EP0759006A1 - Verfahren zur zielwegkorrektur eines lastträgers und lastentransportanlage - Google Patents
Verfahren zur zielwegkorrektur eines lastträgers und lastentransportanlageInfo
- Publication number
- EP0759006A1 EP0759006A1 EP95921743A EP95921743A EP0759006A1 EP 0759006 A1 EP0759006 A1 EP 0759006A1 EP 95921743 A EP95921743 A EP 95921743A EP 95921743 A EP95921743 A EP 95921743A EP 0759006 A1 EP0759006 A1 EP 0759006A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rope
- carrier
- cable
- target field
- target
- 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
Links
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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
-
- 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
Definitions
- the invention relates to a method for correcting the target path of a load carrier approaching a target position, which is suspended in a height-adjustable manner on a horizontally movable lifting cable carrier via a lifting cable system.
- Such methods are used in particular when containers for the transport of cargo on ships or railways or trucks have to be transported from a starting point to a destination and have to assume a certain position at the destination. If here from a certain position, e.g. an actual position or a target position, it can mean the location of a point of the respective container, the angular position of the respective container around a vertical axis and both the location of a point, i.e. about the center, of this container and 'the angular position of the Containers about a vertical axis, for example the vertical axis of the container, which runs through the geometric center.
- a certain position e.g. an actual position or a target position
- it can mean the location of a point of the respective container, the angular position of the respective container around a vertical axis and both the location of a point, i.e. about the center, of this container and 'the angular position of the Containers about a vertical axis, for example the vertical axi
- the target position can be a specific parking space on the deck of a ship or the entrance of a container shaft into which the respective container is to be lowered.
- the high conversion speeds are necessary due to economic considerations: the dwell times of a ship in a port facility cost expensive fees. The faster a ship can be loaded and unloaded, the shorter the necessary dwell times of the respective ship. It is therefore essential that the containers are not only moved at high speed from the point of departure to the destination; it is rather of crucial importance that the exact positioning of the container can take place in the shortest possible time in the final approach phase of the container.
- the containers on the deck of a ship must be set up in precisely predetermined locations according to their location and orientation. It is also understandable that the containers intended for storage in the container receiving shafts of a ship must reach the entrance of the respective container receiving shaft in precise geometric coverage to the latter.
- the actual position of the container for example represented by the actual position of the geometric center of the container when it reaches the entrance of the container shaft, must be aligned exactly with the center of the cross-sectional area of the container shaft entrance in the vertical direction and that the actual angular position must continue of the container outline around its vertical axis must exactly match the angular position of the outline of the container shaft entrance. Only if these correspondences are guaranteed can the respective container be moved to its target position at high speed. Only if these correspondences are met can a container, for example, be lowered at a high lowering speed through the entrance of the container shaft to its respective location within the container shaft.
- the lowering paths that a container has to go through when loading a ship are very large, for example in the order of up to 50 m. These large lowering paths are given on the one hand by the considerable height of the container receiving shafts, on the other hand and in particular also by the large height of the superstructures of ships with which the containers and in particular the crane structures on which the load carriers carry out their transport movements, must not collide.
- Such crane constructions generally have a tower-like crane undercarriage which can be moved along a quai edge and that a bridge girder is arranged on this tower-like crane undercarriage which runs essentially orthogonally to the quai edge.
- a correction of the target approach path is carried out in that the course of at least one cable element of the lifting cable system running between the lifting cable carrier and the load carrier in a region close to the lifting cable carrier relative to the lifting cable carrier in is shifted substantially horizontally.
- the main difference compared to the methods known from the prior art is that no longer is the lifting cable carrier as a whole subjected to a movement for carrying out the target correction and in particular the entire crane system consisting of a tower-type crane undercarriage and bridge girder is not subjected to a target correction movement, but instead only one or more cable elements running between the lifting cable carrier, for example trolley and load carrier, is displaced. It has been shown that the actuating forces required for the displacement of one or more hoisting rope elements are relatively low compared to the correction forces which previously had to be applied to the hoisting rope carrier in the form of a trolley or to the tower-shaped crane undercarriage. The for Carrying out corrective movements for the drive power to be installed can therefore be reduced.
- the drive powers which are necessary for displacing an upper end of a rope element running between the lifting rope carrier and the load carrier have proven to be relatively insignificant.
- To move the upper end of a cable element running between the lifting cable carrier and the load carrier it is of course necessary to move a cable path influencing element which engages the respective lifting cable element and has to be moved in the horizontal direction relative to the lifting cable carrier, that is to say the trolley, in order to make a change of the cable way.
- the masses of such cable path influencing elements can be kept relatively low and thus also the drive powers of the movement means which have to be installed in order to move such cable path influencing elements.
- the method according to the invention can be developed in such a way that the displacement of the at least one cable element can be carried out in different directions in accordance with the target error detection. This means that one can carry out the target path correction regardless of the direction of the target path deviation of a sinking load.
- target error detection should be covered by optical and electronic observation means; however, all other known types of observation means are also conceivable ? and it is in particular also possible that an approximately on the
- Trolley that is, the hoist rope carrier
- the operator positioned and monitors the target error with the eye and evaluates the shifting of the respective rope element relative to the hoist rope carrier in accordance with his assessment.
- a further essential advantage of the method according to the invention is as follows: While corrective movements of a tower-like crane undercarriage have great difficulties in transferring the drive power for necessary correction accelerations via the conventional rail wheels of the crane undercarriage and frequently have to experience the rail wheels slipping when appropriate drive powers are introduced
- the drive powers can be positively transferred to the cable path influencing elements to be moved for displacing a cable element relative to the hoist cable carrier (trolley), for example by gear drives or also by hydraulic power devices, so that "slipping" does not occur is to be feared.
- the displacement of the at least one cable element rotatory target path corrections of the load carrier by a vertical 9 kale axis can be brought about.
