EP0820957A1 - Verfahren und Vorrichtung zum Fördern von Kontainer - Google Patents

Verfahren und Vorrichtung zum Fördern von Kontainer Download PDF

Info

Publication number
EP0820957A1
EP0820957A1 EP97401778A EP97401778A EP0820957A1 EP 0820957 A1 EP0820957 A1 EP 0820957A1 EP 97401778 A EP97401778 A EP 97401778A EP 97401778 A EP97401778 A EP 97401778A EP 0820957 A1 EP0820957 A1 EP 0820957A1
Authority
EP
European Patent Office
Prior art keywords
uti
platform
laser
sensor
handling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97401778A
Other languages
English (en)
French (fr)
Inventor
Marie Edithe Robin
Michel Trouble
Renaud De Truchis De Varennes
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.)
Areva NP SAS
Original Assignee
Framatome SA
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 Framatome SA filed Critical Framatome SA
Publication of EP0820957A1 publication Critical patent/EP0820957A1/de
Withdrawn legal-status Critical Current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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present invention relates to methods and a device for handling transport units intermodal (UTI) such as containers, swap bodies.
  • UMI transport units intermodal
  • each of the lower holes is designed to receive a dowel of a locking bolt secured to a surface on which the UTI must be fixed, for example the platform of a trailer road vehicle or railway car.
  • the upper holes are designed to receive the gripping devices of a lifting beam supported by a handling equipment.
  • This machine can be a mounted winch on a trolley carried by a handling gantry.
  • This gantry is movable in a longitudinal direction and supports a carriage movable in one direction transverse.
  • the movements and maneuvers of the handling and spreader are controlled by a operator, via a control unit or a desk.
  • a control unit or a desk it would be desirable to obtain a automated solution, which would allow operation permanent of the device, including at night, without intervention a specialized operator, under the sole possible control of the user, for example of the trucker bringing or coming look for the UTI to handle.
  • Such an installation could in addition to complement traditional devices during normal working hours, possibly in a mode controlled by an operator.
  • the present invention aims to provide such installations automated.
  • the invention firstly relates to a method of loading of a UTI on the platform of a carrier vehicle, characterized by the fact that it comprises the stages consisting in bringing said UTI using a handling machine near the location where it is to be loaded on the platform, to be detected at using at least one laser telemetry sensor, corner pieces UTI and platform locking pins, and order the removal of the UTI by the handling equipment on the platform based on the information provided by the sensor, so as to engage the orifices of the corner pieces of the UTI on the platform pegs.
  • the present invention also relates to a method of unloading of a UTI from the platform of a carrier vehicle, characterized by the fact that it comprises the stages consisting in bringing a handling machine near the UTI, to be detected using at least one laser telemetry sensor, corner pieces of the UTI, to order the gripping of the UTI by the handling according to the information provided by the sensor, to measure the height of the UTI, and place the UTI in a location predetermined using the measured height information, and that, in order to measure the height of the UTI, it is measured using a sensor, including laser telemetry, the height of its wall and the height of the platform, and we perform the difference of these heights.
  • lateral vision is understood a detection which is carried out on the one hand substantially horizontally at the level of the platform and from the bottom of the UTI, and on the other hand transversely to the longitudinal axis of this platform.
  • This type of detection has the particular advantage of being operational, in the case of a load, until the moment of removal, while a vision high only works until the UTI hides the platform and the ankles it supports.
  • the invention automates the operations of loading and unloading of a UTI on or from the vehicle platform, especially road. These operations of automated loading and unloading is accomplished using laser telemetry sensors, for the detection of UTI by its corner pieces and for that of the locking pegs. The information collected by these sensors is then used to order a handling machine and control its movements to the measurements made.
  • the invention also relates to a device for the handling of ITUs, including a handling machine, characterized in that it comprises at least one sensor for laser telemetry, to detect at least corner pieces of ITUs, and means for controlling the handling equipment as a function information provided by the sensor.
  • the spacecraft handling is a gantry fitted with a lifting beam and the telemetry sensors are mounted on said spreader.
  • the sensors telemetry are mounted on at least one of the uprights of the gantry.
  • the senor comprises means for horizontal and vertical optical or mechanical scanning.
  • the means of vertical scanning are mechanical means and the means horizontal scanning are optical means.
  • FIG. 1 shows a container 1 of standard type, 20 'or 40', with its eight corner pieces. These corner pieces are themselves standardized and include in particular elongated orifices 3 on their lower and upper faces respectively.
  • the holes 3 at the bottom of the UTI are intended for receive the anchors 4 locking platforms transport, and those at the top are intended to receive the organs gripping of the handling spreaders which it will be question further.
  • the corner pieces also have holes side forming sight marks.
  • FIG. 2 An example of a locking pin is shown in Figures 2 and 3.
  • This pin 4 has a base 5 on which is pivotally mounted an elongated head 6.
  • the head 6 is provided for engaging in the orifices 3 and, after pivoting 90 °, block the UTI.
  • a handling area 7 is provided, shown at Figure 4, including, for example, a traffic queue 8, and two rows of container storage 9.
  • a gantry handling station 10 spans handling area 7.
  • a cockpit 11 includes a reserved area 12, in which are notably the IT resources necessary and the power cabinet, and a operation 13.
  • Such a device comprises, as shown in FIG. 5, a laser telemetry sensor 15 comprising in known manner a laser source and optical means, for example a mirror or rotating prism, horizontal scanning.
  • This sensor is mounted to pivot about a horizontal axis 16 to do a vertical scan, so the whole is able to form an image like the one shown in the figure 6.
  • the device further includes another sensor, laser or other, 21 located above the traffic queue 8.
  • This sensor is arranged to detect the rear of the platform of a vehicle presenting for an operation of handling. To this end, it scans an oblique plane 22 intersecting the traffic lane 8.
  • the sensor 21 is also arranged so that its plane scan 22 intersects the top wall 23 with a container carried by a vehicle. It is thus possible, by subtraction, to know the height of the container and so place it on storage area 9. In fact, when the taking of a container on a vehicle platform, measure the height of the container and that of the platform.
  • FIGS 8 and 9 illustrate in more detail the gantry 10.
  • the lifter 34 is provided with means capable of grasping, in a known manner, a container.
  • the lifter 34 carries the two laser sensors 15. These sensors could however be carried by the uprights 30.
  • FIGS 10 and 11 illustrate the operation of the device according to the invention.
  • the sensors 15 detect the relative position of the lower corner pieces of the container and locking pegs.
  • the system of command 40 deduces therefrom the orders to be supplied to gantry 10.
  • the sensors 15 detect the position of the upper corner pieces of the container.
  • the control system 40 deduces therefrom the orders to supply to gantry 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control And Safety Of Cranes (AREA)
EP97401778A 1996-07-24 1997-07-24 Verfahren und Vorrichtung zum Fördern von Kontainer Withdrawn EP0820957A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9609292A FR2751628A1 (fr) 1996-07-24 1996-07-24 Procedes et dispositif pour la manutention d'unites de transport intermodal
FR9609292 1996-07-24

