EP0668236A1 - Arrangement pour positioner des charges de grue - Google Patents

Arrangement pour positioner des charges de grue Download PDF

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Publication number
EP0668236A1
EP0668236A1 EP95101562A EP95101562A EP0668236A1 EP 0668236 A1 EP0668236 A1 EP 0668236A1 EP 95101562 A EP95101562 A EP 95101562A EP 95101562 A EP95101562 A EP 95101562A EP 0668236 A1 EP0668236 A1 EP 0668236A1
Authority
EP
European Patent Office
Prior art keywords
load
bearing frame
devices
laser distance
distance profile
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
EP95101562A
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German (de)
English (en)
Other versions
EP0668236B1 (fr
Inventor
Wolfgang Dipl.-Ing. Wichner
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.)
Siemens AG
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Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP0668236A1 publication Critical patent/EP0668236A1/fr
Application granted granted Critical
Publication of EP0668236B1 publication Critical patent/EP0668236B1/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
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • 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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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 an arrangement for load positioning in cranes with a load-bearing frame for transporting a load that can be locked on the underside of the load-bearing frame, with laser distance profile measuring devices which are arranged on the load-bearing frame, the outer edges of the load-bearing frame running transversely to the transport direction in each case at least one of the Laser distance profile measuring devices is assigned, with devices for beam deflection, which are arranged individually in the beam path of each laser distance profile measuring device in the area of the associated outer edge of the load-bearing frame in such a way that a laser beam generated by each of the laser distance profile measuring devices within a scanning angle range surrounds the area of the load-bearing frame and the if necessary, load suspended in an angular range that is open perpendicular to the course of the assigned outer edge, and with a laser distance Evaluation profile measuring devices connected to determine position data of the surroundings of the load-bearing frame and the load from the laser light reflected back from the surroundings into the laser distance profile measuring devices.
  • load-bearing frames often have very different constructions, which generally result in different locations for the possible attachment of the laser distance profile measuring devices and therefore different results for the distance profile measurements.
  • the invention is therefore based on the object of developing the known arrangement in an operational manner such that an accurate determination of position data from the surroundings of the load-bearing frame with the load possibly attached to it is possible.
  • the object is achieved in that the arrangement of the type specified at the load-bearing frame at predetermined locations, which lie in the scanning angle ranges of the laser beams, the laser light reflecting back edges are formed and that the evaluation device relative to the position data of the environment of the load-bearing frame evaluates the position data determined for the edges.
  • the laser distance profile measuring devices with the devices for beam deflection can therefore be arranged at different locations on the load-bearing frame, depending on the requirements, and in particular they are also shock-absorbent, ie. H. can be mounted swinging without affecting the result of the distance profile measurement.
  • the laser distance profile measuring devices can be arranged in a shock-absorbing manner alone or together with the devices for beam deflection.
  • the edges formed on the load-bearing frame and reflecting the laser light back do not protrude beyond the outer dimensions of the load-bearing frame, the edges are preferably designed in the form of shoulders within recesses in the perpendicular outer surfaces of the load-bearing frame.
  • Load suspension frames for containers can have different constructions; however, they have in common that they have means at the corners, so-called twist locks, for locking the containers and that the corners have vertical flat outer surfaces on the outside in order to be able to insert the load-bearing frame with the container, for example, into container receiving shafts in ships. Accordingly, the containers, regardless of shape and size, all have the same corner fittings.
  • the laser distance profile measuring devices are arranged on at least two, preferably all outer corners of the load-bearing frame, so that when the load-bearing frame is lowered onto a target container in the correct position, its corner fittings are in the scanning angle ranges of the laser range finders.
  • the laser distance profile measuring devices therefore detect those points of the target container in their scanning angle ranges, namely its corner fittings, which are the only places that are the same for all container types, so that the evaluation device enables the position of the load-bearing frame to be evaluated independently of the respective container type - possibly together with one on it hanging further container - takes place with respect to the target container on which the load-bearing frame is to be placed - possibly with the container hanging on it.
  • the laser distance profile measuring devices are preferably arranged on all outer corners of the load receiving frame.