- the load carrier can also be oriented about a vertical axis, for example the vertical axis passing through its geometric center. It is possible for several cable elements to be moved one after the other or simultaneously. By simultaneously displacing several rope elements, the correction forces to be generated on the load carrier can be increased. By moving several rope elements one after the other, you can make a gradual target correction; there is still a correction reserve if it turns out that the displacement of a cable element has not yet led to a sufficient correction of the target path.
- Partial displacement should mean, for example, that a cable element is displaced with respect to the hoist cable carrier both in the longitudinal direction of the container (first partial displacement) and in the transverse direction of the container (second partial displacement). In this way, a target path correction can be carried out in different directions simultaneously or in succession.
- a particularly important aspect of the method according to the invention is that only relatively small masses have to be moved in order to correct the target path, small in relation to the total mass of the hoisting cable carrier.
- the rope course influencing units used for influencing the rope path can be kept relatively low in mass.
- the mass of the rope course influencing unit to be moved to influence the rope path is generally less than 30%, preferably less than 20%, most preferably less than 10% of the total weight of the hoist rope carrier, even if for influencing a corresponding plurality of rope course influencing units is provided for the rope path of several rope elements.
- load carriers for containers can be suspended from four cable elements or groups of such cable elements, which are arranged, for example, in the corners of a horizontal rectangle.
- the rope elements or rope element groups can be shifted in the same direction parallel to one another if one wants to bring about a translational target path correction. Furthermore, in this case it is also possible to carry out a rotational, ie an orientation correction, by displacing at least two rope elements or groups of rope elements lying opposite one another along a diagonal of the rectangle in an antiparallel direction in the diagonal crossing direction with respect to the lifting rope carrier. In addition, it is also possible with a correspondingly sophisticated design of the control system, at the same time translatory corrections and orientation corrections by appropriate dimensioning of the for individual rope elements.
- the invention further relates to a load transport system comprising a mobile carrier with at least one horizontal track, a hoist rope carrier movable on this horizontal track, transport drive means for issuing transport movements on the hoist cable carrier along the track and one load carrier suspended from the hoist rope carrier by a length-adjustable hoist rope system, the hoist rope system comprising at least one rope element running between the hoist rope carrier and the load carrier.
- the roadway girder can again be a horizontal bridge girder, which is suspended on a tower-like crane undercarriage that can be moved in the longitudinal direction of a quai edge and extends in the transverse direction to the quai edge.
- the hoist rope carrier can again be a trolley which can be moved along the bridge carrier.
- the transport drive means can be formed, for example, by ropes which extend over the length of the bridge girder and are secured by appropriate cable drum Rotation in the longitudinal direction of the bridge girder to drive the trolley in the longitudinal direction of the bridge girder.
- the trolley ie the hoist cable carrier
- this drive mechanism driving one or more of the rollers with which the hoist cable carrier is guided on the track carrier.
- the at least one cable element near the hoist cable carrier is assigned a cable course influencing unit which is movable on the hoist cable carrier (i.e. on the trolley) in a substantially horizontal plane of movement.
- This level of movement must be considered to be stationary relative to the hoist rope carrier, i.e. opposite the trolley.
- the cable run influencing unit is in drive connection with cable moving means supported on the hoist cable carrier.
- the rope course influencing unit should have as little mass as possible in comparison to the total mass of the hoist rope carrier.
- the rope course influencing unit can be designed in various ways to displace the respective rope element relative to the hoisting rope carrier.
- the cable run influencing unit can be designed with a cable anchoring point or with a cable deflection roller or with a cable drum or with a cable loop eyelet.
- the rope course influencing unit has the lowest mass only when it is used to shift a rope anchoring point.
- the mass to be displaced is relatively large when the cable course influencing unit comprises a cable drum. But even in this case there is still a substantial reduction in the masses to be accelerated compared to systems in which the entire trolley had to be moved to correct the position of a load carrier.
- the rope course influencing unit is preferably in drive connection with at least two moving units with different directions of movement and variable course of movement.
- This can be imagined, for example, by the fact that the cable course influencing unit is mounted on the lifting cable carrier by means of two intersecting slides, each of these slides having a special moving unit, i.e., e.g. a gear drive or a hydraulic actuating cylinder is assigned.
- a special moving unit i.e., e.g. a gear drive or a hydraulic actuating cylinder
- Size and direction are exerted or that torques of different sizes and different directions of rotation are exerted on the load carrier about a respective vertical axis or that combinations of translational correction forces and torques influencing orientation are exerted on the load carrier.
- a cable path influencing unit prefferably constructed according to the principle of a polar coordinate system.
- the cable path influencing unit can be in a form-fitting drive connection with the movement means supported on the lifting cable carrier.
- rope course influencing units there are several rope course influencing units, then at least two such rope course influencing units can be brought into motion by mechanical or control means. This is particularly possible and advantageous for reasons of simplification if only translatory target path corrections need to be carried out and no changes in orientation have to be made.
- the invention relates to a method for positioning the load carrier in a load transport system, comprising a lifting cable carrier carrying out transport movements under the influence of transport drive means and a load carrier suspended from the lifting cable carrier by a lifting cable system.
- the method is basically intended to move the load carrier into a target position with or without a load to position, which is determined by a target position height coordinate and at least one target position horizontal coordinate.
- the load carrier is moved by a horizontal movement of the load carrier caused by a transport movement of the lifting cable carrier and a vertical movement of the load carrier derived from a change in length of the lifting cable system.
- the instantaneous values of a plurality of variable state variables are determined in at least one detection time before the target position is reached.
- This plurality of state variables includes at least the following:
- the necessary change in the course of the rope of the at least one rope element is brought about by setting a rope course influencing unit of the at least one rope element arranged on or near the hoisting rope carrier in an essentially horizontal movement relative to the hoisting rope carrier by means of rope moving means which lead to the common transport movement are connected to the hoist rope carrier.
- variable correction forces can be generated by changing the movement of the rope course influencing unit in a time-dependent manner, for example allowing it to start slowly, then keeping it at a certain speed and then slowly decreasing again.
- the necessary course of the movement of the rope course influencing unit can also be calculated in the computer.
