EP0822158B1 - System for automatically positioning a movable object in relation to another movable object - Google Patents
System for automatically positioning a movable object in relation to another movable object Download PDFInfo
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- EP0822158B1 EP0822158B1 EP97112698A EP97112698A EP0822158B1 EP 0822158 B1 EP0822158 B1 EP 0822158B1 EP 97112698 A EP97112698 A EP 97112698A EP 97112698 A EP97112698 A EP 97112698A EP 0822158 B1 EP0822158 B1 EP 0822158B1
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- Prior art keywords
- crane
- master
- slave
- measuring
- accordance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- the invention relates to a crane system according to the preamble of the first claim.
- cranes can be positioned using a wide variety of techniques, with newer methods involving the use of laser rangefinders that measure the distance on reflectors and pass it on to the crane controller.
- a known system assumes that the loading unit or the target position can be reliably recognized from above. However, this is not possible in the case of carrier wagons and swap bodies with a typical tarpaulin structure. The system can therefore only be used for dimensionally stable containers. Furthermore, it is not possible with the system described, even during crane travel, i.e. H. at high crane speeds to determine the position of a transport vehicle ("Laser sensors for crane automation" in lifting and conveying, 42 (1992) No. 11, p.890-892).
- a container crane system is known from EP-A-0 342 655, which is intended to move containers between different stands or means of transport.
- the sensors used in this system in the spreader aim directly at the loading unit and its top corner blows from above. If there are no upper corner blows or the shaky tarpaulin structure of the loading unit does not permit precise edge detection, this applies in particular to swap bodies for combined transport, the exact position cannot be determined from above and the system described cannot be used universally.
- DE-A-43 15 005 describes a device for measuring angular positions of a moving object relative to its starting position.
- the sensors used in the system described there only look at the spreader from the cat. However, the position of the loading unit to be picked up or its target position is not measured.
- the generic DE-A-36 06 363, which corresponds to the preamble of independent claim 1, includes a device for determining the position of a vehicle relative to a container lifting device.
- the lifting device is preferably equipped on its traveling beam with at least two sensors based on ultrasound with parallel axes and the vehicle on at least one side with reflectors, the distance between the reflectors corresponding to that of the sensors among one another and the number of reflectors the or each side of the vehicle and that of the sensors is a total of six.
- the sensors are connected to an identification device and / or a data processing system via an evaluation unit.
- the effect of the system shown is limited by the fixed mounting on the side member of the crane.
- the system only determines the position of the vehicle in relation to the side member of the crane, but not to the load handler. Dynamic deformations in the crane construction are not taken into account. It can therefore not always be ensured that the load handler always hits the determined position.
- the object of the present invention is therefore to provide a device for automatically positioning one of two objects that can move against one another, a crane system with load-handling means, in relation to a means of transport carrying the goods to be handled, with which the disadvantages of the solutions known from the prior art can be avoided, in particular that the load handler is reliable and quick the required position for picking up or setting down the goods is safely moved.
- the crane has at least one master measuring system with at least one target mark located on the side of the means of transport that is free to move in the direction of travel, and is for positioning the load suspension device with at least one, appropriately arranged Providing target marks, slave system on the load handler or on the trolley or together with the master measuring system on the measuring slide, by whose signal the load handler is moved into the required position for picking up or setting down the goods.
- the device according to the solution assumes that the goods or loading units to be loaded cannot be recognized from above.
- the master system is directed laterally towards the loading unit or the target position (marking on the means of transport) and thus determines the target position for the load handler.
- the slave system determines the relationship between the load handler and the master system.
- the master can be moved freely according to the proposed method.
- the master can use a controlled process to search for the means of transport and stand directly in front of the corner fittings or drop-off position and the data (pictures etc.) there for further checking to another computer system to ship.
- the process of determining the position of the goods to be loaded or the vehicle can take place parallel to the journey
- the master and slave naturally have the intelligence required for computing. It is also possible that the slave and master are connected in one unit and the slave is aiming upwards at a mark on the load handler. While lowering the load, the master looks at the means of transport and thus determines a virtual target point for the slave system. The slave measures the distance from this virtual target point to the leading mark on the load handler. This measures the position offset between the load handler and the means of transport.
- the crane has at least one guide rail on its longitudinal beam, on which at least one measuring slide with a target mark and a master is arranged to be movable in at least one axis.
- At least one slave is installed on the load handler or on the trolley. Two different variants of the arrangement of the slave are therefore possible. If the slave is installed on the trolley above the load handler, then the load handler must also have at least one target mark for the slave. If the slave is installed directly on the load handler, no additional target mark is required.
- the number of master systems depends on the number of handling positions to be handled. The number of slave systems depends on the number of load suspension devices and the possible number of different sizes of loading units.
- the position of the target mark of the measuring carriage is detected by the slave, with the signal of which the load-carrying device is moved into the required position for picking up or setting down the loading unit.
- the slave therefore has the task of reference to determine from the load suspension device to the master system, the master system detecting a reference point defined on at least one side of the means of transport as a marking. This can be a specially arranged marking. However, any suitable symbol or component that is located on the means of transport can also be determined.
