EP0805777B1 - Procede et dispositif pour le transport d'une charge - Google Patents

Procede et dispositif pour le transport d'une charge Download PDF

Info

Publication number
EP0805777B1
EP0805777B1 EP96900518A EP96900518A EP0805777B1 EP 0805777 B1 EP0805777 B1 EP 0805777B1 EP 96900518 A EP96900518 A EP 96900518A EP 96900518 A EP96900518 A EP 96900518A EP 0805777 B1 EP0805777 B1 EP 0805777B1
Authority
EP
European Patent Office
Prior art keywords
crane
transport
load
transporting
free
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP96900518A
Other languages
German (de)
English (en)
Other versions
EP0805777A1 (fr
Inventor
Wolfgang 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
Original Assignee
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 EP0805777A1 publication Critical patent/EP0805777A1/fr
Application granted granted Critical
Publication of EP0805777B1 publication Critical patent/EP0805777B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the invention relates to a method for transporting a load by means of a crane from a starting position over obstacles away to a target position, with operational control of the transport process either manually or automatically can be done.
  • the invention further relates to a corresponding Device consisting of a crane with a device for manual or automatic control of the transport process and with a facility for Registration and storage of the transport movement.
  • DE 31 99 784 A1 describes a device for operation a grab crane of a loading bridge for loading or unloading of a ship known on the screen of a The actual position of the gripper within a the working range that limits the permissible target positions is shown. This device is used specifically for loading of the ship with bulk goods or for unloading bulk goods from the ship, for which the hatch edges of the ship as beams are shown on the screen. Furthermore, in DE 38 16 988 A1 describes a container crane system in which Pendulum movements during the lowering of the so-called Spreaders are suppressed by the spreader after Reaching the respective target position of the hoist rope carrier in pendulum damping contact with the trolley is brought.
  • DE 40 05 066 A1 is a container crane known who has a rangefinder on his trolley Form of a laser distance measuring device with which a optical scanning of the height profile of the obstacles possible is. Because of the height profile recorded in this way and by means of the via displacement sensors on the crane boom, the trolley and the Hoist can continuously record the load position Carry out the transport process automatically without it Collisions between the load and the obstacles comes.
  • the invention is based on GB-A-1 557 540 the task is to reduce the susceptibility to faults.
  • the storage device for storage which with operational manual control of the transport process in a given area with unknown or changing obstacles detected transport movement designed and a device for determining a free transport zone from the recorded transport movement as well Means to limit the automatic control of the Transport process are determined in the specified area free transport zone available.
  • a container crane 2 stands on a quay 1 of a port facility, who is to load or unload a container ship 3.
  • the crane 2 has a boom 4, along which a trolley 5 is movable in the x direction.
  • the trolley 5 carries a hoist 6, on which a load-bearing frame 8 (Spreader) for the load 9 to be transported, here a container, hangs.
  • the crane 2 is transverse to the direction of travel Trolley 5 on rails 10 along the quay 1 in the z direction movable. Run in the same direction between the crane legs 11 and 12 lanes 13 for container transport vehicles, between which and the ship 3, the container, for. B. 9, are to be transported.
  • the free transport zone is still unknown, so that automatic transport trips to destinations on the water side and below a starting point 16 with the coordinates x S , y S are automatically prevented. If this is nevertheless attempted, the starting point 16 is automatically approached.
  • the crane driver has to move the load-carrying frame 8 with the load 9, possibly also without the load 9, along a transport path 17 to be determined by him by manual control of the transport process.
  • the transport movement is automatically detected by distance sensors on the trolley 5 and the lifting mechanism 6 and stored in a storage device.
  • a free transport zone 19 is automatically determined, which is delimited downwards by the transport path 17 and on the water side by the coordinate x z of the destination 18 according to the dashed lines.
  • the lower limit of the free transport zone 19 can also be determined, for example, by the vertex of the detected transport path 17, as is shown by the dash-dotted line 20. Now automatically controlled transport processes within the free transport zone 19 up to the x coordinate x z are possible.
  • the crane operator must in turn first carry out a manually controlled transportation run beyond the coordinate x z in order to enable the storage device to learn a new free transportation zone beyond the coordinate x z .
  • Adjusting the state of charge of the ship 3 is when lowering a load 9 on the respective target position or at the load (9) the lower limit of the free Transport zone 19 as a function of that by means of the displacement sensor vertical transport path detected on the lifting mechanism 6 corrected.
  • the currently determined free transport zone becomes automatic deleted if there is a possibility that they no longer could be valid. This is especially the case if the crane 2 is moved along the rails 10 when the Crane boom 4 is raised when the crane 2 is switched off or after long breaks. In the first case it is assume that a new container bay on the ship 3 is approached while in the latter three cases there is the possibility that another ship for loading or Unloading is at quay 1.