  • the laser distance profile measuring devices are preferably arranged in cavities of the load receiving frame, which are provided for receiving actuating devices for means for locking the load.
  • the devices for beam deflection are each held in a stop position by the force of a spring, in which the devices protrude beyond the outer edges of the load-bearing frame assigned to them, that the devices for beam deflection each counter to the force of the The spring can be deflected from its stop position and that the devices for beam deflection are provided with run-up bevels in their areas which protrude beyond the outer edges.
  • the devices for beam deflection are preferably assigned signaling contacts that detect deflections of the devices from their stop positions. In such a case, the measurement results of the assigned laser distance profile measuring device are then ignored or suppressed in order to prevent incorrect measurements.
  • the arrangement according to the invention advantageously has a collision monitoring device scanning the surroundings of the load receiving frame and actuating devices for automatically deflecting the devices for beam deflection as a function of an output signal the collision monitoring device.
  • the laser distance profile measuring devices with the downstream evaluation device are components of the collision monitoring device, with the laser distance profile measuring devices themselves scanning the surroundings of the load-bearing frame for possible collision objects.
  • the collision monitoring device preferably has, as an alternative or supplement to the laser distance profile measuring devices, ultrasonic sensors which are arranged in the area of its outer edges for scanning the surroundings of the load-bearing frame.
  • a marking with a reflecting surface is arranged on the load-bearing frame for detecting the load oscillations
  • a lighting device directed at the marking is arranged on the crane
  • a line camera also directed at the marking is also arranged on the crane is arranged with an image sensor line oriented longitudinally to the transport direction and that the line camera is followed by a signal evaluation unit which generates an output signal corresponding to the current position of the marking from the signal of the image sensor line.
  • a measuring device for determining the respective pendulum length is advantageously provided, the measuring signal of the measuring device being evaluated in the signal evaluation unit together with the signal of the image sensor line in order to determine the current load position.
  • the measuring device for determining the pendulum length can be, for example, an angular step encoder or absolute value encoder on the rope drum of the crane; it is also possible to determine the pendulum length by laser distance measurement between the crane and the load suspension frame.
  • FIG. 1 schematically shows a trolley 1 which can be moved along a jib 2 of a container crane, which is shown only in sections here.
  • Lifting winches 3 are arranged on the cat 1, on which a load suspension frame (spreader) 5 for a load 6, here a container, hangs over ropes 4.
  • the container 6 is to be placed, for example, on a further container (target container) 7 that has already been parked.
  • target container On both sides of the container 7, further containers 8, 9 and 10, partially stacked on top of one another, are deposited.
  • the load 6 can be made to oscillate. In the following it is assumed that the oscillations of the load take place essentially in the direction of travel x of the trolley 1, with additional oscillations of the load 6 also being able to occur.
  • a marking 11 is attached to the load-bearing frame 5, which is illuminated by a headlight 12 held vertically above the trolley 1 when the load 6 is at rest, the light reflected by the marking 11 from a line camera 13 arranged directly next to or in the headlight 12 is detected.
  • the marking 11 consists of a rectangular reflecting surface with an edge side parallel to the pendulum direction x, which is surrounded by a non-reflecting surface 14.
  • the reflecting surface 11 consists of a multiplicity of triple reflector elements, not shown here, which reflect light incident on them in the direction from which it came.
  • the line camera 13 is arranged on the trolley 1 in such a way that its scanning plane 15 intersects the marking 11 along the pendulum direction x.
  • the line camera 13 has an image sensor line 16 with a large number of image sensor elements 17 lying next to one another, the image information of which is transferred in parallel to a shift register 18 and from there is forwarded serially to a signal evaluation unit 19.
  • the signal evaluation unit 19 searches for the serial signal S of the image sensor line 16 after the occurrence of the two brightness changes with the greatest contrast in each case, and in this way detects the edges of the reflecting surface 11 running transverse to the scanning direction 15. From the center the position of the center of the marking 11 is determined in the signal evaluation unit 19 between the two detected brightness changes.