- a load transport system for carrying out the method described above, comprising a carriageway girder with at least one horizontal carriageway, a lifting cable girder (again a trolley) movable on this horizontal carriageway, transport drive means for issuing transport movements to the hoist rope carrier along the roadway and a load carrier suspended from the hoist rope carrier by a length-adjustable hoist rope system.
- Such a load transport system is characterized according to the invention by a plurality of detector means for detecting the instantaneous values of a plurality of variable state variables, including
- first detector means for determining the instantaneous value difference of an actual position height coordinate of the load carrier and a target position height coordinate of the load carrier
- second detector means for determining the instantaneous value difference between at least one actual position horizontal coordinate of the load carrier and an associated target position horizontal coordinate of the load carrier;
- third detector means for determining the instantaneous value of a vertical approach speed of the load carrier to the target position
- fourth detector means for determining the change in the at least one actual position horizontal coordinate relative to the associated target position horizontal coordinate.
- the system is then further characterized by data processing means in an information transmission connection with the above-mentioned detector means for calculating a necessary change in the course of the rope of at least one rope element running between the hoist rope carrier and the load carrier of the hoisting rope system of the change that is necessary in order to achieve this target position essentially exactly in the further course of the approach of the load carrier to the target position.
- this system then comprises a cable course influencing unit arranged on or near the lifting cable carrier in operative connection with a section of the at least one cable element close to the lifting cable carrier for displacing this partial section in a horizontal plane with respect to the lifting cable carrier.
- This rope course influencing unit is in drive connection with rope moving means, these rope moving means being controlled by the data processing means in such a way that they bring about the necessary change in the rope course of the at least one rope element.
- these can be location coordinates which, for example, determine the position of the geometric center point of a container.
- it can also be an angular coordinate which, for example, defines the angular position of a container with respect to a vertical axis passing through its geometric center.
- the present invention relates to a method for correcting the target path of a load carrier approaching a target field, which is suspended from a horizontally movable cable carrier by means of a cable system and is extended in the horizontal plane 1 2?
- Target field is approached by an approach movement, which is composed of a horizontal approach movement and a vertical approach movement superimposed on this horizontal approach movement.
- a target field observation be initiated before the load carrier reaches an overlap with the target field in the course of its approach movement and that the further approach movement is subsequently corrected in accordance with the target field observation.
- This measure ensures that an extended period of time is available for the target path correction towards the end of the approach movement, namely the remaining time which the load carrier needs to overlap with the target field.
- the point in time or the place at which the target path correction controlled by target field observation can start depends on the field area which can be detected by the target field observation means.
- a particularly interesting development of the method of target path correction considered here is that the correction of the approach movement in accordance with the target field observation is initiated at a point in time at which the target field observation can only be reached by the load carrier in advance in the course of the approach movement of the target field is recorded. It is then possible that characteristic features of this partial area are detected by the target field observation, which detects the previously reachable partial area of the target field, which indicate that the partial area belongs to the target field. In particular, it is possible for the target field observation to detect edge structures of a previously reached partial area of the target field, which are spaced apart transversely to the direction of the horizontal approach movement.
- the target field observation recognizes symmetry features of the target field.
- the result of the target field observation of the previously reached partial area of the target field is verified in the course of the further movement of the load carrier towards the target field in accordance with the observation of a partial area of the target field that is later reached in the course of the further approach movement.
- a particularly reliable verification is obtained if the result of the target field observation of the previously reached partial area of the target field is verified as the load carrier moves closer to the target field in accordance with the observation of the entire target field.
- the target field observation is carried out by means of at least one elementary observation device which is attached to the load carrier and which can only observe one surface element of the target field at a given time and targets different surface elements of the target field in succession.
- the captured image field can be enlarged by moving the at least one elementary observation device relative to the load carrier in order to aim successively at different surface elements of the target field, and in particular in such a way that the at least one elementary observation device is moved in succession along parallel search tracks. Especially then one speaks of "scanning".
- the target field observation can also be carried out by means of a bundle of target field observation elements which are arranged, for example, distributed over an area on the load carrier and can be arranged immovably on the load carrier.
- the size of the section of the total field observed that can be detected at any moment can then be determined by the number and distribution of the target field observation elements, which in turn are elementary observation devices, ie are suitable for observing only a small image field element individually.
- the target field observation is carried out by means of a laser beam transmitter-laser beam receiver combination, the laser beam source of which sends a laser beam in the direction of a large number of successive ones sends out other arranged reflecting mirrors, which can be switched one after the other from transmittance to reflection efficiency. You then get by with a greatly reduced number of laser beam transmitters and laser beam receivers.
- target field observation by means of a search camera it is also possible, after discovery of at least one feature suspected of belonging to the target field in an overall field containing the target field, to reduce the detection area of the target field observation by means of the target field observation and to improve the resolution of the target field observation accordingly. It can be ensured in a known manner that, while the detection area of the target field observation is being reduced, the detected feature remains within the decreasing detection area of the target field observation. It is possible that the approach movement is corrected by applying a correction force to the load carrier.
- the various possibilities are of interest not only in the event that the approach movement takes place in the direction of a horizontal movement path leading the load carrier. Rather, it is also possible that when the horizontal approach movement is carried out, the further approach movement in the direction of both movement paths is corrected by moving the hoisting cable carrier along two movement paths which are inclined, in particular at right angles, in a horizontal plane.
- Structural characteristics of a target field can be recorded through target field observation. Such structural features can be formed in the case of a target field defined by a shaft entrance or exit, for example from the corners of the shaft entrance or exit. If it is important to set down or record a container on land, it is also conceivable to identify characteristic features of the respective target field on the storage area on land by color differentiation. Color differentiation should of course also capture a differentiation in black and white. If a container is to be placed on a container already set down on land or on the deck of a ship, the corner fittings of the container already set down can serve in particular as characteristic singularities of the target field. These fittings are generally provided with keyhole-like slots, which are accessible for time measurement by means of laser beam transmitter-laser beam receiver combinations.
