EP1043262A1 - Method for loading a container on a platform of a transport means and installation for stocking and handling of containers - Google Patents

Method for loading a container on a platform of a transport means and installation for stocking and handling of containers Download PDF

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Publication number
EP1043262A1
EP1043262A1 EP00400570A EP00400570A EP1043262A1 EP 1043262 A1 EP1043262 A1 EP 1043262A1 EP 00400570 A EP00400570 A EP 00400570A EP 00400570 A EP00400570 A EP 00400570A EP 1043262 A1 EP1043262 A1 EP 1043262A1
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EP
European Patent Office
Prior art keywords
container
lifter
platform
transport
installation
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Withdrawn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
EP00400570A
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German (de)
French (fr)
Inventor
Jean-Paul Bibes
Luc Moureau
Francois Leonard
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NFM Technologies SAS
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NFM Technologies SAS
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Filing date
Publication date
Application filed by NFM Technologies SAS filed Critical NFM Technologies SAS
Publication of EP1043262A1 publication Critical patent/EP1043262A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66C13/18—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 of loading a container onto a platform of a means of transport and a storage facility and container handling in which the loading of containers on means of transport such as truck trailers or railroad cars.
  • the transfer gantry constitutes a handling structure which is mobile on traffic lanes in a first direction horizontal, on which is mounted movable, at least in a second direction circulation perpendicular to the direction of circulation of the gantry, a lifting beam comprising means for picking up and lifting containers, generally produced in the form of a spreader which can be linked to the spreader by means for adjusting the orientation and the inclination of a container supported by the spreader before loading it on the platform of the means of transport and a lifting winch.
  • the lifter is itself suspended from a cart circulating on the gantry, through of the lifting winch.
  • All the operations for loading a container onto the platform of a means of transport such as the trailer of a truck can be carried out fully automatically between the time the trailer was placed in the loading area by the truck driver and depositing the container on the trailer by the lifting beam.
  • the truck driver places his trailer between lines parking lots marked on the parking area, usually in the first direction of movement of the gantry.
  • the establishment of the platform loading is carried out, for example, with an accuracy of around 500 mm in the first direction of movement of the gantry.
  • the object of the invention is therefore to propose a loading method of a container on a platform of a means of transport, in an installation for storage and handling of containers with a store container storage, a mobile handling structure on traffic lanes, in a first horizontal direction, a lifting beam comprising means for picking up and lifting containers, mounted mobile on the handling structure, at least in a second direction of horizontal circulation perpendicular to the first direction, and means for controlling the movement of the handling structure and the spreader to move the lifter between an initial vertical position of a parking area of the means of transport and a position for picking up the container in the store and to place the container on the platform, the means of transport being placed in its parking area and the container stored in the store, in an initial stage of the process which is implemented fully automatically with implementation perfect container on the platform of the means of transport.
  • Figure 1 is a front elevational view of an installation of storage and handling of containers on which can be implemented the method of the invention.
  • Figure 2 is a top view along 2-2 of Figure 1, of a container storage and handling installation according to the invention.
  • Figures 3, 4, 5 and 6 are schematic front views showing a next container storage and handling facility the invention, during four successive stages of the loading process of containers according to the invention.
  • Figures 1 and 2 show a storage and handling installation of containers generally designated by item 1.
  • the storage and handling installation 1 mainly comprises a mobile mounted transfer gantry 2, in a first direction X (see figure 2), in one direction and in the other, on traffic lanes parallel 3 which can be constituted by rails fixed on the flat surface of the storage and circulation area 4 of the installation 1, thus a container storage store 5 consisting of containers 6 stacked resting on the storage and circulation area 4 of the installation.
  • the transfer gantry 2 which will be described below, allows take charge of a container 6a in any position in store 5, lifting and transporting the container directly above platform 9 as well as the removal of the container on the platform, in the transportation area 8.
  • the means of transport 8 can be a truck providing traction of a trailer or semi-trailer whose platform 9 can receive the container 6a or even an 8 'railway wagon whose platform can receive a container 6.
  • the transfer gantry 2 includes a handling structure large consisting of four vertical columns 11 interconnected at their lower part by side members, on the upper part which rests a horizontal support and guide structure 12 of a carriage 15 movable in a horizontal direction of movement Y perpendicular to the direction X of displacement of the gantry 2, in one way and the other.
  • the carriage 15 carries a winch to which is suspended a spreader 14, via a set of cables and pulleys constituting an anti-sway suspension device.
  • the spreader 14 itself carries a means of gripping a container 6 constituted in the form a spreader 13.
  • the winch carried by the carriage 15 makes it possible to lower the spreader and the spreader in the position of picking up a container in the magazine 5 and ensure the lifting of the container to allow its transport by the carriage 15, until it comes into line with the parking zone 7 of the transportation 8.
  • Figure 1 there is shown in solid lines the carriage 15, the lifter 14 and the spreader 13 to which a container 6a is attached, in a position loading platform 9 of truck trailer 8 and broken lines in a position directly above the storage warehouse, in which the handling of a container 6 has been carried out.
  • the displacement motors of the gantry, the carriage 15, the winch and the spreader 14 as well as the means of actuating the spreader 13 for the catch and release of a container 6 are connected to a control machine 21 (See Figure 3) allowing to realize fully automatically loading a container onto platform 9 with a means of transport 8 placed in parking area 7.
  • the method according to the invention allows the removal of a container on a platform of a means of transport such as a trailer or a road semi-trailer, in an ideal position perfectly centered on the platform of the means of transport.
  • the spreader 14 of the transfer bridge 2 carries a first position sensor 16 and a second position sensor 17 which can be constituted for example by position and sighting devices using video cameras.
  • the container storage and handling facility has a fixed mark 10 which can be constituted for example, as it is visible in Figures 1 and 2 and in Figures 3 to 6, by an element of rigid structure integral with the slab constituting the storage area 4, arranged on the outer edge of the parking area 7 of the means of transport comprising the platform 9.
  • the fixed mark 10 can be produced in particular in the form of a low wall parallel to the traffic lanes of gantry 2, in an arrangement adjacent to the parking position of the platform 9 in the parking area 7.
  • the first sensor 16 carried by the spreader 14 is a television, for example a video camera, placed in a lateral arrangement relative to the spreader and having a measurement field 16 'directed towards the upper surface of the fixed mark 10 carrying the optical marking elements 18.
  • the second sensor 17 carried by the lifter 14 is a detection by television, such as a video camera arranged at the bottom of the spreader, in a substantially central arrangement, and having a measuring field 17 ′ directed towards marking elements 19 arranged on the upper surface of the platform 9 and in particular in the vicinity of each of the angles of the platform.
  • location sensors 16 and 17 are connected by conductors to a processing unit 20 carried by the transfer gantry 2, so that the processing unit 20 receives measurement signals from the sensors 16 and 17.
  • the processing unit 20 is connected to the controller 21 for controlling and handling of the transfer bridge 2.
  • the platform 9 of a means of transport which may consist of a trailer of a truck 8.
  • the spreader 14 is moved to bring it into a position initial directly above parking area 7 and platform 9 or check that the lifting beam is already in its initial position.
  • the first sensor 16 is used to pinpoint precisely the position of the spreader 14 relative to the fixed mark 10.
  • the measurement signals corresponding positions are transmitted to the processing unit 20.
  • On uses the second sensor 17 to determine the position of the platform 9, that is to say marks 19 of the platform 9, with respect to the lifter 14.
  • the corresponding position measurement signals are transmitted to the processing unit 20.
  • the processing unit 20 determines the exact position of the platform 9 of the means of transport, relative to fixed mark 10.
  • the data relating to the position of the platform 9 relative to the fixed mark 10 are stored in the processing unit 20 which is generally constituted by a calculator.
  • the controller 21 controls the movement of the spreader 14, via of the carriage 15, from the initial position shown in FIG. 3, to a position in line with the position, container 6a which must be loaded on platform 9.
  • the automaton then controls the descent of the spreader 14 and spreader 13 to the gripping position of the container 6a, tightening of the spreader gripping elements and lifting of the spreader 14, spreader 13 and container 6a attached to the spreader.
  • FIG. 4 the spreader 14 and the spreader 13 are shown in gripping position on the container 6a.
  • the controller 21 of the transfer bridge 2 then controls the lifting the spreader 14, the spreader 13 and the container 6a, via of the winch carried by the carriage 15.
  • the carriage 15 then moves the lifter 14 and the spreader 13 to which the container 6a is fixed, to bring the spreader 14 in an initial position directly above the trailer 9 in the parking zone 7, as shown in FIG. 5.
  • the lifter 14 is stopped in its initial position and the first sensor 16 is used to determine the exact position of the spreader 14 carrying the container 6a, by relative to the fixed reference 10.
  • Signals representative of the exact position of the spreader 14 by fixed reference 10 are transmitted to the computer 20.
  • the computer 20 determines, from the signals representative of the exact position of the spreader 14 and the signals representative of the position of the platform 9 of the trailer with respect to the fixed mark 10, which has been put in memory, the movements that it is necessary to have spreader to deposit the container 6a on the trailer 9, in a position perfectly centered.
  • Displacements spreader 14 carrying the container 6a are made under the pipe of the automaton, so as to deposit the container 6a on the platform 9 in a perfectly centered position, as shown in FIG. 6.
  • the loosening means of the spreader 13 are then relaxed. and lifting the lifter to bring it into its original position plumb of the loading and parking area 7.
  • the truck driver is then given permission to leave the parking area 7 of the storage area.
  • a new container loading operation can then be after a trailer has been brought into the parking area of a truck on which a container must be loaded.
  • the method and the device according to the invention therefore make it possible to carry out perfectly loading a platform with a means of transport arranged in a parking area of a container storage and handling, without the need to very precisely adjust the position of the platform in the area parking.
  • the invention makes it possible in particular to carry out the loading of means completely automatic and without the risk of placing a container in an unbalanced position on the platform of the means of transport.
  • the method and the installation according to the invention do not implement Only tracking elements, sensors and processing means of measurement signals which can be carried out in a simple manner and according to usual techniques.
  • the invention can also be implemented using different handling means of a transfer gantry such as described above.
  • the invention is applicable for example in the case of a load storage and handling facility such as containers comprising an overhead traveling crane moving on a fixed structure container storage and handling facility.
  • the movements of the spreader in the horizontal direction X can be realized as well by moving the gantry on its lane only by moving the spreader trolley on the gantry.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The guide post (10) is positioned adjacent to one of the rails on which the crane (2) runs and may have a reflector or conspicuous optical marker (18) on top. There may be a television camera (16) on the crossbar (14) of the carriage of the crane, with a clear line of sight (16') to the marker on top of the post. The television camera is connected to a computer (20) which in turn is connected to an automatic control circuit (21). A se television camera (17) on the crossbar looks directly downward (17') at a pallet (9) on the ground and is connected to the contr system to help position the lifting gear of the crane over the pallet or over a crate to be lifted.