Landscapes

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

Claims (2)

  1. Procédé pour déterminer une zone (19) libre de transport d'une grue (2) comportant les étapes opératoires suivantes :
    a) réalisation manuelle d'une opération de transport jusqu'à une destination (18) à atteindre suivant un trajet (17) de transport à déterminer librement,
    b) détection et mémorisation de ce trajet (17) de transport,
    c) détermination de la zone (19) libre de transport d'une part par ce trajet (17) de transport détecté et d'autre part par une coordonnée (xz) d'une destination (18) à atteindre et
    caractérisé par
    d) effacement de la zone (19) libre de transport déterminée mémorisée dès qu'une modification de la position de la grue, un arrêt de la grue (2) et/ou d'assez longues pauses dans le fonctionnement sont détectés.
  2. Procédé suivant la revendication 1, caractérisé en ce que le trajet vertical de transport est détecté lors de l'abaissement d'une charge (9) sur la position (18) de destination et/ou lors du levage d'une charge et en ce que la zone (19) libre de transport est corrigée en fonction du trajet vertical de transport détecté.
EP96900518A 1995-01-26 1996-01-17 Procede et dispositif pour le transport d'une charge Expired - Lifetime EP0805777B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19502421 1995-01-26
DE19502421A DE19502421C2 (de) 1995-01-26 1995-01-26 Verfahren und Vorrichtung zum Transport einer Last
PCT/DE1996/000055 WO1996022936A1 (fr) 1995-01-26 1996-01-17 Procede et dispositif pour le transport d'une charge

Publications (2)

Publication Number Publication Date
EP0805777A1 EP0805777A1 (fr) 1997-11-12
EP0805777B1 true EP0805777B1 (fr) 2001-03-28

Family

ID=7752388

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96900518A Expired - Lifetime EP0805777B1 (fr) 1995-01-26 1996-01-17 Procede et dispositif pour le transport d'une charge

Country Status (4)

Country Link
EP (1) EP0805777B1 (fr)
DE (2) DE19502421C2 (fr)
GR (1) GR3035672T3 (fr)
WO (1) WO1996022936A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3254152B2 (ja) * 1996-12-10 2002-02-04 三菱重工業株式会社 クレーンの荷役経路設定方法及びその装置
DE19731929B4 (de) * 1997-07-24 2004-03-25 Siemens Ag Schüttgutverladestation
DE19931301B4 (de) * 1999-07-07 2005-08-18 Liebherr-Werk Ehingen Gmbh Verfahren und Vorrichtung zum Führen eines Kranlasthakens
DE10107048A1 (de) 2001-02-13 2002-08-29 Siemens Ag Betriebsverfahren und Bedienungseinrichtung für automatisierte Containerkaikrane
DE10224312A1 (de) 2002-05-31 2004-12-02 Siemens Ag Verfahren zur Automatisierung des Be- und Entladens von Containerschiffen in Containerterminals und entsprechende Kranautomatisierungsanlage
DE10233872A1 (de) * 2002-07-25 2004-02-19 Siemens Ag Verfahren zum Betrieb eines Containerkrans
US7426423B2 (en) 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4172685A (en) * 1976-10-22 1979-10-30 Hitachi, Ltd. Method and apparatus for automatic operation of container crane
DE3109784A1 (de) * 1981-03-13 1982-10-14 Siemens AG, 1000 Berlin und 8000 München Einrichtung zum betrieb eines greiferkrans einer verladebruecke zum be- oder entladen eines schiffes
US4833615A (en) * 1986-10-15 1989-05-23 A.G.A. Credit System for the protection of an aerial device having a pivotable boom
DE3816988A1 (de) * 1988-05-18 1989-11-30 Tax Ingenieurgesellschaft Mbh Containerkrananlage
EP0387399B1 (fr) * 1989-03-16 1994-04-06 Ppm S.A. Procédé et dispositif pour la commande des fonctions d'une grue mobile à flèche télescopique
DE4005066C2 (de) * 1990-02-14 1995-12-07 Bremer Lagerhaus Ges Verfahren zum Steuern des Be- und Entladens eines Container-Fahrzeuges sowie Verwendung eines Vertikal-Entfernungsmessers an einem Spreader
IL104723A0 (en) * 1993-02-14 1993-06-10 Lepek Alexander Crane system including distance measurement and collision control