- the spacing of these fittings is determined by the container size. So you can do this Store the distances as electrical comparison values in the data processing and then electronically measure the distance between two singularities recorded simultaneously from case to case and compare them with the stored dimension. If equality is ascertained, this is a verification that the two singularities, which were initially only determined on suspicion, correspond to the corner fittings of a container on which another container is to be placed in vertical alignment.
- FIG. 1 shows the diagram of a container loading system in a port
- Figure 2 shows the diagram of the correction force generation on a
- Container which is suspended from a trolley by means of a hoist rope system
- FIG. 3 shows a section A from the system according to FIG. 1, supplemented by a number of detector means;
- FIG. 4 shows the detector means according to FIG. 3 in combination with data processing means connected downstream of them;
- FIG. 5 shows a trolley as a hoisting rope carrier in connection with the spreader of a container which is suspended from the hoisting rope carrier via the hoisting rope means;
- FIGS. 6a-6g show diagrams of the coupling of cable elements to lifting cable carriers and the movement of these cable elements with respect to the respective lifting cable carrier;
- FIG. 7 shows a movement and drive diagram of a cable control element
- FIG. 8 shows the diagram of the displacement of a rope element relative to a hoist rope carrier according to the principle of movement of a polar coordinate system
- Figure 9 shows the application of the invention proposal in a
- Crane system in which the hoisting rope is mounted with a fixed position on a bridge girder is connected to the windmill and runs continuously from the bridge support end to the bridge support end via cable deflection pulleys of the hoist cable support (trolley);
- FIG. 10 shows an embodiment of a trolley, in which the rope element is displaced by horizontal movement of a rope eyelet which can be moved horizontally with respect to the trolley;
- FIG. 11 shows the diagram of a container crane system corresponding to FIG. 1 in a top view, in which the target path correction according to target field observation already begins before the load carrier has reached approximately overlap with a targeted target field;
- FIG. 12 shows the observation of a target field cover area by means of a laser beam transmitter-laser beam receiver combination on the basis of a transit time measurement
- FIG. 13 shows the observation of a target field singularity by means of a bundle of laser beam transmitter-laser beam receiver combinations
- FIG. 14 shows a laser beam transmitter-laser beam receiver combination with a plurality of deflecting mirrors.
- FIG. 1 shows a port facility with a quay edge; this is designated 10 and runs perpendicular to the plane of the drawing.
- a port facility with a quay edge; this is designated 10 and runs perpendicular to the plane of the drawing.
- To the side of the quay edge 10 one can see a harbor basin 12 in which a ship 14 lies. Ship 14 is stowed on the quay edge and is to be loaded with containers.
- a driving surface 15 of the port area can be seen on the left side of the quay edge. Rails 16 are laid on this driving surface 15, on which a crane gantry or crane tower 18 travels.
- the crane gantry or crane tower 18 carries a bridge girder 20. This bridge girder 20 extends orthogonally to the quai edge over the ship 14.
- a trolley 22 is moved on the back girder 20 in the longitudinal direction of the bridge girder 20 by wheels 24. 2.5 bar.
- the transport drive of the trolley 22 along the entire bridge girder 20 takes place by means of a traction cable 26 which extends between two deflection rollers 28 and is provided with a drive.
- the traction cable 26 is connected to the hoist cable carrier 22 at 30 so that the hoist cable carrier 22 can be moved over the entire length of the bridge carrier 20 by longitudinal movement of the lower run of the traction cable 26.
- a spreader 36 hangs on the spreader 34 and is intended to be supplied to a stand within the ship 14.
- the ship 40 shows the entrance 40 of a container receiving shaft in which a plurality of containers 36 can be stacked one above the other. With its upper entrance 40, the container receiving shaft 42 forms a target position for the container 36.
- the container 36 was received by a container stack 44 in the area of the crane system by the spreader 34 and from left to right by moving the trolley 22 into the position shown in FIG. 1 method. During this traversing movement, appropriate control of the movement of the pulling rope 26 was used to ensure that the load carrier 34 is approximately aligned with the entrance 40 of the container chess.
- the trolley 22 on the bridge girder 20 is shown enlarged in FIG. Of the hoisting cable system 32 according to FIG. 1, only a single hoisting cable 50 is shown.
- This hoisting cable 50 runs from a cable drum 52 which is mounted on the trolley 22 in a stationary and rotatable manner via a cable deflection pulley 54 on the spreader 34 to a cable anchoring point 56 which is in turn attached to the trolley 22.
- a total of four such hoist cables 50 can be attached to the spreader 34, each of which cooperates with a deflection roller 54.
- the deflection rollers 54 can be arranged in the four corners of a rectangular spreader 34. For the description of the problem to be dealt with here, the representation of the single hoist cable 50 is sufficient.
- the anchoring point 56 of the hoist cable lies on a carriage 58 which is in the horizontal direction parallel to the drawing plane on the trolley 22, ie on the frame 22 'the trolley is slidably guided.
- a hydraulic power device 60 is provided for displacing the cable anchoring point 56 with the slide 58, so that - as shown in FIG. 2 by a solid and a dash-dotted line - the course of the cable element 50 'of the hoisting cable 50 can be changed.
- the magnitude of the force K depends on the value of the angle ⁇ , ie on the inclination of the cable element 50 'at the beginning and at the end its displacement is dependent on the dependency on the course of movement of the rope anchoring point 56, which is given to it by the hydraulic power device 60.
- the force K described with reference to FIG. 2 in its history of origin can certainly be used as a correction force in order to move the load carrier 34 and the container 36 carried by it to the target position 40 in the escape position bring, which is determined by the entrance of the container receiving shaft 42.
- the load carrier 34 has a lowering speed v s and possibly also a horizontal speed v h at the point in time represented by FIG. 1, possibly also an acceleration in the direction of the arrow v h representing the horizontal speed . It must also be taken into account that the load carrier 34 and the container 36 may be subject to a wind force W.