Description

L'invention concerne un procédé de chargement d'un conteneur sur une plate-forme d'un moyen de transport et une installation de stockage et de manutention de conteneurs dans laquelle on réalise le chargement de conteneurs sur des moyens de transport tels que des remorques de camion ou des wagons de chemin de fer.The invention relates to a method of loading a container onto a platform of a means of transport and a storage facility and container handling in which the loading of containers on means of transport such as truck trailers or railroad cars.

On connaít des installations de stockage et de chargement de conteneurs qui comportent un magasin de stockage dans lequel les conteneurs sont empilés dans une disposition bien définie et répertoriée et des moyens de manutention des conteneurs généralement constitués par un portique de transbordement permettant de prendre en charge les conteneurs dans le magasin de stockage et de les amener à la verticale d'une zone de stationnement d'un moyen de transport comportant une plate-forme de réception du conteneur, la prise en charge des conteneurs dans le magasin de stockage et le déplacement d'un moyen de manutention du portique de transbordement entre le magasin et la zone de stationnement des moyens de transport étant totalement automatiques.We know of storage and container loading facilities which have a storage warehouse in which the containers are stacked in a well defined and cataloged arrangement and means for handling containers generally consisting of a gantry crane transshipment to take care of containers in the storage store and bring them over a parking area a means of transport comprising a reception platform of the container, the handling of the containers in the storage warehouse and the displacement of a means of handling the transfer gantry between the store and the parking area of the means of transport being fully automatic.