Publications (1)

Publication Number Publication Date
EP0820957A1 true EP0820957A1 (de) 1998-01-28

Family

ID=9494409

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97401778A Withdrawn EP0820957A1 (de) 1996-07-24 1997-07-24 Verfahren und Vorrichtung zum Fördern von Kontainer

Country Status (2)

Country Link
EP (1) EP0820957A1 (de)
FR (1) FR2751628A1 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000018671A1 (en) * 1998-09-30 2000-04-06 Abb Ab Horizontal reference marker
EP1043262A1 (de) * 1999-04-09 2000-10-11 NFM Technologies Verfahren zum Laden eines Containers auf die Plattform eines Transportmittels und Einrichtung zum Lagern und Fördern von Containern
GR990100238A (el) * 1999-07-09 2001-03-30 Συστημα ευθυγραμμισης οχηματων στοιβαξης και μεταφορας εμπορευματοκιβωτιων με την γερανογεφυρα
US6648156B1 (en) * 1998-10-22 2003-11-18 Abb Ab Method for handling containers and a means to carry out a method for selecting a desired position on a stacking target
EP2707749A1 (de) * 2011-05-10 2014-03-19 Cargotec Finland Oy System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern
CN109835815A (zh) * 2019-03-15 2019-06-04 上海振华重工(集团)股份有限公司 集装箱起重机自动标定方法和系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI129963B (fi) 2017-03-16 2022-11-30 Konecranes Global Oy Kontin siirtolaitteen valvominen konttia laskettaessa kuljetusalustalle tai nostettaessa pois kuljetusalustalta ja optinen tunnistuslaitteisto kontin siirtolaitteen valvomiseksi