- the lower end of the container 36 still has a distance .DELTA.h in the vertical direction compared to the target position 40 and that the load carrier 34 with the container 36 by the distance .DELTA.x along the coordinate axis x is offset from the target position 40.
- the state variables ⁇ h, ⁇ x, v s , v h , W and the mass M described above and also the angle of inclination ⁇ of the cable element 50 ′ are responsible for the position of the load carrier 34 and the container 36 in the event of an uncorrected further lowering Take run relative to the target position 40 if the target position approach path is not corrected.
- the hydraulic power device already shown in FIG. 2 is also shown in FIG. 3 and labeled 60.
- the cable anchoring point 56 can be displaced by means of this hydraulic power device 60.
- a detachable detector device 64 is attached to the load carrier 34.
- This detector device 64 comprises a laser transmitter 66 and a laser beam receiver 68.
- the detector device 64 can be pivoted about a pivot point 70, the respective laser beam experiencing an angle change a.
- the angular position is indicated in Figure 3 by the angle a and the associated double arrow.
- the detector 64 swings back and forth periodically or continuously in the direction of the double rotation arrow a.
- the laser transmitter 66 periodically emits laser pulses which are received by the laser receiver 68 after being reflected on the ship. In this way, a runtime measurement can be carried out in every angular position a; this runtime measurement reflects the travel distance.
- the height .DELTA.h is preferably determined by transit time measurement when the laser beam is just passing over the edge of the container shaft entrance 40. This point in time can be determined in that a significant extension of the measured transit time can be determined at this point in time. If the transit time is measured at the moment when a transit time change in the sense of an extension of the transit time occurs, the detector 64 knows that it is measuring the travel path at the correct point. The calculation of the height ⁇ h can then be can be carried out in the detector or in the electronics connected downstream of this detector 64. The running time which the laser beam needs on its way there and back between the detector device 64 and the edge of the container shaft entrance 40 is known.
- the path of the laser beam can be determined therefrom, and the size ⁇ h can be calculated by simply using trigonometric relationships from the length of the path and the respective value ⁇ of the angle setting of the detector device 64.
- the size ⁇ x can be calculated in an analogous manner.
- the detector device 64 and an angle transmitter 72 can also be seen in FIG. 4.
- a measuring element 74 which is connected downstream of the detector 64, the transit time ⁇ T of the laser beam and thus a measure of the path of the laser beam is in each case to the edge of the container shaft entrance 40 calculated; the size of the angle a is processed in the measuring element 76.
- the measuring elements 74 and 76 are both connected to converter elements 78 and 80, in which signals corresponding to the quantities ⁇ x and ⁇ h are formed.
- the conversion element 80 is connected to a differentiating element 82, in which the change in the height ⁇ h, ie the size ie, which corresponds to the lowering speed v s , is calculated. is connected to a further differentiator 84, in which the size dx is determined, which corresponds to the horizontal speed v h .
- the differentiating element 84 can be connected to a further differentiating element 86, in which the quantity d ⁇ x is formed, fi. ie any acceleration of the load carrier 34 and the container 36 is determined.
- a cable force measuring device 88 is provided in each case in the connection between the cable guide pulleys 54 on the load carrier side and the load carrier 34. Rope forces F1 and F2 are measured here, and a measure for the mass of the load carrier 34 and the container 36, which is dependent on the loading of the container 36, is obtained from these rope forces in a conversion unit 90.
- the position of the rope anchoring point 56 in the longitudinal direction of the carriage frame 22 ' is determined in a length measuring device 92, while in one the Rope drum 52 coupled rope length measuring device 94 the height distance h of the carriage frame 22 'is determined by the load carrier 34.
- a measuring device 96 is assigned to the measuring devices 92 and 94, in which the respective angle ⁇ can be determined.
- the corrective force is calculated in the computer module 98, which is necessary in order to correct the position of the load carrier 34 in the position — as shown in FIG. 3 — which is necessary to achieve the target position 40, ie is necessary for Entry of the container 36 into the container receiving shaft 42.
- this force is calculated as a function of time.
- the quantities ⁇ x, ⁇ h, M and ß used.
- Signal can be fed from a wind determination unit 100, which also takes the wind into account for the calculation of the correction force K as a function of time.
- a further computer unit 102 taking into account the magnitude of the correction force K (t) and taking into account the instantaneous value of the angle ⁇ , which is obtained from the conversion unit 96, the change course of the angle ⁇ as a function of Time gained, which gives the desired correction force K as a function of time.
- the actuating path s is calculated in a conversion unit 104 as a function of time, which must be carried out by the hydraulic power device 60 for displacing the cable anchoring point 56 in order to generate the correction force K (t).
- control process described above can be repeated several times in the course of the further approach of the load carrier 34 to the target position 40.
- the determination of the mass M is not mandatory, provided that only the force device 60 is able to force an adjustment path curve s (t) required for the position correction of the load carrier 34, even with the largest occurring values of the mass. This results from the fact that the travel path curve s (t) is independent of the respective mass. If the mass is large, the rope force is correspondingly large. The correction force K on the load carrier is derived from the rope force in the respective rope element and is therefore inevitably proportional to the mass. Ignorance of the mass therefore does not prevent the determination of the course of movement of the rope anchoring point 56 necessary for the respective correction.
- FIG. 5 shows a trolley, ie a hoist rope carrier 22, in detail.
- the hoist rope winches 52 are arranged in a stationary manner on the trolley frame 22 'and are each connected to a drive motor 53 which is likewise arranged firmly on the trolley frame.
- a slide 58 is assigned to each of the rope anchoring points 56.
- the two carriages 58 are guided by guide rollers 59 on the trolley frame 22 '.
- the two carriages 58 are connected to one another by a toothed rack 61.
- the rack 61 is in engagement with a drive pinion 63, which is driven by a motor 65.
- the motor 65 is in turn controlled by the conversion unit 104 according to FIG. 4.
- the two rope anchoring points 56 can be adjusted at the same time to generate the correction force K (t).