Le portique de transbordement constitue une structure de manutention qui est mobile sur des voies de circulation dans une première direction horizontale, sur laquelle est monté mobile, au moins dans une seconde direction de circulation perpendiculaire à la direction de circulation du portique, un palonnier comportant des moyens de prise et de levage de conteneurs, généralement réalisé sous la forme d'un «spreader» qui peut être relié au palonnier par des moyens permettant de régler l'orientation et l'inclinaison d'un conteneur pris en charge par le spreader avant son chargement sur la plate-forme du moyen de transport et d'un treuil de levage. Le palonnier est lui-même suspendu à un chariot circulant sur le portique, par l'intermédiaire du treuil de levage.The transfer gantry constitutes a handling structure which is mobile on traffic lanes in a first direction horizontal, on which is mounted movable, at least in a second direction circulation perpendicular to the direction of circulation of the gantry, a lifting beam comprising means for picking up and lifting containers, generally produced in the form of a spreader which can be linked to the spreader by means for adjusting the orientation and the inclination of a container supported by the spreader before loading it on the platform of the means of transport and a lifting winch. The lifter is itself suspended from a cart circulating on the gantry, through of the lifting winch.

L'ensemble des opérations de chargement d'un conteneur sur la plate-forme d'un moyen de transport tel que la remorque d'un camion, peut être réalisé de manière totalement automatique entre le moment où la remorque a été placée dans la zone de chargement par le conducteur du camion et la dépose du conteneur sur la remorque par le palonnier. All the operations for loading a container onto the platform of a means of transport such as the trailer of a truck, can be carried out fully automatically between the time the trailer was placed in the loading area by the truck driver and depositing the container on the trailer by the lifting beam.

Toutefois, la mise en place de la plate-forme de chargement de la remorque sur l'aire de stationnement de l'installation de stockage et de manutention de conteneurs, par le chauffeur du camion, n'est généralement pas réalisée de manière suffisamment précise pour qu'on puisse assurer un chargement du conteneur sur la remorque dans une position idéale.However, the establishment of the loading platform for the trailer on the parking area of the storage and handling facility of containers, by the truck driver, is generally not carried out in a sufficiently precise way so that one can ensure a loading the container onto the trailer in an ideal position.

En effet, le chauffeur du camion place sa remorque entre des lignes de parcage tracées sur l'aire de stationnement, généralement dans la première direction de déplacement du portique. La mise en place de la plate-forme de chargement est réalisée, par exemple, avec une précision de l'ordre de 500 mm dans la première direction de circulation du portique.Indeed, the truck driver places his trailer between lines parking lots marked on the parking area, usually in the first direction of movement of the gantry. The establishment of the platform loading is carried out, for example, with an accuracy of around 500 mm in the first direction of movement of the gantry.

Le but de l'invention est donc de proposer un procédé de chargement d'un conteneur sur une plate-forme d'un moyen de transport, dans une installation de stockage et de manutention de conteneurs comportant un magasin de stockage de conteneurs, une structure de manutention mobile sur des voies de circulation, dans une première direction horizontale, un palonnier comportant des moyens de prise et de levage de conteneurs, monté mobile sur la structure de manutention, au moins dans une seconde direction de circulation horizontale perpendiculaire à la première direction, et des moyens de commande de déplacement de la structure de manutention et du palonnier pour déplacer le palonnier entre une position initiale à la verticale d'une zone de stationnement du moyen de transport et une position de prise du conteneur dans le magasin et pour déposer le conteneur sur la plate-forme, le moyen de transport étant placé dans sa zone de stationnement et le conteneur stocké dans le magasin, dans une étape initiale du procédé qui est mis en oeuvre de manière totalement automatique avec une mise en place parfaite du conteneur sur la plate-forme du moyen de transport.The object of the invention is therefore to propose a loading method of a container on a platform of a means of transport, in an installation for storage and handling of containers with a store container storage, a mobile handling structure on traffic lanes, in a first horizontal direction, a lifting beam comprising means for picking up and lifting containers, mounted mobile on the handling structure, at least in a second direction of horizontal circulation perpendicular to the first direction, and means for controlling the movement of the handling structure and the spreader to move the lifter between an initial vertical position of a parking area of the means of transport and a position for picking up the container in the store and to place the container on the platform, the means of transport being placed in its parking area and the container stored in the store, in an initial stage of the process which is implemented fully automatically with implementation perfect container on the platform of the means of transport.

Dans ce but :

  • on place le palonnier dans sa position initiale,
  • on détermine la position du palonnier, par rapport à un repère fixe de l'installation, situé à proximité de la zone de stationnement,
  • on détermine la position de la plate-forme par rapport au palonnier,
  • on détermine à partir des positions du palonnier et de la plate-forme, par rapport au repère fixe et au palonnier, respectivement, la position de la plate-forme par rapport au repère fixe,
  • on réalise automatiquement la prise en charge du conteneur par le palonnier, dans le magasin,
  • on déplace le palonnier portant le conteneur jusqu'à venir à la verticale de la zone de stationnement,
  • on détermine la position exacte du palonnier portant le conteneur, par rapport au repère fixe, situé à proximité de la zone de stationnement,
  • on détermine, à partir de la position exacte du palonnier portant le conteneur et de la position de la plate-forme, par rapport au repère fixe de l'installation, les déplacements à faire effectuer au palonnier pour déposer le conteneur sur la plate-forme du moyen de transport, dans une position parfaite,
  • on dépose et on relâche le conteneur sur la plate-forme du moyen de transport, et
  • on replace le palonnier dans sa position initiale.
For this purpose :
  • we place the lifter in its initial position,
  • the position of the lifter is determined, relative to a fixed reference point of the installation, located near the parking area,
  • the position of the platform is determined relative to the lifter,
  • the position of the platform with respect to the fixed mark is determined from the positions of the lifter and of the platform, with respect to the fixed mark and the spreader, respectively,
  • the container is taken over automatically by the lifting beam, in the store,
  • the spreader carrying the container is moved until it comes to the vertical of the parking area,
  • the exact position of the lifting beam carrying the container is determined, relative to the fixed mark, located near the parking area,
  • we determine, from the exact position of the lifter carrying the container and the position of the platform, relative to the fixed reference of the installation, the movements to be made to the lifter to place the container on the platform the means of transport, in a perfect position,
  • the container is placed and released on the platform of the means of transport, and
  • the rudder bar is returned to its initial position.