- Master and slave have a common computer system, which is used to calculate the positions required to pick up or put down the goods.
- an image capturing device and / or a distance sensor are arranged as masters for measuring the destination.
- Image acquisition devices and / or laser sensors are used to measure the target mark by the slave. These must also be selected or combined depending on the respective application and environmental conditions.
- the master system is supported by an additional, redundant first recognition system in order to increase the recognition reliability of the master given the high relative speed between master and brand.
- the first detection system is then integrated in each master.
- the first detection system recognizes the profile of the means of transport as the means of transport passes the master or the master of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.
- FIGS. 1 and 2 show in a schematic representation a positioning system for crane systems for handling cargo units 2 from and / or on means of transport 1, consisting of a crane with the crane frame 17 and a load-carrying means 14.
- Target marks 3 are defined on the side of the means of transport 1.
- the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged so as to be movable.
- the target marks 7 are each attached to a holder 8.
- Two slaves 10 are each arranged on a fastening profile 12 on the load suspension device 14.
- the master 5, 6 searches for the corresponding target 3 on the means of transport 1. As soon as the master has recognized this target 3, it calculates the position of the means of transport 1 from the current crane position and the position of the measuring carriage 4 and transfers this position to the crane controller as a new target position. While the crane is now approaching this new target position, the master 5, 6 follows the target mark 3 on the means of transport by controlled movement of the measuring carriage 4, so that the master is now always in the middle of this.
- the master now additionally measures the distance from the master 5, 6 to the means of transport 1 and transmits this to the slave 10.
- the slave 10 observes and measures the target mark 7 on the measuring slide 4 and calculates the instantaneous deviation of the load suspension device 14 from the transport device 1 from this and with the known distance "master to transport device". This measurement value becomes continuously transmitted to the crane controller and this is used for the exact positioning of the crane and trolley or the load handling device 14 relative to the transport means 1.
- Figures 3 and 4 show in a schematic representation a positioning system for crane systems for handling cargo units 2 from and / or on means of transport 1, consisting of a crane with the crane frame 17 and a load suspension device 14, several above the load suspension device 14 on the trolley 15 Slaves 10 are arranged.
- the load suspension device 14 has a plurality of target marks 13.
- the target marks 3 are in turn defined on the means of transport 1.
- the lower longitudinal bar 9 of the crane scaffold 17 has a guide rail 11 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged to be movable. In this case, the measuring slide 4 is pivotably arranged below the longitudinal bar 9.
- FIG. 5 shows how slave 10 and master 5, 6 are connected in one unit and the slave aims upwards at a mark on the load suspension device 2.
- the master While the load is being lowered, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system.
- the slave measures the distance from this virtual target point to the guide mark 13 on the load suspension device. This measures the position offset between the load handler and the means of transport.
- FIG. 6 shows how the master system is supported by an additional, redundant first recognition system 18 in order to increase the recognition reliability of the master given the high relative speed between masters 5, 6 and mark 3.
- the first detection system 18 is integrated in each master. During the passage of the means of transport past the master or the master past the means of transport the first recognition system recognizes the profile of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Description
Die Erfindung betrifft eine Krananlage entsprechend dem Oberbegriff des ersten Patentanspruches.The invention relates to a crane system according to the preamble of the first claim.
Es ist bekannt, dass sich Krane mit verschiedensten Techniken positionieren lassen, wobei neuere Verfahren die Anwendung von Laser-Entfernungsmessern beinhalten, die die Entfernung auf Reflektoren messen und an die Kransteuerung weitergeben. Ein bekanntes System geht dabei davon aus, dass die Ladeeinheit bzw. die Zielposition von oben sicher erkannt werden kann. Dies ist aber im Fall von Tragwagen und Wechselbehältern mit typischem Planenaufbau nicht sicher möglich. Das System kann deshalb nur für formstabile Container eingesetzt werden. Weiterhin ist es mit dem beschriebenen System nicht möglich, noch während der Kranfahrt, d. h. bei hoher Krangeschwindigkeit, die Position eines Transportfahrzeuges zu bestimmen ("Laser - Sensoren für die Kranautomatisierung" in Heben und Fördern, 42(1992) Nr.11, S.890-892).It is known that cranes can be positioned using a wide variety of techniques, with newer methods involving the use of laser rangefinders that measure the distance on reflectors and pass it on to the crane controller. A known system assumes that the loading unit or the target position can be reliably recognized from above. However, this is not possible in the case of carrier wagons and swap bodies with a typical tarpaulin structure. The system can therefore only be used for dimensionally stable containers. Furthermore, it is not possible with the system described, even during crane travel, i.e. H. at high crane speeds to determine the position of a transport vehicle ("Laser sensors for crane automation" in lifting and conveying, 42 (1992) No. 11, p.890-892).