  • the line camera 13 When arranging the line camera 13, it was assumed that load oscillations occur mainly in the direction of travel x of the trolley 1. If possible oscillations are also to be recorded transversely thereto, a further line camera, not shown here, can be provided for this purpose, the image sensor line of which is oriented in the z direction.
  • the pendulum length can also be measured with the aid of a laser distance measuring device, which is arranged on the trolley 1 and measures the distance, for example, to the marking 11 on the load-bearing frame 5.
  • a plurality of laser distance profile measuring devices 21 to 24 are arranged at the corners of the load-bearing frame 5.
  • the laser removal voltage profile measuring devices 21 to 24 are used to determine the position of the load-bearing frame 5 with the load 6 attached to it in relation to its surroundings with the target container and the other containers 8, 9 and 10.
  • Each laser distance profile measuring device, e.g. B. 21 each generates a laser beam 25 which is deflected in a predetermined angular range.
  • devices 26 to 29 for beam deflection are each arranged in such a way that the laser distance profile measuring device, for. B.
  • Each of the two outer edges 31 and 32 of the load-bearing frame 5 extending transversely to the direction of travel x of the trolley 1 is in each case at least one laser distance profile measuring device, e.g. B. 21 and 24 assigned.
  • these two laser distance profile measuring devices 21 and 24 are arranged in a corner, and thus offset in the z direction, so that it is possible to measure not only pendulum movements in the x direction but also rotary oscillations of the load 6, which are contained therein express that the x-coordinates of distinctive points in the vicinity of the load 6 measured with the laser distance profile measuring devices 21 and 24 change in time differently.
  • a laser distance profile measuring device 21 to 24 is preferably arranged at each corner of the load-bearing frame 5.
  • the two laser distance profile measuring devices 22 and 24 first detect the outer edge of the target container 7, designated 33, in the area of its corner fittings 34 and 35. Later, when the load 6 is located partially directly above the target container 7, the outer edge 34 in the area of the corner fittings 37 and 38 is detected by the two laser distance profile measuring devices 22 and 24. At the moment when the load 6 is transported over the drawing container 7, the outer edge 34 comes out of the field of view of the laser distance profile measuring devices 22 and 24, while at the same time the outer edge 33 is detected by the laser distance profile measuring devices 21 and 23.
  • the load 6 is located exactly above the target container 7 when both outer edges 33 and 34 of the target container 7 simultaneously disappear from the field of view of the laser distance profile measuring devices 21 to 24. Since the target container 7 can be open at the top or covered by an irregular tarpaulin, its outer edges 33 and 34 can be most safely scanned in the area of the corner fittings 35 to 38, which serve to lock the target container 7 by a load-carrying frame and also to lock it thereon are always the same for different container types. For this reason, the laser distance profile measuring devices 21 to 27 are also arranged in the region of the outer corners of the load-bearing frame 5.
  • a laser (not shown here) can also be provided in the area of the outer edges 39 and 40 of the load-bearing frame 5 each running in the x direction.
  • Distance profile measuring device can be arranged with an associated device for beam deflection.
  • Load-bearing frames for containers can be constructed very differently and have different, often adjustable outer dimensions for adapting to different container types. Relatively uniform for all load-bearing frames, however, are their designs at the outer corners, the outside having flat outer sides 41 for insertion into container-holding shafts in ships and so-called twist-locks 42 for locking the load-bearing frame 5 with the container to be held in each case, which by a drive mechanism 43 are operable in a cavity 44 in the respective corner of the load-bearing frame 5.
  • the laser distance profile measuring device 21 is accommodated in a protective housing 45 in a shock-absorbing manner (symbolized here by a resilient bearing).
  • Attached to the protective housing 45 is a beam guide tube 46 for the laser beam 25 generated by the laser distance profile measuring device 21, which ends in a preferably conical tip 48 provided with run-up bevels 47.
  • the device 26 for beam deflection for example a deflection mirror or a deflection prism, is arranged in a fixed angular position.
  • the tip 48 contains an opening 49 through which the laser beam emerges with the scanning angle region 30 downward.
  • the beam guide tube 46 is slidably mounted in a guide sleeve 50 which is open to the outside 41 of the load-bearing frame 5, and is held in a stop position by the force of a spring 51 in which the device 26 for beam deflection is located beyond the outside 41 of the load-bearing frame 5 .