L'invention est également relative à une installation de stockage et de manutention de conteneurs pour la mise en oeuvre du procédé de chargement selon l'invention qui comporte :

  • un repère fixe adjacent à la zone de stationnement du moyen de transport,
  • un premier capteur porté par le palonnier, pour le repérage de la position du palonnier par rapport au repère fixe,
  • un second capteur porté par le palonnier, pour le repérage de la position de la plate-forme du moyen de transport par rapport au palonnier, et
  • une unité de traitement des signaux du premier et du second capteurs, reliée au moyen de commande de déplacement de la structure de manutention et du palonnier.
The invention also relates to an installation for the storage and handling of containers for the implementation of the loading method according to the invention which comprises:
  • a fixed marker adjacent to the parking area of the means of transport,
  • a first sensor carried by the lifting beam, for identifying the position of the lifting beam relative to the fixed mark,
  • a second sensor carried by the lifter, for locating the position of the platform of the means of transport relative to the lifter, and
  • a signal processing unit of the first and second sensors, connected to the movement control means of the handling structure and the spreader.

Afin de bien faire comprendre l'invention, on va maintenant décrire, à titre d'exemple, en se référant aux figures jointes en annexe, une installation de stockage et de manutention de conteneurs et un procédé de chargement de conteneurs suivant l'invention. In order to clearly understand the invention, we will now describe, at as an example, with reference to the attached figures, an installation container storage and handling and loading process of containers according to the invention.

La figure 1 est une vue en élévation frontale d'une installation de stockage et de manutention de conteneurs sur laquelle peut être mis en oeuvre le procédé de l'invention.Figure 1 is a front elevational view of an installation of storage and handling of containers on which can be implemented the method of the invention.

La figure 2 est une vue de dessus suivant 2-2 de la figure 1, d'une installation de stockage et de manutention de conteneurs suivant l'invention.Figure 2 is a top view along 2-2 of Figure 1, of a container storage and handling installation according to the invention.

Les figures 3, 4, 5 et 6 sont des vues frontales schématiques montrant une installation de stockage et de manutention de conteneurs suivant l'invention, au cours de quatre étapes successives du procédé de chargement de conteneurs suivant l'invention.Figures 3, 4, 5 and 6 are schematic front views showing a next container storage and handling facility the invention, during four successive stages of the loading process of containers according to the invention.

Sur les figures 1 et 2, on voit une installation de stockage et de manutention de conteneurs désignée de manière générale par le repère 1.Figures 1 and 2 show a storage and handling installation of containers generally designated by item 1.

L'installation de stockage et de manutention 1 comporte principalement un portique de transbordement 2 monté mobile, dans une première direction X (voir figure 2), dans un sens et dans l'autre, sur des voies de circulation parallèles 3 qui peuvent être constituées par des rails fixés sur la surface plane de l'aire de stockage et de circulation 4 de l'installation 1, ainsi qu'un magasin 5 de stockage de conteneurs constitué par des conteneurs 6 empilés reposant sur l'aire de stockage et de circulation 4 de l'installation.The storage and handling installation 1 mainly comprises a mobile mounted transfer gantry 2, in a first direction X (see figure 2), in one direction and in the other, on traffic lanes parallel 3 which can be constituted by rails fixed on the flat surface of the storage and circulation area 4 of the installation 1, thus a container storage store 5 consisting of containers 6 stacked resting on the storage and circulation area 4 of the installation.

Une partie de l'aire de stockage et de circulation 4 de l'installation, disposée latéralement et s'étendant dans la direction d'une voie de circulation 3 du portique 2, constitue une zone de stationnement 7 pour un moyen de transport tel qu'un camion 8 (ou un wagon) comportant une plate-forme 9 sur laquelle peut être chargé au moins un conteneur 6 stocké dans le magasin 5. Le portique de transbordement 2, qui sera décrit par la suite permet d'assurer la prise en charge d'un conteneur 6a dans une position quelconque dans le magasin 5, le levage et le transport du conteneur à l'aplomb de la plate-forme 9 ainsi que la dépose du conteneur sur la plate-forme, dans la zone de stationnement du moyen de transport 8.Part of the storage and circulation area 4 of the installation, laterally arranged and extending in the direction of a taxiway 3 of gantry 2, constitutes a parking zone 7 for a medium transport such as a truck 8 (or a wagon) having a platform 9 on which can be loaded at least one container 6 stored in the store 5. The transfer gantry 2, which will be described below, allows take charge of a container 6a in any position in store 5, lifting and transporting the container directly above platform 9 as well as the removal of the container on the platform, in the transportation area 8.

Le moyen de transport 8 peut être un camion assurant la traction d'une remorque ou d'une semi-remorque dont la plate-forme 9 peut recevoir le conteneur 6a ou encore un wagon de chemin de fer 8' dont la plate-forme peut recevoir un conteneur 6. The means of transport 8 can be a truck providing traction of a trailer or semi-trailer whose platform 9 can receive the container 6a or even an 8 'railway wagon whose platform can receive a container 6.