- the cable runs of the cable elements 50 'of both hoist cables 50 of the hoist cable system 32 are thus simultaneously displaced.
- a shifting of the rope anchoring points 56 to the left leads to a corrective force acting on the load carrier 34 to the left, while a shifting of the rope anchoring points 56 to the right leads to one corrective force directed to the right.
- the container 36 and the load carrier 34 in FIG. 5 have a long longitudinal axis u perpendicular to the drawing plane of FIG. 5, a short horizontal transverse axis v parallel to the drawing plane of FIG. 5 and a vertical axis w, which through the geometric centers of the load carrier 34 and the container 36.
- the short transverse axis v extends parallel to the longitudinal direction of the bridge beam 20, while the long axis u extends in the direction of the rails 16 of the crane undercarriage 18.
- FIG. 6a shows a trolley 22a, which in turn is designed as a hoisting rope carrier. It comprises a trolley frame 22'a with wheels 24a for movement along a bridge girder, not shown here.
- a lifting cable drum 52a and a cable anchoring point 56a are drawn on the trolley frame 22'a for a total of two lifting cable pulls 50a in the manner of the lifting cable pull 50 shown in FIG. It can be seen that by moving the two rope anchoring points 56a in the direction of the transverse axis v, a correction force K can be generated parallel to the transverse axis v.
- FIG. 6b for the same embodiment of a hoist rope support, ie a trolley, it is shown that by moving the rope anchoring points 56a in two mutually orthogonal horizontal directions parallel to the longitudinal axis u and can produce a resulting correction force K to the transverse axis v, which is inclined both with respect to the longitudinal axis u and with respect to the transverse axis v.
- this correction force can simultaneously bring about a correction movement in direction x parallel to the drawing plane and / or in direction y perpendicular to the drawing plane.
- FIG. 6d shows a hoist rope carrier with a total of four hoist rope pulls 50b, only the rope anchoring points 56b of two hoist rope hoists 50b being adjustable in the direction of the transverse axis v.
- the cable anchoring points of the right hoist cables 50b adjustable in the direction of the transverse axis v.
- FIG. 6e it is illustrated for a hoisting rope carrier 22b - as already shown in FIG. 6d - that the rope anchoring points 56b of all four hoisting rope hoists 50b can be adjusted synchronously to one another both in the direction of the longitudinal axis u and in the direction of the transverse axis v, which in turn leads to an inclined correction force K, which - based on the illustration in FIG. 3 - can simultaneously effect a correction both in the direction of the axis x and the axis y.
- the intermediate frame 112c is displaceable in the direction of the transverse axis v on the trolley frame 22'c. By superimposing the displacement of the subframe 110c and the intermediate frame 112c, translatory correction forces of any direction can be generated.
- a torque about the vertical axis w is generated by moving in opposite directions of at least two diagonally opposite rope anchoring points 56b.
- individual platforms 114e can be displaced along rails 116e on the trolley frame 22'e, specifically by means of a power device 118e.
- a slide 120e can be displaced by means of rails 122e on platforms 114e.
- the respective rope anchoring point 56e is in both directions, i.e. displaceable in the direction of the longitudinal axis u and in the direction of the transverse axis v.
- the power device 118e is provided for displacing the platform 114e relative to the trolley frame 22'e, while a power device 124e is provided for displacing the slide 120e relative to the platform 114e along the rails 122e.
- the power devices for all four hoist cables 50e can be actuated independently of one another. This gives the possibility for the generation of translational correction forces on the load carrier 22e to move the cable anchoring points 56e of all the hoist cables 50e parallel to one another and synchronously in any direction. However, this also gives the possibility, as indicated in FIG. 6g, to move the rope anchoring points 56b in such a way that a correction torque T is generated clockwise on the associated load carrier and this undergoes an angle correction about a vertical axis w.
- the cable drums 52f of all four hoist cables 50f are stationary on the trolley frame 22'f of the trolley 22f arranged.
- the rope anchoring points 56f are arranged on turntables 13Of.
- the turntables 13Of can be rotated about axes of rotation 132f, for example by means of worm drives 134f.
- the cable anchoring points 56f can be adjusted along a radial guide rail 136f formed on the turntables 13Of in relation to the axes of rotation 132f by a linear drive, for example a hydraulic actuating cylinder 138f.
- the trolley 22g can in turn be displaced along the track of the bridge girder 20g by means of wheels 24g of its trolley frame 22'g.
- a load carrier 34g in turn hangs on the trolley frame 22'g by means of a hoisting cable system 32g, of which a hoisting cable pull 50g is shown.
- the hoisting cable 50g in turn comprises - as in FIG. 2 - cable elements 50'g and 50 '' g.
- the hoisting cable 50g is formed by a rope which is guided on the trolley frame 22'g via deflection rollers 140g.
- This rope is designated 142g and runs over the entire length of the bridge girder 20g from a fixed point 144g at one end of the bridge girder 20g to a cable drum 146g at the other end of the bridge girder 20g.
- the load carrier 134g can be raised by winding the pull cable 142g on the cable drum 146g, and the load carrier 34g can be lowered by unwinding the pull cable 142g from the cable drum 146g.
- the cable deflection roller 140g is adjustable in the direction of the double arrow 148g, so that the cable element 50'g can also be displaced in this embodiment, as in the embodiment of FIG. 2 and thus also a correction force K can be generated here.
- the rope deflection roller 140g provides a rope course 3-S influencing unit, while in the embodiments described so far, the rope course influencing unit was each formed by an anchoring point.
- FIG. 1 A further embodiment of a cable course influencing unit is shown in FIG.
- both the rope anchoring point 56h and the hoisting rope drum 52h are arranged stationary on the trolley frame 22'h.
- a through eye 150h is assigned to the rope element 50'h.
- This passage eyelet 150h is formed on a carriage 152h by a group of rope pulleys 154h.
- the slide 150h can be displaced on rails 156h of a platform 158h by means of a hydraulic actuating cylinder 160h in the direction of the longitudinal axis u of the associated load carrier.