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2746794A1 (de) * 1976-10-20 1978-05-03 Hitachi Ltd Vorrichtuung zur positionierung eines spreizgeruestes zum automatischen erfassen und handhaben eines stueckgutes
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
DE2947955A1 (de) * 1979-07-26 1981-07-23 Fördertechnische Forschungsgesellschaft mbH Laserstrahl-positionierungseinrichtung zur positionierung von in einer richtung sich bewegenden objekten, insbesondere eisenbahnfahrzeugen zum umsetzen von behaeltern, wie containern, auf seitlich des fahrzeuges befindliche abstellflaechen, insbesondere unterhalb der oberleitungen fuer elektrische triebfahrzeuge, in bezug auf feststehende objekte und mit der laserstrahl-positionierungseinrichtung ausgeruestetes behaelterumsetzfahrzeug
DE3606363A1 (de) * 1986-02-27 1987-09-03 Krupp Gmbh Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung
EP0342655A2 (de) * 1988-05-18 1989-11-23 Tax Ingenieurgesellschaft Mbh Containerkrananlage
US5142658A (en) * 1991-10-18 1992-08-25 Daniel H. Wagner Associates, Inc. Container chassis positioning system
GB2276507A (en) * 1993-03-25 1994-09-28 Port Of Singapore Authority Vehicle positioning
EP0668236A1 (de) * 1994-02-18 1995-08-23 Siemens Aktiengesellschaft Anordnung zur Lastpositionierung bei Kranen

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2746794A1 (de) * 1976-10-20 1978-05-03 Hitachi Ltd Vorrichtuung zur positionierung eines spreizgeruestes zum automatischen erfassen und handhaben eines stueckgutes
GB1557640A (en) * 1976-10-22 1979-12-12 Hitachi Ltd Method and apparatus for automatic operation of container crane
DE2947955A1 (de) * 1979-07-26 1981-07-23 Fördertechnische Forschungsgesellschaft mbH Laserstrahl-positionierungseinrichtung zur positionierung von in einer richtung sich bewegenden objekten, insbesondere eisenbahnfahrzeugen zum umsetzen von behaeltern, wie containern, auf seitlich des fahrzeuges befindliche abstellflaechen, insbesondere unterhalb der oberleitungen fuer elektrische triebfahrzeuge, in bezug auf feststehende objekte und mit der laserstrahl-positionierungseinrichtung ausgeruestetes behaelterumsetzfahrzeug
DE3606363A1 (de) * 1986-02-27 1987-09-03 Krupp Gmbh Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung
EP0342655A2 (de) * 1988-05-18 1989-11-23 Tax Ingenieurgesellschaft Mbh Containerkrananlage
US5142658A (en) * 1991-10-18 1992-08-25 Daniel H. Wagner Associates, Inc. Container chassis positioning system
GB2276507A (en) * 1993-03-25 1994-09-28 Port Of Singapore Authority Vehicle positioning
EP0668236A1 (de) * 1994-02-18 1995-08-23 Siemens Aktiengesellschaft Anordnung zur Lastpositionierung bei Kranen

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000018671A1 (en) * 1998-09-30 2000-04-06 Abb Ab Horizontal reference marker
US6535834B1 (en) 1998-09-30 2003-03-18 Abb Ab Horizontal reference marker
US6648156B1 (en) * 1998-10-22 2003-11-18 Abb Ab Method for handling containers and a means to carry out a method for selecting a desired position on a stacking target
EP1043262A1 (de) * 1999-04-09 2000-10-11 NFM Technologies Verfahren zum Laden eines Containers auf die Plattform eines Transportmittels und Einrichtung zum Lagern und Fördern von Containern
FR2791963A1 (fr) * 1999-04-09 2000-10-13 Nfm Tech Procede de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs
GR990100238A (el) * 1999-07-09 2001-03-30 Συστημα ευθυγραμμισης οχηματων στοιβαξης και μεταφορας εμπορευματοκιβωτιων με την γερανογεφυρα
EP2707749A1 (de) * 2011-05-10 2014-03-19 Cargotec Finland Oy System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern
EP2707749A4 (de) * 2011-05-10 2015-02-18 Cargotec Finland Oy System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern
EP2707749B1 (de) 2011-05-10 2016-06-08 Cargotec Finland Oy System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern
CN109835815A (zh) * 2019-03-15 2019-06-04 上海振华重工(集团)股份有限公司 集装箱起重机自动标定方法和系统
CN109835815B (zh) * 2019-03-15 2020-08-21 上海振华重工(集团)股份有限公司 集装箱起重机自动标定方法和系统