Le portique de transbordement 2 comporte une structure de manutention de grande dimension constituée de quatre colonnes verticales 11 reliées entre elles à leur partie inférieure par des longerons, sur la partie supérieure desquelles repose une structure horizontale de support et de guidage 12 d'un chariot 15 mobile dans une direction de déplacement horizontale Y perpendiculaire à la direction X de déplacement du portique 2, dans un sens et dans l'autre. Le chariot 15 porte un treuil auquel est suspendu un palonnier 14, par l'intermédiaire d'un ensemble de câbles et de poulies constituant un dispositif de suspension anti-balancement. Le palonnier 14 porte lui-même un moyen de prise d'un conteneur 6 constitué sous la forme d'un spreader 13. Le treuil porté par le chariot 15 permet de faire descendre le palonnier et le spreader en position de prise d'un conteneur dans le magasin 5 et d'assurer le levage du conteneur pour permettre son transport par le chariot 15, jusqu'à venir à l'aplomb de la zone de stationnement 7 du moyen de transport 8.The transfer gantry 2 includes a handling structure large consisting of four vertical columns 11 interconnected at their lower part by side members, on the upper part which rests a horizontal support and guide structure 12 of a carriage 15 movable in a horizontal direction of movement Y perpendicular to the direction X of displacement of the gantry 2, in one way and the other. The carriage 15 carries a winch to which is suspended a spreader 14, via a set of cables and pulleys constituting an anti-sway suspension device. The spreader 14 itself carries a means of gripping a container 6 constituted in the form a spreader 13. The winch carried by the carriage 15 makes it possible to lower the spreader and the spreader in the position of picking up a container in the magazine 5 and ensure the lifting of the container to allow its transport by the carriage 15, until it comes into line with the parking zone 7 of the transportation 8.

Sur la figure 1, on a représenté en trait plein le chariot 15, le palonnier 14 et le spreader 13 auquel un conteneur 6a est accroché, dans une position de chargement de la plate-forme 9 de la remorque du camion 8 et en traits interrompus dans une position à l'aplomb du magasin de stockage, dans lequel on a réalisé la prise en charge d'un conteneur 6.In Figure 1, there is shown in solid lines the carriage 15, the lifter 14 and the spreader 13 to which a container 6a is attached, in a position loading platform 9 of truck trailer 8 and broken lines in a position directly above the storage warehouse, in which the handling of a container 6 has been carried out.

Les moteurs de déplacement du portique, du chariot 15, du treuil et du palonnier 14 ainsi que les moyens d'actionnement du spreader 13 pour la prise et le relâchement d'un conteneur 6 sont reliés à un automate de commande 21 (Voir figure 3) permettant de réaliser de manière totalement automatique le chargement d'un conteneur sur la plate-forme 9 d'un moyen de transport 8 placé dans la zone de stationnement 7.The displacement motors of the gantry, the carriage 15, the winch and the spreader 14 as well as the means of actuating the spreader 13 for the catch and release of a container 6 are connected to a control machine 21 (See Figure 3) allowing to realize fully automatically loading a container onto platform 9 with a means of transport 8 placed in parking area 7.

Cependant, du fait de l'imprécision du positionnement de la plate-forme 9 du moyen de transport 8 dans la zone de stationnement 7, le conteneur 6 risque d'être déposé sur la plate-forme dans une position décentrée ou désaxée inadéquate.However, due to the imprecision of the positioning of the platform 9 of the means of transport 8 in the parking area 7, the container 6 risk of being deposited on the platform in an off-center position or inappropriate offset.

Le procédé suivant l'invention, dont la mise en oeuvre sera décrite, en particulier en se référant aux figures 3 à 6, permet de réaliser la dépose d'un conteneur sur une plate-forme d'un moyen de transport tel qu'une remorque ou une semi-remorque routière, dans une position idéale parfaitement centrée sur la plate-forme du moyen de transport.The method according to the invention, the implementation of which will be described, in in particular with reference to FIGS. 3 to 6, allows the removal of a container on a platform of a means of transport such as a trailer or a road semi-trailer, in an ideal position perfectly centered on the platform of the means of transport.

Pour la mise en oeuvre du procédé suivant l'invention, le palonnier 14 du pont de transbordement 2 porte un premier capteur de position 16 et un second capteur de position 17 qui peuvent être constitués par exemple par des dispositifs de visée et de repérage de position utilisant des caméras vidéo.For the implementation of the method according to the invention, the spreader 14 of the transfer bridge 2 carries a first position sensor 16 and a second position sensor 17 which can be constituted for example by position and sighting devices using video cameras.

De plus, l'installation de stockage et de manutention de conteneurs comporte un repère fixe 10 qui peut être constitué par exemple, comme il est visible sur les figures 1 et 2 et sur les figures 3 à 6, par un élément de structure rigide solidaire de la dalle constituant l'aire de stockage 4, disposé sur le bord externe de la zone de stationnement 7 du moyen de transport comportant la plate-forme 9. Le repère fixe 10 peut être réalisé en particulier sous la forme d'un muret parallèle aux voies de circulation du portique 2, dans une disposition adjacente par rapport à la position de stationnement de la plate-forme 9 dans la zone de stationnement 7.In addition, the container storage and handling facility has a fixed mark 10 which can be constituted for example, as it is visible in Figures 1 and 2 and in Figures 3 to 6, by an element of rigid structure integral with the slab constituting the storage area 4, arranged on the outer edge of the parking area 7 of the means of transport comprising the platform 9. The fixed mark 10 can be produced in particular in the form of a low wall parallel to the traffic lanes of gantry 2, in an arrangement adjacent to the parking position of the platform 9 in the parking area 7.

Comme il est visible sur la figure 2, sur la surface supérieure horizontale du repère fixe 10 réalisé sous la forme d'un muret sont fixés à des intervalles réguliers, suivant la longueur du muret 10, des moyens de détection de position 18 qui peuvent être constitués par des repères optiques.As shown in Figure 2, on the upper horizontal surface of the fixed mark 10 made in the form of a low wall are fixed to regular intervals, along the length of the wall 10, of the detection means position 18 which can be constituted by optical markers.

Le premier capteur 16 porté par le palonnier 14 est un système de télévision, par exemple une caméra vidéo, placé dans une disposition latérale par rapport au palonnier et ayant un champ de mesure 16' dirigé vers la surface supérieure du repère fixe 10 portant les éléments de repérage optiques 18.The first sensor 16 carried by the spreader 14 is a television, for example a video camera, placed in a lateral arrangement relative to the spreader and having a measurement field 16 'directed towards the upper surface of the fixed mark 10 carrying the optical marking elements 18.