- the platform 158h can be adjusted in the direction of the short transverse axis v by means of a hydraulic actuating cylinder 162h relative to a supporting frame 164h; the support structure 164h is permanently attached to the trolley frame 22'h.
- the platform 158h can be adjusted in the direction of the short transverse axis v by means of a hydraulic actuating cylinder 162h relative to a supporting frame 164h; the support structure 164h is permanently attached to the trolley frame 22'h.
- the platform 158h can be adjusted in the direction of the short transverse axis v by means of a hydraulic actuating cylinder 162h relative to a supporting frame 164h; the support structure 164h is permanently attached to the trolley frame 22'h.
- Corrective forces can therefore
- FIG. 11 shows a lifting cable carrier 22i in a top view, which can be designed and arranged similarly to that shown in FIG. 1.
- a load carrier 34i is again suspended from this hoist rope carrier 22i by means of a hoist rope system (not shown, but corresponding to the hoist rope system 32 of FIG. 1).
- a container 36 may again be coupled to the load carrier 34i, as shown in FIG. 1.
- This container is to be introduced 42i now in a container receiving shaft, 'is denoted by 40i its upper output.
- the upper output 40i is defined by corner angles 150i, which approximately correspond to the outline of the load carrier 34i.
- the hoisting cable carrier 22i runs along a bridge carrier 20i in a manner similar to that in FIG. 1, the bridge carrier 20i similarly to FIG. 1 being able to be moved along rails 16i.
- detector units 64i are attached to the load carrier 34i, which are designed and suitable for recognizing the corner angles 150i and then delivering correction forces corresponding to the correction force K in FIG. 2, which, acting on the load carrier 34i, cause its position correction with respect to the shaft exit 40i.
- the hoisting cable carrier 22i runs along the bridge carrier 20i in the direction of the arrow 151i and that the detector units 64i do not yet have the shaft exit in their field of vision. It It is further assumed that by controlling the travel drive indicated in FIG. 1 at 26 and 28 for the hoist rope carrier 22i, target measures have already been taken which ensure that the load carrier 34i approaches the area of the target field 40i, ie in the area of the upper shaft exit 40i. Such measures are in particular:
- control of the drive 28, 26 in accordance with an address coming to the target field 40i; influencing the drive movement of the drive means 28, 26 in accordance with detected vibrations of the load carrier 34i hanging on the hoisting cable carrier 22i.
- the detector units 64i can again be detector units in the manner of the detector unit 64 from FIG. 1. Regardless of what type of detector units are used, one has to reckon with the fact that these detector units cannot cover the entire movement field within which the load carrier 34i moves. In particular, in the case of the example, they cannot observe the entire ship's surface at any point in time, i.e. neither its shaft exit nor its container parking spaces, which are arranged above deck.
- the detector units 64i Only when a load carrier 34i approaches the target field 40i (in the example of the shaft exit) the detector units 64i reach positions in which they can detect the corner angles 150i. It is not necessary for this that the detector units 64i are already vertically above the corner angles 150i. Rather, it is assumed that the right detector units 64i, which advance in the direction of the arrow 151i according to FIG. 11, already get the corner angles 150i in their field of vision when they have reached the line 152i. Already at this point in time, after the invention, observation of the target field 40i by the detector units 6i on the right begins.
- the detector units 64i must now count on the limited ability of the detector units 64i to recognize, and one must also consider that the deck of the ship 14 is an area on which there are a large number of detector-recognizable interference singularities which are characteristic of the target field 40i Target field characteristics, e.g. the corner angles 150i must be differentiated. This distinction can be made by designing the detector units 64i in such a way that they recognize the special geometric features of the corner angles 150i.
- the detector units 64i for example the two detector units 64i on the right in FIG. 11, can be designed such that, after detection of the two corner angles 150i and the data processing system, the distance between the corner angles 150i transverse to the longitudinal axis is mediated by the data processing system Determine the direction of the bridge girder 20i and compare it with a stored distance measure, which corresponds to the distance between two corner angles of the target field 40i. If the position comparison of two singularities detected by the two detector units 64i on the right shows that their distance transversely to the longitudinal direction of the print carrier corresponds to the actual distance between two corner angles 150i, there is a high probability for the fact that these two singularities are the corner angles of a target field, ie in the example of a shaft exit.
- the two detector units 6 i on the right can also examine the symmetry of the singularities detected by them and thus, when determining the symmetry, verify the statement that the singularities detected are actually characteristic singularities of a target field, that is, for example, the two corner angles 150i of the shaft exit 40i that were reached first.
- line 152i according to FIG. 11 If, with the help of the detector units 6 i and the data processing devices connected downstream of them, line 152i according to FIG. 11 is reached, it can already be determined that there is a range of singularities that correspond to a target field 40i with a high degree of probability, one can already say At this point in time, ie when the right detector units 64i are in the area of the line 152i according to FIG. 11, start the target path correction on the assumption that the target field has actually been detected. It is therefore not necessary that all detector units 64i have already detected the singularities assigned to them at the start of the target path correction, that is to say corner angles 150i of the target field 40i.
- the detector units 64i are formed by laser beam transmitter-laser beam receiver combinations, as assumed in the description of FIGS. 1-10, the detection of the corner angles 150i takes place in that a jump in transit time is determined when the respective pulsed laser beam runs over an edge of a corner angle 150i. This requires a relative movement between the laser beam and the respective corner angle 150i.
- FIG.12 A detector unit 64i is again shown schematically.
- a laser beam transmitter-laser beam receiver combination 155i can be recognized, which can determine the running over, for example, of an edge 156i according to FIG. 12 by means of transit time measurements (see description of FIGS. 1-10).
- the laser beam-transmitter-laser beam-receiver combination can be swiveled Carry out movement in the direction of the swivel arrow 157i. It is also conceivable to additionally subject the laser beam transmitter-laser beam receiver combination to a movement along the pivot arrow 158i, so that the corner angle 150i is scanned line by line.