Also Published As

Publication number Publication date
FR2751628A1 (fr) 1998-01-30

Similar Documents

Publication Publication Date Title
EP0233098B1 (de) Verladevorrichtung zum Laden, insbesondere zum schnellen Transferieren von palettierten Lasten
KR100719031B1 (ko) 아이에스오 컨테이너용 선적 장치
EP0183632B1 (de) Wagentransporter mit individuellen quertragenden Elementen
EP3148841B1 (de) Greifer zum greifen, bewegen und ablegen einer palette
CA1332364C (fr) Installation de parcage de vehicules automobiles, formant garage individuel automatique en milieu urbain
CA2142694A1 (fr) Ensemble d'accouplement entre deux structures wagon successives et un bogie commun
RU2394711C2 (ru) Опорное устройство с боковым самоцентрированием и креплением сцепного стержня полуприцепа на железнодорожной структуре
EP0820957A1 (de) Verfahren und Vorrichtung zum Fördern von Kontainer
EP0528741B1 (de) Trennbare Güterzugeinheit, insbesondere für den Transport von Strassenfahrzeugen
KR100191962B1 (ko) 컨테이너를 픽업 및 이송시키는 캐리지
FR2515594A1 (fr) Procede et equipement pour le transport de conteneurs sur des wagons de chemin de fer
EP0905001A1 (de) System für den Transport, die Ver- und Entladung von Strassenfahrzeugen, Containern oder anderen Gütern auf/von Waggons und Waggons hierfür
EP0574047B1 (de) Eisenbahnwagen zum automatischen Handhaben von Behältern
EP0481904A1 (de) Kupplungszwischenstück zur Verbindung eines Strassengespanns oder eines Behälters mit einem Drehgestell für die Umrüstung als Eisenbahneinheit
FR2563204A1 (fr) Accessoire pour chariot a fourche, et procede de dechargement utilisant cet accessoire
EP0691911B1 (de) Abnehmbarer tragrahmen zum beladen, entladen und verladen von containern
FR2490166A1 (fr) Vehicule equipe de dispositifs de transbordement lateral de conteneurs
FR3123632A1 (fr) Aéronef comprenant une soute équipée d’un dispositif de chargement et de déchargement de conteneurs
FR2749552A1 (fr) Plateau intermediaire amovible d'arrimage et de manutention de boites par rapport a un vehicule, vehicule adapte, systeme de manutention de boites et procede correspondant
FR2772692A1 (fr) Engin de manutention et transport de conteneurs
EP3659893A1 (de) Schienenfahrzeug für den transport eines sattelaufliegers, und beladungsverfahren eines solchen schienenfahrzeugs
FR2680492A1 (fr) Unite de transport ferroviaire porteuse d'une charge routiere.
FR2785273A1 (fr) Systeme fixe de transbordement horizontal d'un conteneur place ou a placer sur un vehicule de transport
FR2484340A1 (fr) Dispositif de transport et de stockage de vehicules automobiles
FR2785272A1 (fr) Systeme mobile de transbordement horizontal d'un conteneur place ou a placer sur un vehicule de transport

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

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): BE DE NL

17P Request for examination filed

Effective date: 19980723

RBV Designated contracting states (corrected)

Designated state(s): AT BE CH LI

REG Reference to a national code

Ref country code: DE

Ref legal event code: 8566

RBV Designated contracting states (corrected)

Designated state(s): BE DE NL

17Q First examination report despatched

Effective date: 20010814

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

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20020226