Le second capteur 17 porté par le palonnier 14 est un système de détection par télévision, tel qu'une caméra vidéo disposé à la partie inférieure du palonnier, dans une disposition sensiblement centrale, et ayant un champ de mesure 17' dirigé vers des éléments de repérage 19 disposés sur la surface supérieure de la plate-forme 9 et en particulier au voisinage de chacun des angles de la plate-forme.The second sensor 17 carried by the lifter 14 is a detection by television, such as a video camera arranged at the bottom of the spreader, in a substantially central arrangement, and having a measuring field 17 ′ directed towards marking elements 19 arranged on the upper surface of the platform 9 and in particular in the vicinity of each of the angles of the platform.

Ces capteurs de repérage 16 et 17 sont reliés par des conducteurs à une unité de traitement 20 portée par le portique de transbordement 2, de manière que l'unité de traitement 20 reçoive des signaux de mesure des capteurs 16 et 17.These location sensors 16 and 17 are connected by conductors to a processing unit 20 carried by the transfer gantry 2, so that the processing unit 20 receives measurement signals from the sensors 16 and 17.

L'unité de traitement 20 est reliée à l'automate 21 de commande et de conduite du pont de transbordement 2.The processing unit 20 is connected to the controller 21 for controlling and handling of the transfer bridge 2.

On va maintenant se reporter aux figures 3 à 6 pour décrire la mise en oeuvre du procédé de chargement d'un conteneur suivant l'invention.We will now refer to Figures 3 to 6 to describe the setting implementing the method of loading a container according to the invention.

Préalablement à l'opération de chargement, on a mis en place, dans la zone de stationnement 7 de l'aire de stockage 4, la plate-forme 9 d'un moyen de transport qui peut être constitué par une remorque d'un camion 8.Prior to the loading operation, we set up, in the parking area 7 of the storage area 4, the platform 9 of a means of transport which may consist of a trailer of a truck 8.

A l'arrivée du camion sur l'aire de stockage et de circulation de l'installation de manutention de conteneurs 1, on a réalisé, de manière automatique, la lecture d'un badge remis au chauffeur du camion pour identifier un conteneur 6a disposé dans le magasin 5 dont on doit assurer le chargement sur la plate-forme 9 de la remorque du camion.When the truck arrives at the storage and circulation area of the container handling installation 1, we have carried out, automatically, reading a badge given to the truck driver to identify a container 6a disposed in the magazine 5 which must be loaded on platform 9 of the truck trailer.

Les instructions concernant le conteneur identifié par sa position dans le magasin de stockage sont transmises à l'automate de commande 21.Instructions for the container identified by its position in the storage magazine are transmitted to the control machine 21.

Comme représenté sur la figure 3, dans une étape initiale du procédé de chargement, on déplace le palonnier 14 pour l'amener dans une position initiale à l'aplomb de la zone de stationnement 7 et de la plate-forme 9 ou on vérifie que le palonnier est déjà dans sa position initiale.As shown in Figure 3, in an initial step of the process loading, the spreader 14 is moved to bring it into a position initial directly above parking area 7 and platform 9 or check that the lifting beam is already in its initial position.

On utilise le premier capteur 16 pour repérer de manière précise la position du palonnier 14 par rapport au repère fixe 10. Les signaux de mesure de position correspondants sont transmis à l'unité de traitement 20. On utilise le second capteur 17 pour déterminer la position de la plate-forme 9, c'est-à-dire des repères 19 de la plate-forme 9, par rapport au palonnier 14.The first sensor 16 is used to pinpoint precisely the position of the spreader 14 relative to the fixed mark 10. The measurement signals corresponding positions are transmitted to the processing unit 20. On uses the second sensor 17 to determine the position of the platform 9, that is to say marks 19 of the platform 9, with respect to the lifter 14.

Les signaux de mesure de position correspondants sont transmis à l'unité de traitement 20.The corresponding position measurement signals are transmitted to the processing unit 20.

En utilisant les signaux de mesure de position du palonnier 14 par rapport au repère fixe 10 et de la remorque 9 par rapport au palonnier 14, l'unité de traitement 20 détermine la position exacte de la plate-forme 9 du moyen de transport, par rapport au repère fixe 10. Using the rudder position measurement signals 14 by relative to the fixed mark 10 and of the trailer 9 relative to the spreader 14, the processing unit 20 determines the exact position of the platform 9 of the means of transport, relative to fixed mark 10.

Les données relatives à la position de la plate-forme 9 par rapport au repère fixe 10 sont mis en mémoire dans l'unité de traitement 20 qui est généralement constituée par un calculateur.The data relating to the position of the platform 9 relative to the fixed mark 10 are stored in the processing unit 20 which is generally constituted by a calculator.

On réalise ensuite, de manière totalement automatique, une suite d'opérations permettant au palonnier 14 de prendre en charge, dans le magasin 5, le conteneur 6a qu'on doit charger sur la plate-forme 9. Pour cela, l'automate 21 commande le déplacement du palonnier 14, par l'intermédiaire du chariot 15, de la position initiale représentée sur la figure 3, à une position à l'aplomb de la position, du conteneur 6a dont on doit effectuer le chargement sur la plate-forme 9. L'automate commande ensuite la descente du palonnier 14 et du spreader 13 jusqu'en position de prise du conteneur 6a, le serrage des éléments de prise du spreader et le levage du palonnier 14, du spreader 13 et du conteneur 6a fixé au spreader.Then, completely automatically, a sequence of operations allowing the spreader 14 to take charge, in the store 5, the container 6a which must be loaded on the platform 9. For this, the controller 21 controls the movement of the spreader 14, via of the carriage 15, from the initial position shown in FIG. 3, to a position in line with the position, container 6a which must be loaded on platform 9. The automaton then controls the descent of the spreader 14 and spreader 13 to the gripping position of the container 6a, tightening of the spreader gripping elements and lifting of the spreader 14, spreader 13 and container 6a attached to the spreader.

Sur la figure 4, on a représenté le palonnier 14 et le spreader 13 en position de prise sur le conteneur 6a.In FIG. 4, the spreader 14 and the spreader 13 are shown in gripping position on the container 6a.