Aus der EP-A-0 342 655 ist eine Containerkrananlage bekannt, welche Container zwischen verschiedenen Standplätzen oder Transportmitteln umsetzen soll. Die bei diesem System eingesetzte Sensorik im Spreader zielt direkt von oben auf die Ladeeinheit und deren obere Eckschläge. Sind obere Eckschläge nicht vorhanden oder läßt der wackelige Planenaufbau der Ladeeinheit eine genaue Kantenerkennung nicht zu, dies trifft insbesondere auf Wechselbehälter des kombinierten Verkehrs zu, so läßt sich die genaue Position von oben nicht bestimmen und das beschriebene System ist nicht universell einsetzbar.A container crane system is known from EP-A-0 342 655, which is intended to move containers between different stands or means of transport. The sensors used in this system in the spreader aim directly at the loading unit and its top corner blows from above. If there are no upper corner blows or the shaky tarpaulin structure of the loading unit does not permit precise edge detection, this applies in particular to swap bodies for combined transport, the exact position cannot be determined from above and the system described cannot be used universally.
Die DE-A-43 15 005 beschreibt eine Vorrichtung zur meßtechnischen Erfassung von Winkellagen eines bewegten Gegenstandes gegenüber seiner Ausgangsstellung. Die im dort beschriebenen System eingesetzte Sensorik blickt von der Katze nur auf den Spreader. Die Position der aufzunehmenden Ladeeinheit bzw. deren Zielposition wird aber nicht gemessen.DE-A-43 15 005 describes a device for measuring angular positions of a moving object relative to its starting position. The sensors used in the system described there only look at the spreader from the cat. However, the position of the loading unit to be picked up or its target position is not measured.
Die gattungsbildende DE-A-36 06 363, welche dem Oberbegriff des unabhangigen Anspruchs 1 entspricht, beinhaltet eine Einrichtung zur Bestimmung der Lage eines Fahrzeuges relativ zu einer Container-Hebevorrichtung. Dabei ist die Hebevorrichtung vorzugsweise an ihrem Fahrbalken mit mindestens zwei auf der Basis von Ultraschall arbeitenden Sensoren mit parallel ausgerichteten Achsen und das Fahrzeug zumindest an einer Seite mit Reflektoren ausgerüstet, wobei der Abstand der Reflektoren untereinander dem der Sensoren untereinander entspricht und wobei die Anzahl der Reflektoren der bzw. jeder Seite des Fahrzeuges und die der Sensoren insgesamt sechs beträgt. Die Sensoren sind über eine Auswerteeinheit mit einem Erkennungsgerät und/oder einer Datenverarbeitungsanlage verbunden. Neben der oft unzureichenden Genauigkeit der beschriebenen Ultraschallsensorik ist das dargestellte System durch die ortsfeste Montage am Kranlängsträger in seiner Wirkung beschränkt. Das System ermittelt weiterhin nur die Position des Fahrzeuges in Bezug auf den Kranlängsträger, nicht aber zum Lastaufnahmemittel. Dynamische Verformungen in der Krankonstruktion werden nicht berücksichtigt. Es kann somit nicht immer sichergestellt werden, dass Lastaufnahmemittel stets die ermittelte Position trifft.The generic DE-A-36 06 363, which corresponds to the preamble of independent claim 1, includes a device for determining the position of a vehicle relative to a container lifting device. The lifting device is preferably equipped on its traveling beam with at least two sensors based on ultrasound with parallel axes and the vehicle on at least one side with reflectors, the distance between the reflectors corresponding to that of the sensors among one another and the number of reflectors the or each side of the vehicle and that of the sensors is a total of six. The sensors are connected to an identification device and / or a data processing system via an evaluation unit. In addition to the often inadequate accuracy of the ultrasound sensors described, the effect of the system shown is limited by the fixed mounting on the side member of the crane. The system only determines the position of the vehicle in relation to the side member of the crane, but not to the load handler. Dynamic deformations in the crane construction are not taken into account. It can therefore not always be ensured that the load handler always hits the determined position.
Die Aufgabe der vorliegenden Erfindung besteht deshalb darin, eine Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten, einer Krananlage mit Lastaufnahmemittel gegenüber einem die umzuschlagenden Güter tragenden Transportmittel vorzustellen, mit welchem die Nachteile der aus dem Stand der Technik bekannten Lösungen vermieden werden können, insbesondere, dass das Lastaufnahmemittel in kurzer Zeit zuverlässig und sicher die erforderliche Position zum Aufnehmen oder Absetzen des Gutes verfahren wird.The object of the present invention is therefore to provide a device for automatically positioning one of two objects that can move against one another, a crane system with load-handling means, in relation to a means of transport carrying the goods to be handled, with which the disadvantages of the solutions known from the prior art can be avoided, in particular that the load handler is reliable and quick the required position for picking up or setting down the goods is safely moved.
Erfindungsgemäß wird die Aufgabe durch die Merkmale des Anspruchs 1 gelöst. Vorteilhafte Ausbildungen der Erfindung sind in den Ansprüchen 2 und 7 enthalten.According to the invention the object is achieved by the features of claim 1. Advantageous embodiments of the invention are contained in claims 2 and 7.
