs to be within the guide range of the guide plate. Since the guide range of the guide plate is smaller than that of the guide frame, in one embodiment, when the height of the weight 140 is 700 to 2000mm, the yaw threshold may be set to 100 to 360 mm.
In one embodiment, the yaw threshold decreases linearly as the height of weight 140 decreases. That is, when the height of the weight 140 is high, a large yaw threshold may be set; the closer weight 140 is to the bin position, the smaller the yaw threshold. By dynamically setting the value of the yaw threshold, the efficiency of the box step S500 can be improved.
Further, in the first operation step S100 of the second car 120b, the position of the hook on the first spreader may be controlled by the controller so that the position of the hook matches the position and size of the container on the transfer platform, thereby improving the automation of the loading and unloading process.
Further, in the first operation step S100 of the first cart 120a and/or the second cart 120b, the height of the weight 140 may be controlled by the controller, so that the weight 140 avoids obstacles in the process of operation, further improving the automation degree of the loading and unloading process.
Further, in the first operation step S100 of the first cart 120a and/or the second cart 120b, the operation parameters of the first cart 120a and/or the second cart 120b may be controlled by the anti-rolling and anti-twisting control device to reduce the swing amplitude and the twisting amplitude of the weight 140, further reduce the deviation correction amount in the box-closing step S500, and improve the box-closing efficiency.
Further, after the step S500 of placing the box, a step S600 of lifting the weight 140 to a safe height by the trolley 120 is further included.
In summary, the above-mentioned embodiments are provided only for illustrating the principles and effects of the present invention, and not for limiting the present invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A method of automatically loading and unloading a shore bridge, said shore bridge comprising a main girder, a trolley operable along the length of said main girder, a weight suspended below said trolley by a wire rope, wherein said weight is hoisted to a loading position in a single working cycle of said trolley, said working cycle comprising at least:
a first running step, wherein the trolley runs from a first position of the main beam to a preset position;
detecting, namely detecting deviation values of the heavy object and the trolley in the length direction of the main beam;
a judging step, calculating the difference value between the offset value and a preset offset value, and starting the boxing step if the difference value is smaller than an offset threshold value; if the difference is greater than or equal to the offset threshold, entering an adjustment step;
adjusting the position of the trolley from the preset position to a second position to reduce the distance between the heavy object and the box placing position, wherein the distance between the preset position and the second position is equal to the difference;
a box landing step of lowering the weight to the box landing position;
the preset position is a second position in the last working cycle of the trolley, and the preset deviation value is a deviation value detected in the last working cycle of the trolley.
2. The method for automated loading and unloading of shore cranes according to claim 1, wherein said offset threshold value is between 40 and 60 mm.
3. The method for automatically loading and unloading a shore bridge according to claim 1, wherein said shore bridge is a double trolley shore bridge, said main beams comprise a first main beam and a second main beam, said trolleys comprise a first trolley and a second trolley, said first trolley is movable along the length direction of said first main beam, said second trolley is movable along the length direction of said second main beam;
the weight suspended below the first trolley is a first lifting appliance and a container fixedly arranged below the first lifting appliance;
the weight suspended below the second trolley is a second lifting appliance;
a transfer platform is arranged below the double-trolley shore bridge, and the landing position is positioned on the transfer platform;
in one working cycle of the shore bridge, the first trolley is used for hoisting the container from an initial position to the container landing position, and the second trolley is used for hoisting the container from the container landing position to a target position.
4. The automated quay crane loading and unloading method according to claim 3, wherein in the step of landing, a lowering parameter of the weight is manually controlled.
5. The automated quay crane loading and unloading method according to claim 3, wherein in the step of landing, a lowering parameter of the weight is controlled by a controller, and the step of landing includes:
detecting the distance between the heavy object and the box landing position in the horizontal direction;
if the distance exceeds a deflection threshold value, controlling the trolley to stop dropping the heavy object through the controller; and if the distance does not exceed the deflection threshold value, controlling the trolley to lower the weight through the controller.
6. The automated quay crane loading and unloading method according to claim 5,
in the step of placing the first trolley, when the height of the heavy object is 1100-2600 mm, the deflection threshold value is 150-450 mm;
in the step of placing the second trolley, when the height of the heavy object is 700-2000 mm, the deflection is 100-360 mm;
the yaw threshold decreases linearly with decreasing height of the weight.
7. The method for automated loading and unloading of a shore bridge according to claim 3, wherein in the first running step of the second trolley, the position of the hook on the second spreader can be controlled by a controller so that the position of the hook matches the position and size of the container to be handled on the transfer platform.
8. The method for automated loading and unloading of a shore bridge according to claim 3, wherein in said first running step of said first trolley and/or said second trolley, the height of said weight is controlled by a controller so that said weight avoids obstacles in the course of the running.
9. The method for the automated loading and unloading of a shore bridge according to claim 3, wherein in said first operating step of said first trolley and/or said second trolley, the operating parameters of said first trolley and/or said second trolley can be controlled by means of an anti-roll and anti-twist control module in order to reduce the amplitude of the oscillation and/or twisting of said weight.
10. The method for automatically loading and unloading a shore bridge according to claim 1, further comprising a lifting step of lifting said heavy object to a safe height by said trolley after said box landing step.
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| EP3056464A1 (en) * | 2015-02-11 | 2016-08-17 | Siemens Aktiengesellschaft | Automated crane control taking into account load and location dependent measurement errors |
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