  • a guide sleeve 50 which is open to the outside 41 of the load-bearing frame 5, and is held in a stop position by the force of a spring 51 in which the device 26 for beam deflection is located beyond the outside 41 of the load-bearing frame 5 .
  • the device 26 for beam deflection is moved back regardless of whether the collision takes place in the y direction when the load receiving frame moves upward or downward or in the x direction due to movement or pendulum movements of the load receiving frame 5. Since, in the exemplary embodiment shown, the protective housing 45 for the laser distance profile measuring device 21 is connected to the displaceable beam guide tube 46, the laser distance profile measuring device 21 is also moved back in the event of a collision. However, it is also possible to firmly arrange the protective housing 45 with the laser distance profile measuring device 21 in the cavity 44 in the corner of the load-bearing frame 5 and only to arrange the beam guide tube 46 with the device 26 for beam deflection contained therein.
  • a signaling contact 52 is arranged, which is connected via a signal line 53 to the laser distance profile measuring device 21 and causes an interruption of the measuring process as soon as the guide tube 46 is moved back out of its stop position.
  • the load-bearing frame 5 On its outer side 41, the load-bearing frame 5 has an edge 54 which reflects the laser light back at a predetermined point lying within the scanning angle range 30. This is in the form of a shoulder within a recess 55 in the outside 41 so that it does not protrude beyond the vertical guide surface formed by the outside 41.
  • the position data of the edge 54 are therefore also acquired in addition to the position data of the surroundings.
  • the position data of the environment are evaluated relative to that of the edge 54, so that the result is not the relative position of the laser distance profile measuring device 21 to the surroundings of the load-bearing frame 5, but the relative position of the edge 54 on the load-bearing frame 5 to its surroundings .
  • the edge 54 is always formed at the same defined location at the corners of the load-bearing frame 5, regardless of the size and construction of the respective load-bearing frame 5, the position data determined for the surroundings of the load-bearing frame 5 are independent of the respective design of the load-bearing frame and the respective Installation positions at which the laser distance profile measuring devices 21 to 24 are attached to the load-bearing frame 5.
  • the position of the shock-absorbing arrangement of the laser distance profile measuring devices 21 to 24 on the load-bearing frame 5 is not clearly defined, but this is due to the fact that the position data of the surroundings of the load-bearing frame 5 are evaluated relative to the position data determined for the edge 54, has no influence on the measuring accuracy.
  • the arrangement of the device 26 for beam deflection in the displaceable beam guide tube 46 provided with run-up bevels 47 prevents damage to the device 26 in the event of collisions with foreign objects.
  • a further protection of the device 26 to 29 for beam deflection from collision damage is achieved in that ultrasonic sensors 56 are arranged on the load-bearing frame 5 in the area of the outer edges 35, 36, 39 and 40, which scan the surroundings of the load-bearing frame 5 (FIG. 2). As shown in FIG.
  • each of these devices is assigned an actuating device 57, which is actuated by the ultrasound sensors 56 when the load-bearing frame 5 is too close to a possible collision object and thereupon an automatic deflection of the device 26 for beam deflection effected from their stop position.
  • FIG. 5 shows the block diagram of a control structure for the container crane.
  • the coordinate coordinates are calculated as a function of the external dimensions of the target container 7, which are communicated to the control unit 59 via an input unit 60, the target coordinates Xz , y z for depositing the load 6.
  • the angles of rotation of the load-bearing frame 5 with the load 6 relative to the target container 7 are also calculated.
  • the coordinates of possible collision objects on both sides of the target container 7 are determined.
  • the ultrasonic sensors 56 are connected directly to the control unit 59.
  • the actuation devices 57 for automatically deflecting the devices 26 and 27 for beam deflection in the event of an impending collision risk are also connected to the ultrasonic sensors 56.
  • the position data generated by the signal evaluation device 19 as a function of the signals from the line camera 13 and the angular pacemaker 20 are likewise fed to the control unit 59 and there, depending on the control unit 59, communicated external dimensions of the load-bearing frame 5 and the load 6 in position coordinates Xs , via the input unit 60, y s of the load-bearing frame 5 and converted into load coordinates Xc , y c of the load 6 based on the coordinate system of the trolley 1.