Bei der lösungsgemäßen Krananlage mit Lastaufnahmemittel gegenüber einem die umzuschlagenden Güter tragenden Transportmittel weist der Kran zur Vermessung eines Zielortes mindestens ein in der Verfahrrichtung frei verfahrendes Mastermeßsystem mit mindestens einer seitlich dazu am Transportmittel befindlichen Zielmarke auf und ist zu Positionierung des Lastaufnahmemittels mit mindestens einem, entsprechend angeordnete Zielmarken erfassenden, Slavesystem am Lastaufnahmemittel oder an der Laufkatze oder zusammen mit dem Mastermeßsystem am Meßschlitten versehen, durch dessen Signal das Lastaufnahmemittel in die erforderliche Position zum Aufnehmen oder Absetzen des Gutes verfahren wird.In the case of the crane system according to the invention with a load suspension device in relation to a means of transport that carries the goods to be handled, the crane has at least one master measuring system with at least one target mark located on the side of the means of transport that is free to move in the direction of travel, and is for positioning the load suspension device with at least one, appropriately arranged Providing target marks, slave system on the load handler or on the trolley or together with the master measuring system on the measuring slide, by whose signal the load handler is moved into the required position for picking up or setting down the goods.
Die lösungsgemäße Einrichtung geht im Gegensatz zu den aus dem Stand der Technik bekannten Lösungen davon aus, dass die zu verladenden Güter bzw. Ladeeinheiten von oben nicht erkennbar sind. Das Mastersystem ist seitlich auf die Ladeeinheit bzw. auf die Zielposition (Markierung am Transportmittel) gerichtet und bestimmt somit die Sollposition für das Lastaufnahmemittel. Das Slavesystem ermittelt hierzu den Bezug von Lastaufnahmemittel und Mastersystem.In contrast to the solutions known from the prior art, the device according to the solution assumes that the goods or loading units to be loaded cannot be recognized from above. The master system is directed laterally towards the loading unit or the target position (marking on the means of transport) and thus determines the target position for the load handler. The slave system determines the relationship between the load handler and the master system.
Nach dem vorgeschlagenen Verfahren ist der Master frei verfahrbar. Zum einen kann der Master damit durch gesteuertes Verfahren das Transportmittel suchen und sich direkt vor die Eckbeschläge bzw. Absetzposition stellen und die dort vorliegenden Daten (Bilder etc.) zur weiteren Überprüfung an ein anderes Rechnersystem versenden. Zum anderen kann der Vorgang der Positionsbestimmung des zu verladenden Gutes bzw. des Fahrzeuges schon parallel zur Fahrt eines zurThe master can be moved freely according to the proposed method. On the one hand, the master can use a controlled process to search for the means of transport and stand directly in front of the corner fittings or drop-off position and the data (pictures etc.) there for further checking to another computer system to ship. On the other hand, the process of determining the position of the goods to be loaded or the vehicle can take place parallel to the journey
Umschlaganlage gehörenden Kranes, und zwar auch bei hoher Krangeschwindigkeit, erfolgen.Transshipment system belonging to the crane, even at high crane speeds.
Dadurch wird in vorteilhafter Weise ein zeitoptimaler Positioniervorgang möglich. Master und Slave verfügen selbstverständlich über die erforderliche Intelligenz zum Rechnen. Es ist weiterhin möglich, dass Slave und Master in einer Einheit verbunden sind und der Slave nach oben auf eine Marke am Lastaufnahmemittel zielt. Während des Senkens der Last blickt der Master auf das Transportmittel und bestimmt somit einen virtuellen Zielpunkt für das Slavesystem. Der Slave vermißt den Abstand dieses virtuellen Zielpunktes zur Leitmarke am Lastaufnahmemittel. Hierdurch wird der Positionsversatz zwischen Lastaufnahmemittel und Transportmittel vermessen.As a result, a time-optimal positioning process is advantageously possible. The master and slave naturally have the intelligence required for computing. It is also possible that the slave and master are connected in one unit and the slave is aiming upwards at a mark on the load handler. While lowering the load, the master looks at the means of transport and thus determines a virtual target point for the slave system. The slave measures the distance from this virtual target point to the leading mark on the load handler. This measures the position offset between the load handler and the means of transport.
Nach einem Merkmal der Erfindung weist der Kran an seinem Längsbalken mindestens eine Führungsschiene auf, auf der mindestens ein Meßschlitten mit einer Zielmarke und einem Master in wenigstens einer Achse verfahrbar angeordnet ist. Mindestens ein Slave ist am Lastaufnahmemittel oder an der Laufkatze installiert. Es sind also zwei unterschiedliche Varianten der Anordnung des Slave möglich. Wenn der Slave oberhalb des Lastaufnahmemittels an der Laufkatze installiert ist, dann muß das Lastaufnahmemittel ebenfalls mindestens eine Zielmarke für den Slave aufweisen. Wenn der Slave direkt am Lastaufnahmemittel installiert wird, ist keine weitere Zielmarke erforderlich. Die Anzahl der Mastersysteme ist abhängig von der Anzahl der zu bewältigenden Umschlagpositionen. Die Anzahl Slavesysteme ist abhängig von der Anzahl der Lastaufnahmemittel und der möglichen Anzahl verschiedener Größen von Ladeeinheiten.According to one feature of the invention, the crane has at least one guide rail on its longitudinal beam, on which at least one measuring slide with a target mark and a master is arranged to be movable in at least one axis. At least one slave is installed on the load handler or on the trolley. Two different variants of the arrangement of the slave are therefore possible. If the slave is installed on the trolley above the load handler, then the load handler must also have at least one target mark for the slave. If the slave is installed directly on the load handler, no additional target mark is required. The number of master systems depends on the number of handling positions to be handled. The number of slave systems depends on the number of load suspension devices and the possible number of different sizes of loading units.