L'automate 21 du pont de transbordement 2 commande ensuite le levage du palonnier 14, du spreader 13 et du conteneur 6a, par l'intermédiaire du treuil porté par le chariot 15. Le chariot 15 déplace ensuite le palonnier 14 et le spreader 13 auquel est fixé le conteneur 6a, pour ramener le palonnier 14 dans une position initiale à l'aplomb de la remorque 9 dans la zone de stationnement 7, comme représenté sur la figure 5. Le palonnier 14 est arrêté dans sa position initiale et on utilise le premier capteur 16 pour déterminer la position exacte du palonnier 14 portant le conteneur 6a, par rapport au repère fixe 10.The controller 21 of the transfer bridge 2 then controls the lifting the spreader 14, the spreader 13 and the container 6a, via of the winch carried by the carriage 15. The carriage 15 then moves the lifter 14 and the spreader 13 to which the container 6a is fixed, to bring the spreader 14 in an initial position directly above the trailer 9 in the parking zone 7, as shown in FIG. 5. The lifter 14 is stopped in its initial position and the first sensor 16 is used to determine the exact position of the spreader 14 carrying the container 6a, by relative to the fixed reference 10.

Les signaux représentatifs de la position exacte du palonnier 14 par rapport au repère fixe 10 sont transmis au calculateur 20.Signals representative of the exact position of the spreader 14 by fixed reference 10 are transmitted to the computer 20.

Le calculateur 20 détermine, à partir des signaux représentatifs de la position exacte du palonnier 14 et des signaux représentatifs de la position de la plate-forme 9 de la remorque par rapport au repère fixe 10, qui a été mise en mémoire, les déplacements qu'il est nécessaire de faire effectuer au palonnier pour déposer le conteneur 6a sur la remorque 9, dans une position parfaitement centrée. The computer 20 determines, from the signals representative of the exact position of the spreader 14 and the signals representative of the position of the platform 9 of the trailer with respect to the fixed mark 10, which has been put in memory, the movements that it is necessary to have spreader to deposit the container 6a on the trailer 9, in a position perfectly centered.

Les ordres de déplacement du palonnier et du conteneur 6a sont transmis à l'automate de commande du portique de manutention. Les déplacements du palonnier 14 portant le conteneur 6a sont réalisés sous la conduite de l'automate, de manière à déposer le conteneur 6a sur la plate-forme 9 dans une position parfaitement centrée, comme représenté sur la figure 6. On réalise alors le relâchement des moyens de préhension du spreader 13 et le levage du palonnier pour l'amener dans sa position initiale à l'aplomb de la zone de chargement et de stationnement 7.The orders for moving the spreader and container 6a are transmitted to the control gantry control machine. Displacements spreader 14 carrying the container 6a are made under the pipe of the automaton, so as to deposit the container 6a on the platform 9 in a perfectly centered position, as shown in FIG. 6. The loosening means of the spreader 13 are then relaxed. and lifting the lifter to bring it into its original position plumb of the loading and parking area 7.

On donne alors au chauffeur du camion l'autorisation de quitter la zone de stationnement 7 de l'aire de stockage.The truck driver is then given permission to leave the parking area 7 of the storage area.

Une nouvelle opération de chargement d'un conteneur peut être alors effectuée, après qu'on a amené dans la zone de stationnement une remorque d'un camion sur laquelle on doit réaliser le chargement d'un conteneur.A new container loading operation can then be after a trailer has been brought into the parking area of a truck on which a container must be loaded.

Le procédé et le dispositif suivant l'invention permettent donc de réaliser de manière parfaite le chargement d'une plate-forme d'un moyen de transport disposée dans une zone de stationnement d'une installation de stockage et de manutention de conteneurs, sans qu'il soit nécessaire d'ajuster de manière très précise la position de la plate-forme dans la zone de stationnement.The method and the device according to the invention therefore make it possible to carry out perfectly loading a platform with a means of transport arranged in a parking area of a container storage and handling, without the need to very precisely adjust the position of the platform in the area parking.

L'invention permet en particulier de réaliser le chargement de moyens de transport de manière totalement automatique et sans risque de placer un conteneur dans une position déséquilibrée sur la plate-forme du moyen de transport.The invention makes it possible in particular to carry out the loading of means completely automatic and without the risk of placing a container in an unbalanced position on the platform of the means of transport.

Le procédé et l'installation suivant l'invention ne mettent en oeuvre Que des éléments de repérage, des capteurs et des moyens de traitement de signaux de mesure qui peuvent être réalisés de manière simple et selon des techniques habituelles.The method and the installation according to the invention do not implement Only tracking elements, sensors and processing means of measurement signals which can be carried out in a simple manner and according to usual techniques.

L'invention ne se limite pas strictement au mode de réalisation qui a été décrit.The invention is not strictly limited to the embodiment which has been described.

C'est ainsi qu'au lieu de capteurs optiques tels que des caméras et des repères optiques, on peut utiliser d'autres moyens de repérage de position permettant d'obtenir une très bonne précision de mesure. So instead of optical sensors like cameras and optical markers, other means of position marking can be used providing very good measurement accuracy.

L'invention peut également être mise en oeuvre en utilisant des moyens de manutention différents d'un portique de transbordement tel que décrit plus haut. L'invention est applicable par exemple dans le cas d'une installation de stockage et de manutention de charge telle que des conteneurs comportant un pont roulant se déplaçant sur une structure fixe de l'installation de stockage et de manutention de conteneurs.The invention can also be implemented using different handling means of a transfer gantry such as described above. The invention is applicable for example in the case of a load storage and handling facility such as containers comprising an overhead traveling crane moving on a fixed structure container storage and handling facility.

Dans le cas d'un portique de transbordement, les déplacements du palonnier dans la direction horizontale X peuvent être réalisés aussi bien par déplacement du portique sur sa voie de circulation que par déplacement du chariot du palonnier sur le portique.In the case of a transfer crane, the movements of the spreader in the horizontal direction X can be realized as well by moving the gantry on its lane only by moving the spreader trolley on the gantry.