  • the control unit 59 is informed of the respectively current position of the trolley 1 and the container crane by a trolley position measuring device 61 and a crane position measuring device 62.
  • the current position coordinates Xs , y s of the load-bearing frame 5 or Xc , y c of the load 6 and Xz , y z of the target container 7 obtained in this way are used within the control unit 59 for the regulation of load oscillations and for a load positioning regulation.
  • the position values of the load 6 or the load-bearing frame 5 supplied by the line camera 13 and the angular step encoder 20 become rough positioning and the data obtained with the aid of the laser distance profile measuring devices 21 to 24 about the relative position of the load-bearing frame 5 with the load 6 attached to it the target container 7 used for fine positioning of the load-bearing frame 5 or the load 6.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP95101562A 1994-02-18 1995-02-06 Arrangement pour positioner des charges de grue Expired - Lifetime EP0668236B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4405231 1994-02-18
DE4405231 1994-02-18

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Publication Number Publication Date
EP0668236A1 true EP0668236A1 (fr) 1995-08-23
EP0668236B1 EP0668236B1 (fr) 1999-05-19

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018153A1 (fr) * 1995-11-14 1997-05-22 Sime Oy Procede et dispositif d'enlevement, de transport et de depose d'une charge
EP0820957A1 (fr) * 1996-07-24 1998-01-28 Framatome Procédés et dispositif pour la manutention d'unités de transport intermodal
WO2003016194A1 (fr) * 2001-08-10 2003-02-27 Yuzo Shimizu Palonnier de suspension de conteneurs
WO2012113465A1 (fr) * 2011-02-24 2012-08-30 Robert Bosch Gmbh Dispositif de mesurage de véhicules
WO2014170554A1 (fr) 2013-04-17 2014-10-23 Konecranes Plc Dispositif de saisie pour appareil de manipulation de charges et grue
WO2014191618A1 (fr) 2013-05-31 2014-12-04 Konecranes Plc Manutention de fret par un palonnier
DE102013011718A1 (de) * 2013-07-15 2015-01-15 Isam Ag Verfahren zur Steuerung einer Containerbrücke zum Be- oder Entladen, insbesondere des Laderaumes, eines Schiffes bzw. Steuersystem zur Steuerung einer Containerbrücke bzw. Containerbrücke mit Steuersystem
NL2016192B1 (nl) * 2016-02-01 2017-08-10 Stinis Beheer Bv Inrichting voor het waarnemen van een positie van een hijsframe en gebruik daarvan voor het besturen van een aan een kraan opgehangen hijsframe
CN108689300A (zh) * 2018-08-08 2018-10-23 北京起重运输机械设计研究院有限公司 瓣式抓斗落料检测与保护装置及安装方法
CN110361970A (zh) * 2019-06-18 2019-10-22 中建一局集团建设发展有限公司 一种用于吊挂看台吊点选取及提升控制的方法
CN112960550A (zh) * 2021-01-28 2021-06-15 唐山钢铁集团微尔自动化有限公司 一种天车手动操作时防摆控制方法
CN113135438A (zh) * 2021-04-25 2021-07-20 上海海事大学 一种基于深层地下通道的地下集装箱物流装卸系统
CN117105092A (zh) * 2023-08-15 2023-11-24 广州港股份有限公司 激光扫描式吊具姿态检测系统及应用其的调整设备、方法

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CN107758520A (zh) * 2017-10-20 2018-03-06 德马科起重机械有限公司 一种起重机小车防撞装置
CN112374374A (zh) * 2020-11-26 2021-02-19 中国第一汽车股份有限公司 一种能够防碰撞的吊具

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EP0342655A2 (fr) * 1988-05-18 1989-11-23 Tax Ingenieurgesellschaft Mbh Installation de grue pour conteneur