Die Position der Zielmarke des Meßschlittens wird vom Slave erfaßt, wobei mit dessen Signal das Lastaufnahmemittel in die erforderliche Position zum Aufnehmen oder Absetzen der Ladeeinheit verfahren wird. Der Slave hat also die Aufgabe, den Bezug von Lastaufnahmemittel zum Mastersystem zu bestimmen, wobei das Mastersystem einen an mindestens einer Seite des Transportmittels definierten Bezugspunkt als Markierung erfaßt. Dabei kann es sich um eine extra dafür angeordnete Markierung handeln. Ebensogut kann aber auch jedes dafür geeignete und sowieso am Transportmittel befindliche Zeichen oder Bauteil dazu bestimmt werden. Master und Slave verfügen über ein gemeinsames Rechnersystem, über welches die erforderlichen Positionen zum Aufnehmen oder Absetzen des Gutes errechnet werden.The position of the target mark of the measuring carriage is detected by the slave, with the signal of which the load-carrying device is moved into the required position for picking up or setting down the loading unit. The slave therefore has the task of reference to determine from the load suspension device to the master system, the master system detecting a reference point defined on at least one side of the means of transport as a marking. This can be a specially arranged marking. However, any suitable symbol or component that is located on the means of transport can also be determined. Master and slave have a common computer system, which is used to calculate the positions required to pick up or put down the goods.
Zur Vermessung des Zielortes sind nach einem weiteren Merkmal der Erfindung als Master eine Bilderfassungseinrichtung und/oder ein Entfernungssensor angeordnet.According to a further feature of the invention, an image capturing device and / or a distance sensor are arranged as masters for measuring the destination.
Diese müssen den jeweiligen Einsatz- und Umweltbedingungen entsprechend ausgewählt bzw. kombiniert werden.These must be selected or combined in accordance with the respective application and environmental conditions.
Zur Vermessung der Zielmarke durch den Slave werden Bilderfassungseinrichtungen und/oder Lasersensoren eingesetzt. Diese müssen ebenfalls in Abhängigkeit von den jeweiligen Einsatz- und Umweltbedingungen ausgewählt bzw. kombiniert werden.Image acquisition devices and / or laser sensors are used to measure the target mark by the slave. These must also be selected or combined depending on the respective application and environmental conditions.
Nach einem weiteren Merkmal der Erfindung wird das Mastersystem noch durch ein zusätzliches, redundantes Ersterkennungssystem unterstützt, um bei der hohen Relativgeschwindigkeit zwischen Master und Marke die Erkennungssicherheit des Masters zu erhöhen. Das Ersterkennungssystem ist dann in jedem Master integriert. Während der Vorbeifahrt des Transportmittels am Master beziehungsweise des Masters am Transportmittel erkennt das Ersterkennungssystem das Profil des Transportmittels. Da die Position des Ersterkennungssystems bekannt ist, kann so die Größe, Typ und Lage des Transportmittels vermessen werden. Abhängig von den örtlichen Witterungsbedingungen sind Meßsysteme auf Magnetsensor-, Mikrowelle- oder Lasertechnologie einzusetzen.According to a further feature of the invention, the master system is supported by an additional, redundant first recognition system in order to increase the recognition reliability of the master given the high relative speed between master and brand. The first detection system is then integrated in each master. The first detection system recognizes the profile of the means of transport as the means of transport passes the master or the master of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.
Mit dem Einsatz des erfindungsgemäßen am Kran verfahrbaren Meßsystems werden zusammenfassend folgende Vorteile im Vergleich zum Stand der Technik erzielt:
- ein zeitoptimaler Meßvorgang, schon während der Kranfahrt,
- die Flexibilität, Ladeeinheiten und Transportmittel beliebiger Längen zu vermessen,
- das Loslösen von Kranbautoleranzen,
- die Möglichkeit, einen zuerst unbekannten Referenzpunkt (Marke an Transportmittel) zu finden und sich auf diesen einzumessen,
- die Möglichkeit, Ladeeinheiten zu vermessen, die keine oberen Eckbeschläge aufweisen.
- a time-optimized measuring process, already during crane travel,
- the flexibility to measure loading units and means of transport of any length,
- the loosening of crane construction tolerances,
- the possibility of finding a reference point (brand of means of transport) that was initially unknown and measuring it,
- the possibility to measure loading units that have no upper corner fittings.
Die Erfindung soll durch die nachfolgenden Ausführungsbeispiele näher erläutert werden, wobei die erfindungsgemäße Einrichtung nur beispielhaft für die beschriebenen Anlagen erläutert wird.The invention is to be explained in more detail by the following exemplary embodiments, the device according to the invention being explained only by way of example for the systems described.