Also Published As

Publication number Publication date
DE19502421A1 (de) 1996-08-01
EP0805777A1 (fr) 1997-11-12
DE19502421C2 (de) 1997-03-27
GR3035672T3 (en) 2001-06-29
DE59606672D1 (de) 2001-05-03
WO1996022936A1 (fr) 1996-08-01

Similar Documents

Publication Publication Date Title
DE2742533C2 (de) Umschlagsystem für Container
EP1178942B1 (fr) Installation de transbordement pour marchandises de detail, notamment pour conteneurs iso
EP0656868B1 (fr) Procede et dispositif de commande d'un pont dechargeur pour conteneurs
EP1219563B1 (fr) Dispositif de transbordement pour conteneurs ISO
EP3634901B1 (fr) Dispositif de levage de portique pour conteneurs guidé automatiquement et procédé de fonctionnement d'un tel dispositif de levage de portique
EP3681831B1 (fr) Procédé de gestion du passage de conteneurs de véhicules de transport dans une zone de transfert dans une installation de transbordement de conteneurs, système de gestion afférent et installation de transbordement munie dudit système de gestion
EP3097044B1 (fr) Pont gerbeur comportant un emplacement de stockage intermédiaire pour conteneurs
WO2004033356A1 (fr) Installation de transbordement et procede de chargement et de dechargement de conteneurs sur et hors de navires porte-conteneurs
EP0662928B1 (fr) Procede de commande de transfert d'unites de chargement sur un train ou a partir d'un train et installation pour la mise en oeuvre de ce procede
EP0544879B1 (fr) Systeme de transbordement de charges unitaires
DE10039629B4 (de) Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern
AT500088A1 (de) Verfahren zum be- und entladen
EP0805777B1 (fr) Procede et dispositif pour le transport d'une charge
EP0822158B1 (fr) Procédé pour positionner automatiquement un objet mobile par rapport à un autre objet mobile
DE112019001767T5 (de) Containerinspektionssystem, transferverfahren und hafeneinrichtung
DE19841570C2 (de) Kaikran zum Be- und Entladen von Containern
DE4403898A1 (de) Hebezeug
DE4120922A1 (de) Einrichtung zum umschlagen von stueckgut in form von ladeeinheiten wie containern, wechselbehaeltern, sattelanhaengern o. dgl.
DE60213472T2 (de) Verfahren zum pufferkranbetrieb bei der handhabung von frachtbehältern
DE3837726A1 (de) Verfahren zur verladung von schwergut mit einer schwergut-verladebruecke mit mehr als einer hebe- und senkvorrichtung
DE102005002192B4 (de) Verfahren zum Betrieb einer Krananlage, insbesondere eines Containerkrans, sowie Krananlage, insbesondere Containerkran
DE4002289A1 (de) Einrichtung zum heben und transportieren schwerer gegenstaende
DE1906212C (de) Containerverladekran
DE10233874A1 (de) Verfahren zum Steuern des Betriebs wenigstens einer längs einer Fahrbahn verfahrbaren Katze mit einem Fahrwerk und einem Hubwerk
DE102020113811A1 (de) Logistiktransporter und Aufbau für ein Baustellenlogistiksystem

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19970721

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): DE FR GB GR IT NL

17Q First examination report despatched

Effective date: 19971126

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB GR IT NL

REF Corresponds to:

Ref document number: 59606672

Country of ref document: DE

Date of ref document: 20010503

ET Fr: translation filed
ITF It: translation for a ep patent filed

Owner name: STUDIO JAUMANN P. & C. S.N.C.

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20010531

REG Reference to a national code

Ref country code: GB

Ref legal event code: IF02

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20050106

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GR

Payment date: 20050126

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060117

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20060123

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20060131

Year of fee payment: 11

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20060117

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20070930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20070131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060802

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20070117

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 59606672

Country of ref document: DE

Effective date: 20140109

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20150108

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20150320

Year of fee payment: 20

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 59606672

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MK

Effective date: 20160116