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Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018153A1 (fr) * 1995-11-14 1997-05-22 Sime Oy Procede et dispositif d'enlevement, de transport et de depose d'une charge
US6256553B1 (en) 1995-11-14 2001-07-03 Sime Oy Method and device to pick up, transport and put down a load
EP0820957A1 (fr) * 1996-07-24 1998-01-28 Framatome Procédés et dispositif pour la manutention d'unités de transport intermodal
FR2751628A1 (fr) * 1996-07-24 1998-01-30 Framatome Sa Procedes et dispositif pour la manutention d'unites de transport intermodal
WO2003016194A1 (fr) * 2001-08-10 2003-02-27 Yuzo Shimizu Palonnier de suspension de conteneurs
WO2012113465A1 (fr) * 2011-02-24 2012-08-30 Robert Bosch Gmbh Dispositif de mesurage de véhicules
US9618444B2 (en) 2011-02-24 2017-04-11 Robert Bosch Gmbh Vehicle measurement system
EP2986549A4 (fr) * 2013-04-17 2016-12-14 Konecranes Global Corp Dispositif de saisie pour appareil de manipulation de charges et grue
WO2014170554A1 (fr) 2013-04-17 2014-10-23 Konecranes Plc Dispositif de saisie pour appareil de manipulation de charges et grue
EP3447533A1 (fr) * 2013-04-17 2019-02-27 Konecranes Global Corporation Dispositif de saisie pour appareil de manipulation de charge et grue
US9783394B2 (en) 2013-04-17 2017-10-10 Konecranes Global Corporation Grabber for load handling apparatus and crane
WO2014191618A1 (fr) 2013-05-31 2014-12-04 Konecranes Plc Manutention de fret par un palonnier
CN105492365A (zh) * 2013-05-31 2016-04-13 科恩起重机环球公司 通过吊具的货物装卸
EP3003953A4 (fr) * 2013-05-31 2016-12-14 Konecranes Global Corp Manutention de fret par un palonnier
US10414636B2 (en) 2013-05-31 2019-09-17 Konecranes Global Corporation Cargo handling by a spreader
US20160122161A1 (en) * 2013-05-31 2016-05-05 Konecranes Global Corporation Cargo handling by a spreader
DE102013011718A1 (de) * 2013-07-15 2015-01-15 Isam Ag Verfahren zur Steuerung einer Containerbrücke zum Be- oder Entladen, insbesondere des Laderaumes, eines Schiffes bzw. Steuersystem zur Steuerung einer Containerbrücke bzw. Containerbrücke mit Steuersystem
WO2017135819A1 (fr) * 2016-02-01 2017-08-10 Stinis Beheer B.V. Dispositif de détection d'une position d'un cadre de levage et son utilisation pour commander un cadre de levage suspendu à une grue
NL2016192B1 (nl) * 2016-02-01 2017-08-10 Stinis Beheer Bv Inrichting voor het waarnemen van een positie van een hijsframe en gebruik daarvan voor het besturen van een aan een kraan opgehangen hijsframe
US10981757B2 (en) 2016-02-01 2021-04-20 Stinis Beheer B.V. Device for detecting a position of a hoisting frame and use thereof to control a hoisting frame suspended from a crane
CN108689300A (zh) * 2018-08-08 2018-10-23 北京起重运输机械设计研究院有限公司 瓣式抓斗落料检测与保护装置及安装方法
CN110361970A (zh) * 2019-06-18 2019-10-22 中建一局集团建设发展有限公司 一种用于吊挂看台吊点选取及提升控制的方法
CN112960550A (zh) * 2021-01-28 2021-06-15 唐山钢铁集团微尔自动化有限公司 一种天车手动操作时防摆控制方法
CN113135438A (zh) * 2021-04-25 2021-07-20 上海海事大学 一种基于深层地下通道的地下集装箱物流装卸系统
CN117105092A (zh) * 2023-08-15 2023-11-24 广州港股份有限公司 激光扫描式吊具姿态检测系统及应用其的调整设备、方法
CN117105092B (zh) * 2023-08-15 2024-03-29 广州港股份有限公司 激光扫描式吊具姿态检测系统及应用其的调整设备、方法

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EP0668236B1 (fr) 1999-05-19

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