In der Zeichnung zeigen die
- Figur 1:
- Schematische Darstellung eines Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln mit Slaves am Lastaufnahmemittel in der Vorderansicht,
- Figur 2:
- Schematische Darstellung des Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln nach Figur 1 in der Draufsicht,
- Figur 3:
- Schematische Darstellung eines Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln mit Slaves oberhalb des Lastaufnahmemittels in der Vorderansicht,
- Figur 4:
- Schematische Darstellung des Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln nach Figur 2 in der Draufsicht.
- Figur 5:
- Slave und Master sind in einer Einheit verbunden.
- Figur 6:
- Positioniersystem mit zusätzlichem Erkennungssystem.
- Figure 1:
- Schematic representation of a positioning system for crane systems for handling cargo units from and / or on means of transport with slaves on the load suspension device in the front view,
- Figure 2:
- Schematic representation of the positioning system for crane systems for handling cargo units from and / or on means of transport according to FIG. 1 in a top view,
- Figure 3:
- Schematic representation of a positioning system for crane systems for handling cargo units from and / or on means of transport with slaves above the load suspension device in the front view,
- Figure 4:
- Schematic representation of the positioning system for crane systems for handling cargo units from and / or on means of transport according to FIG. 2 in a top view.
- Figure 5:
- Slave and master are connected in one unit.
- Figure 6:
- Positioning system with additional detection system.
Die Figuren 1 und 2 zeigen in einer schematischen Darstellung ein Positioniersystem für Krananlagen zum Umschlagen von Ladeeinheiten 2 von und/oder auf Transportmitteln 1, bestehend aus einem Kran mit dem Krangerüst 17 und einem Lastaufnahmemittel 14. Seitlich am Transportmittel 1 sind Zielmarken 3 definiert. Der untere Längsbalken 9 des Krangerüstes 17 weist eine Führungsschiene 11 auf, auf der zwei Meßschlitten 4 mit jeweils einer Zielmarke 7 und einem Master 5, 6 verfahrbar angeordnet sind. Die Zielmarken 7 sind jeweils an einer Halterung 8 angebracht. Am Lastaufnahmemittel 14 sind zwei Slaves 10 an jeweils einem Befestigungsprofil 12 angeordnet.FIGS. 1 and 2 show in a schematic representation a positioning system for crane systems for handling cargo units 2 from and / or on means of transport 1, consisting of a crane with the crane frame 17 and a load-carrying means 14. Target marks 3 are defined on the side of the means of transport 1. The lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged so as to be movable. The target marks 7 are each attached to a holder 8. Two slaves 10 are each arranged on a fastening profile 12 on the load suspension device 14.
Die Funktionsweise des Systems wird wie folgt beschrieben:The functioning of the system is described as follows:
Noch während der Kranfahrt sucht der Master 5, 6 die entsprechende Zielmarke 3 am Transportmittel 1. Sobald der Master diese Zielmarke 3 erkannt hat, errechnet er aus der augenblicklichen Kranposition und der Position des Meßschlittens 4 die Position des Transportmittels 1 und übergibt diese Position der Kransteuerung als neue Zielposition. Während der Kran nun diese neue Zielposition anfährt, verfolgt der Master 5, 6 durch gesteuertes Verfahren des Meßschlittens 4 die Zielmarke 3 am Transportmittel, so dass sich der Master nun immer mittig vor dieser befindet. DerWhile the crane is moving, the master 5, 6 searches for the corresponding target 3 on the means of transport 1. As soon as the master has recognized this target 3, it calculates the position of the means of transport 1 from the current crane position and the position of the measuring carriage 4 and transfers this position to the crane controller as a new target position. While the crane is now approaching this new target position, the master 5, 6 follows the target mark 3 on the means of transport by controlled movement of the measuring carriage 4, so that the master is now always in the middle of this. The
Master mißt nun zusätzlich den Abstand vom Master 5, 6 zum Transportmittel 1 und überträgt diesen zum Slave 10.The master now additionally measures the distance from the master 5, 6 to the means of transport 1 and transmits this to the slave 10.
Während des Senkens des Lastaufnahmemittels 14 mit oder ohne Last betrachtet und vermißt der Slave 10 die Zielmarke 7 am Meßschlitten 4 und errechnet hieraus und mit dem bekannten Abstand "Master zu Transportmittel" die augenblickliche Abweichung des Lastaufnahmemittels 14 zum Transportmittel 1. Dieser Meßwert wird kontinuierlich an die Kransteuerung übertragen und dient dieser zur genauen Positionierung von Kran und Katze bzw. des Lastaufnahmemittels 14 gegenüber dem Transportmittel 1.During the lowering of the load suspension device 14 with or without a load, the slave 10 observes and measures the target mark 7 on the measuring slide 4 and calculates the instantaneous deviation of the load suspension device 14 from the transport device 1 from this and with the known distance "master to transport device". This measurement value becomes continuously transmitted to the crane controller and this is used for the exact positioning of the crane and trolley or the load handling device 14 relative to the transport means 1.