- At least one of the pivoting movements along the pivoting arrows 157i and 158i can be dispensed with if the movement of the load carrier 34i along the arrow 151i according to FIG. 11 is used for scanning. It is also conceivable to induce the load carrier 34i to oscillate in the direction of the arrow 151i according to FIG. 11 or also transversely to the arrow direction 151i, in order to be able to use one or more laser beams, which may also be rigidly arranged on the load carrier 34i. Transmitter-laser beam-receiver combinations to observe one or more of the corner angles 150i.
- FIG. 14 Another interesting possibility is shown in Fig. 14.
- a detector unit 641 can be seen here.
- a laser beam transmitter-laser beam receiver combination 1551 is provided on this detector unit 641.
- the emitted laser beam is aimed at a series of inclined deflection mirrors 1591.
- These deflecting mirrors can be selectively converted to laser light transmission or laser light reflection by means of electrical signals from a signal transmitter unit 1601, so that if the deflecting mirrors 1591 are switched in succession by an electrical pulse, laser beams can be sent to the target field in succession at different locations, and thus larger areas of the target field can be quickly transmitted can be checked and evaluated.
- the detector units 64i can be arranged such that they can move relative to the load carrier 34i, so that they can still be retracted within the outline of the load carrier 34i when immersion in the container receiving shaft 42i is imminent.
- the method described with reference to FIGS. 11-14 like the method according to FIGS. 1-10 and in particular also in combination with it, can also be used when loads, such as containers, are to be deposited on land .
- the corner angles 150i shown in FIG. 11 can also be formed, for example, by flat color structures on the bottom of a container store.
- the respective target field can also be formed by the top of the top container.
- the detector units 64i can be adapted to detect the corner fittings on the top of containers which serve to couple the containers to the load carrier 34i.
- structures and / or coloring of such corner fittings can be observed and evaluated, if necessary with the inclusion of symmetry observations, if necessary also by comparing the distance between the singularities recorded in each case with the distance between characteristic locations of the corner fittings in the longitudinal or / and in the transverse direction of the respective container.
- the deflecting mirrors can be formed, for example, from solid or liquid crystals, which can be switched to light transmission or reflection by applying an electric field. Such crystals are known for example in the watch industry for making digital displays visible.
- the signals obtained by the detector units 64i can be used, for example, after conversion into electrical signals and conversion in the data processing system 4.5- to shift the cable path of a cable element 50 'according to FIG. 1 by means of a force device 60 and thereby to generate a force on the load carrier 34 in the respectively desired direction necessary for the target approach correction.
- this is only one of the different options.
- Optoelectronic systems which enable so-called “zooming". This is to say that one and the same optoelectronic system can initially capture a larger image field, for example on the surface of the ship 14, in order to determine singularities at all within this larger image field. If one has then determined singularities that could be characteristic singularities of a targeted target field, for example two corner angles 150i, the image field can be reduced by zooming and thus the resolution capacity of the respective optoelectronic system can be increased.
- the electronics for carrying out the target path correction can be designed similarly as described above with reference to Figures 1-3.
- the target path correction it is of course desirable to have vibrations reduced as far as possible when the target field, for example a container shaft entrance, is reached.
- long periodic oscillations may still be present at the time when the target field is reached, namely when the course of such long periodic oscillations has been taken into account in the target path correction and the long periodic oscillation in the Target location has been included as a contribution.
- the container touches the target field there is still kinetic energy on the container, which then destroys it is that the container hits the boundary surfaces after entering the respective shaft or is brought into rubbing contact with the container floor when it is placed on a storage floor.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE4416707 | 1994-05-11 | ||
DE4416707A DE4416707A1 (de) | 1994-05-11 | 1994-05-11 | Verfahren zur Zielwegkorrektur eines Lastträgers und Lastentransportanlage |
PCT/EP1995/001775 WO1995031395A1 (de) | 1994-05-11 | 1995-05-10 | Verfahren zur zielwegkorrektur eines lastträgers und lastentransportanlage |
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EP0759006A1 true EP0759006A1 (de) | 1997-02-26 |
EP0759006B1 EP0759006B1 (de) | 1999-11-24 |
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EP95921743A Expired - Lifetime EP0759006B1 (de) | 1994-05-11 | 1995-05-10 | Verfahren und einrichtung zur zielwegkorrektur eines hängenden lastträgers |
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US (1) | US6182843B1 (de) |
EP (1) | EP0759006B1 (de) |
JP (1) | JPH10500091A (de) |
KR (1) | KR970702816A (de) |
DE (2) | DE4416707A1 (de) |
WO (1) | WO1995031395A1 (de) |
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-
1994
- 1994-05-11 DE DE4416707A patent/DE4416707A1/de not_active Withdrawn
-
1995
- 1995-05-10 EP EP95921743A patent/EP0759006B1/de not_active Expired - Lifetime
- 1995-05-10 WO PCT/EP1995/001775 patent/WO1995031395A1/de active IP Right Grant
- 1995-05-10 JP JP7529342A patent/JPH10500091A/ja active Pending
- 1995-05-10 DE DE59507293T patent/DE59507293D1/de not_active Expired - Fee Related
-
1996
- 1996-11-11 KR KR1019960706374A patent/KR970702816A/ko not_active Application Discontinuation
- 1996-11-12 US US08/747,942 patent/US6182843B1/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
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See references of WO9531395A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016014001A1 (en) * | 2014-07-21 | 2016-01-28 | Borçeli̇k Çeli̇k Sanayi Ti̇caret Anoni̇m Şi̇rketi̇ | A crane attachment comprising a laser pointer |
Also Published As
Publication number | Publication date |
---|---|
DE59507293D1 (de) | 1999-12-30 |
EP0759006B1 (de) | 1999-11-24 |
DE4416707A1 (de) | 1995-11-16 |
WO1995031395A1 (de) | 1995-11-23 |
JPH10500091A (ja) | 1998-01-06 |
KR970702816A (ko) | 1997-06-10 |
US6182843B1 (en) | 2001-02-06 |
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