Die Figuren 3 und 4 zeigen in einer schematischen Darstellung ein Positioniersystem für Krananlagen zum Umschlagen von Ladeeinheiten 2 von und/oder auf Transportmitteln 1, bestehend aus einem Kran mit dem Krangerüst 17 und einem Lastaufnahmemittel 14, wobei oberhalb des Lastaufnahmemittels 14 an der Laufkatze 15 mehrere Slaves 10 angeordnet sind. Das Lastaufnahmemittel 14 weist mehrere Zielmarken 13 auf. Am Transportmittel 1 sind wiederum die Zielmarken 3 definiert. Der untere Längsbalken 9 des Krangerüstes 17 weist eine Führungsschiene 11 auf, auf der zwei Meßschlitten 4 mit jeweils einer Zielmarke 7 und einem Master 5, 6 verfahrbar angeordnet sind. Der Meßschlitten 4 ist in diesem Fall unterhalb des Längsbalkens 9 schwenkbar angeordnet.Figures 3 and 4 show in a schematic representation a positioning system for crane systems for handling cargo units 2 from and / or on means of transport 1, consisting of a crane with the crane frame 17 and a load suspension device 14, several above the load suspension device 14 on the trolley 15 Slaves 10 are arranged. The load suspension device 14 has a plurality of target marks 13. The target marks 3 are in turn defined on the means of transport 1. The lower longitudinal bar 9 of the crane scaffold 17 has a guide rail 11 on which two measuring slides 4, each with a target mark 7 and a master 5, 6, are arranged to be movable. In this case, the measuring slide 4 is pivotably arranged below the longitudinal bar 9.
Die Figur 5 zeigt, wie Slave 10 und Master 5, 6 in einer Einheit verbunden sind und der Slave nach oben auf eine Marke am Lastaufnahmemittel 2 zielt.FIG. 5 shows how slave 10 and master 5, 6 are connected in one unit and the slave aims upwards at a mark on the load suspension device 2.
Während des Senkens der Last blickt der Master auf das Transportmittel 1 und bestimmt somit einen virtuellen Zielpunkt für das Slavesystem. Der Slave vermißt den Abstand dieses virtuellen Zielpunktes zur Leitmarke 13 am Lastaufnahmemittel. Hierdurch wird der Positionsversatz zwischen Lastaufnahmemittel und Transportmittel vermessen.While the load is being lowered, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system. The slave measures the distance from this virtual target point to the guide mark 13 on the load suspension device. This measures the position offset between the load handler and the means of transport.
In Figur 6 ist dargestellt, wie das Mastersystem noch durch ein zusätzliches, redundantes Ersterkennungssystem 18 unterstützt wird, um bei der hohen Relativgeschwindigkeit zwischen Master 5, 6 und Marke 3 die Erkennungssicherheit des Masters zu erhöhen.FIG. 6 shows how the master system is supported by an additional, redundant first recognition system 18 in order to increase the recognition reliability of the master given the high relative speed between masters 5, 6 and mark 3.
Das Ersterkennungssystem 18 ist in jedem Master integriert. Während der Vorbeifahrt des Transportmittels am Master beziehungsweise des Masters am Transportmittel erkennt das Ersterkennungssystem das Profil des Transportmittels. Da die Position des Ersterkennungssystems bekannt ist, kann so die Größe, Typ und Lage des Transportmittels vermessen werden. Abhängig von den örtlichen Witterungsbedingungen sind Meßsysteme auf Magnetsensor-, Mikrowelle- oder Lasertechnologie einzusetzen.The first detection system 18 is integrated in each master. During the passage of the means of transport past the master or the master past the means of transport the first recognition system recognizes the profile of the means of transport. Since the position of the first detection system is known, the size, type and location of the means of transport can be measured. Depending on the local weather conditions, measuring systems based on magnetic sensor, microwave or laser technology are to be used.
Claims (8)
- A crane system, including a trolley (15), a load receiving means (14) and a transport means (1) for goods (2) that are to be transshipped as well as a device for automatically positioning the crane system with the trolley (15) relative to the transport means (1), with a master system (5, 6) for recognizing the position and defining the target position,
characterized in that,
for measuring a target location, the crane comprises at least one master measuring system (5, 6) that is free to move in its travel direction and that has at least one target mark (3) located opposite laterally to the transport means (1) and that, for positioning the load receiving means (14), at least one slave system (10) is installed on the load receiving means (14) or on the trolley (15) or together with the master measuring system (5, 6) on the measuring carriage (4), said slave system registering, according to the master measuring system, the target marks (7, 13) disposed on the crane or on the load receiving means (14) and wherein, in response to a signal of the slave system (10), the load receiving means (14) is caused to travel to the position required for lifting or depositing the goods (2) and that measurement of a target location is performed. - The crane system in accordance with claim 1,
characterized in that,
on its longitudinal beam (9), the crane comprises at least one guide rail (11) on which at least one measuring carriage (4) having one target mark (7) for the slave system (10) and one master (5, 6) is disposed so as to be travelable. - The crane system in accordance with the claims 1 and 2,
characterized in that
the measuring carriage (4) with the master (5, 6) and the target mark (7) is pivotally carried. - The crane system in accordance with the claims 1 through 3,
characterized in that
at least one slave (10) is installed on the trolley, the load receiving means (14) comprising at least one target mark (13) for the slave (10). - The crane system in accordance with the claims 1 through 4,
characterized in that
the master measuring system (5, 6) includes an image capturing device and/or a distance sensor and a target mark (3). - The crane system in accordance with the claims 1 through 5,
characterized in that
the slave (10) includes an image processing camera and/or a laser scanner. - The crane system in accordance with the claims 1 through 6,
characterized in that
the master measuring system (5, 6) and the slave (10) have a common computer system for computing the positions required for lifting or depositing the goods. - The crane system in accordance with any of the afore mentioned claims,
characterized in that
the master measuring system (5, 6) contains a redundant initial recognition system (18).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19630187A DE19630187C2 (en) | 1996-07-26 | 1996-07-26 | Device for the automatic positioning of one of two objects moving against each other |
| DE19630187 | 1996-07-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0822158A1 EP0822158A1 (en) | 1998-02-04 |
| EP0822158B1 true EP0822158B1 (en) | 2004-12-29 |
Family
ID=7800917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP97112698A Expired - Lifetime EP0822158B1 (en) | 1996-07-26 | 1997-07-24 | System for automatically positioning a movable object in relation to another movable object |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0822158B1 (en) |
| DE (2) | DE19630187C2 (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29818025U1 (en) | 1998-10-09 | 1999-02-04 | Noell Stahl- und Maschinenbau GmbH, 97080 Würzburg | Device for personal and collision protection on crane systems |
| FR2791963B1 (en) * | 1999-04-09 | 2001-06-29 | Nfm Tech | METHOD FOR LOADING A CONTAINER ONTO A PLATFORM WITH A MEANS OF TRANSPORT AND INSTALLATION FOR STORING AND HANDLING CONTAINERS |
| DE19918449C2 (en) * | 1999-04-23 | 2001-09-13 | Noell Stahl Und Maschb Gmbh | Load lifting system for fine positioning and active vibration damping |
| GR990100238A (en) * | 1999-07-09 | 2001-03-30 | System for aligning vehicles for stacking and transporting containers with the crane | |
| DE10004329C2 (en) * | 2000-02-01 | 2002-06-27 | Deutsche Bahn Ag | Vehicle-side safety device for monitoring the stability of rail vehicles equipped with hoists |
| DE10024039A1 (en) * | 2000-05-16 | 2001-11-29 | Noell Crane Sys Gmbh | Crane system has automatic determination of actual position above surface with sensors detecting fixed reference line bounding working area in base surface, passing to evaluation unit |
| DE10039629B4 (en) * | 2000-08-09 | 2007-01-11 | Railion Deutschland Ag | Method for the automatic loading and unloading of transport units, in particular units for transporting goods |
| DE10202399A1 (en) * | 2002-01-19 | 2003-08-07 | Noell Crane Sys Gmbh | Positioning of transport vehicles in depot handling containers uses laser scanning system |
| AUPS325302A0 (en) * | 2002-06-27 | 2002-07-18 | Satellite Telemetry (Aust) Pty. Limited | Straddle carrier position guidance system |
| AU2003290493A1 (en) * | 2002-12-31 | 2004-07-22 | Abb Ab | A system and a method for container identification |
| SE0203906D0 (en) | 2002-12-31 | 2002-12-31 | Abb Ab | Container character recognition system |
| WO2009052854A1 (en) * | 2007-10-22 | 2009-04-30 | Abb Ab | Device, method and system for recording inspection data about a freight container |
| FI121402B (en) * | 2009-04-15 | 2010-10-29 | Konecranes Oyj | System for identification and / or position determination of container processing machine |
| EP2730532A1 (en) | 2012-11-09 | 2014-05-14 | CAMCO Technologies NV | A container scanning system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5211826B2 (en) * | 1972-10-18 | 1977-04-02 | ||
| US4172685A (en) * | 1976-10-22 | 1979-10-30 | Hitachi, Ltd. | Method and apparatus for automatic operation of container crane |
| DE3445830A1 (en) * | 1984-12-15 | 1986-06-19 | Dürr Anlagenbau GmbH, 7000 Stuttgart | Handling plant with positioning device |
| DE3606363C2 (en) * | 1986-02-27 | 1995-04-13 | Vulkan Kocks Gmbh | Device for determining the position of a vehicle relative to a container lifting device |
| US5089972A (en) * | 1990-12-13 | 1992-02-18 | Nachman Precision Systems, Inc. | Moored ship motion determination system |
| US5142658A (en) * | 1991-10-18 | 1992-08-25 | Daniel H. Wagner Associates, Inc. | Container chassis positioning system |
| DE4405683A1 (en) * | 1994-02-22 | 1995-08-24 | Siemens Ag | Method of conveying a load using a crane |
-
1996
- 1996-07-26 DE DE19630187A patent/DE19630187C2/en not_active Expired - Fee Related
-
1997
- 1997-07-24 DE DE59712144T patent/DE59712144D1/en not_active Expired - Fee Related
- 1997-07-24 EP EP97112698A patent/EP0822158B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| EP0822158A1 (en) | 1998-02-04 |
| DE19630187C2 (en) | 2001-03-22 |
| DE19630187A1 (en) | 1998-01-29 |
| DE59712144D1 (en) | 2005-02-03 |
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