Claims (7)

Procédé de chargement d'un conteneur (6a) sur une plate-forme (9) d'un moyen de transport (8), dans une installation de stockage et de manutention de conteneurs (6) comportant un magasin (5) de stockage de conteneurs, une structure de manutention (2) mobile sur des voies de circulation dans une première direction horizontale (X), un palonnier (14) comportant des moyens de prise (13) et de levage de conteneurs monté mobile sur la structure de manutention (2), dans une seconde direction (Y) de circulation horizontale perpendiculaire à la première direction (X), des moyens (21) de commande de déplacement de la structure de manutention (2) et du palonnier (14) pour déplacer le palonnier (14) entre une position initiale à la verticale d'une zone de stationnement (7) du moyen de transport (8) et une position de prise du conteneur (6a) dans le magasin (5) et pour déposer le conteneur (6a) sur la plate-forme (9), le moyen de transport (8) étant placé dans la zone de stationnement (7) et le conteneur (6a) stocké dans le magasin (5), dans une étape initiale du procédé, caractérisé par le fait : qu'on place le palonnier (14) dans sa position initiale, qu'on détermine la position du palonnier (14), par rapport à un repère fixe (10) de l'installation (1), situé à proximité de la zone de stationnement, qu'on détermine la position de la plate-forme (9) par rapport au palonnier (14), qu'on détermine à partir des positions du palonnier (14) et de la plate-forme (9), par rapport au repère fixe (10) et au palonnier (14), respectivement, la position de la plate-forme (9) par rapport au repère fixe (10), qu'on réalise automatiquement la prise en charge du conteneur (6a) par le palonnier (14), dans le magasin (5), qu'on déplace le palonnier (14) portant le conteneur (6a) jusqu'à venir à la verticale de la zone de stationnement (7), qu'on détermine la position exacte du palonnier (14) portant le conteneur (6a), par rapport au repère fixe (10), situé à proximité de la zone de stationnement, qu'on détermine, à partir de la position exacte du palonnier (14) portant le conteneur (6a) et de la position de la plate-forme (9), par rapport au repère fixe (10) de l'installation (1), les déplacements à faire effectuer au palonnier (14) pour déposer le conteneur (6a) sur la plate-forme (9) du moyen de transport (8), dans une position parfaite, qu'on dépose et qu'on relâche le conteneur (6a) sur la plate-forme (9) du moyen de transport (8), et qu'on replace le palonnier (14) dans sa position initiale. Method for loading a container (6a) on a platform (9) of a means of transport (8), in a container storage and handling installation (6) comprising a magazine (5) for storing containers, a handling structure (2) movable on traffic lanes in a first horizontal direction (X), a lifting beam (14) comprising gripping (13) and container lifting means mounted mobile on the handling structure ( 2), in a second direction (Y) of horizontal circulation perpendicular to the first direction (X), means (21) for controlling the movement of the handling structure (2) and of the lifter (14) to move the lifter ( 14) between an initial vertical position of a parking zone (7) of the means of transport (8) and a position for picking up the container (6a) in the magazine (5) and for depositing the container (6a) on the platform (9), the means of transport (8) being placed in the parking area ( 7) and the container (6a) stored in the store (5), in an initial stage of the process, characterized by the fact: that the lifter (14) is placed in its initial position, that the position of the lifter (14) is determined, relative to a fixed reference (10) of the installation (1), located near the parking area, that the position of the platform (9) is determined relative to the lifter (14), that is determined from the positions of the lifter (14) and the platform (9), relative to the fixed mark (10) and the lifter (14), respectively, the position of the platform (9) relative to the fixed mark (10), that the container (6a) is automatically taken over by the lifter (14), in the store (5), moving the lifter (14) carrying the container (6a) until it comes to the vertical of the parking area (7), that the exact position of the lifter (14) carrying the container (6a) is determined, relative to the fixed mark (10), located near the parking area, that is determined, from the exact position of the lifter (14) carrying the container (6a) and the position of the platform (9), relative to the fixed mark (10) of the installation (1) , the movements to be made to the lifter (14) to deposit the container (6a) on the platform (9) of the transport means (8), in a perfect position, that the container (6a) is deposited and released on the platform (9) of the means of transport (8), and that the lifter (14) is returned to its initial position. Installation de stockage et de manutention de conteneurs (6) comportant un magasin (5) de stockage de conteneurs, une structure de manutention (2) mobile sur des voies de circulation dans une première direction horizontale (X), un palonnier (14) comportant des moyens de prise (13) et de levage de conteneurs monté mobile sur la structure de manutention (2), dans une seconde direction (Y) de circulation horizontale perpendiculaire à la première direction (X), des moyens (21) de commande de déplacement de la structure de manutention (2) et du palonnier (14) pour déplacer le palonnier (14) entre une position initiale à la verticale d'une zone de stationnement (7) d'un moyen de transport de conteneur (8) et une position de prise d'un conteneur (6a) dans le magasin (5), et pour déposer le conteneur (6a) sur la plate-forme (9) du moyen de transport (8), caractérisée par le fait qu'elle comporte de plus : un repère fixe (10) disposé au voisinage de la zone de stationnement (7) du moyen de transport (8), un premier capteur (16) porté par le palonnier (14), pour le repérage de la position du palonnier (14) par rapport au repère fixe (10), un second capteur (17) porté par le palonnier (14), pour le repérage de la position de la plate-forme (9) du moyen de transport (8) par rapport au palonnier (14), et une unité de traitement (20) des signaux des capteurs (16, 17) comportant des moyens de calcul de la position d'une plate-forme (9) du moyen de transport (8) disposé dans la zone de stationnement (7), par rapport au repère fixe (10), à partir des signaux du premier et du second capteurs (16, 17) et de mise en mémoire de cette position. Container storage and handling installation (6) comprising a container storage store (5), a handling structure (2) movable on traffic lanes in a first horizontal direction (X), a lifting beam (14) comprising means for gripping (13) and lifting containers mounted movably on the handling structure (2), in a second direction (Y) of horizontal circulation perpendicular to the first direction (X), means (21) for controlling moving the handling structure (2) and the lifter (14) to move the lifter (14) between an initial vertical position of a parking area (7) of a container transport means (8) and a position for picking up a container (6a) in the magazine (5), and for depositing the container (6a) on the platform (9) of the transport means (8), characterized in that it comprises Moreover : a fixed mark (10) placed in the vicinity of the parking area (7) of the means of transport (8), a first sensor (16) carried by the lifter (14), for locating the position of the lifter (14) relative to the fixed mark (10), a second sensor (17) carried by the lifter (14), for locating the position of the platform (9) of the transport means (8) relative to the lifter (14), and a processing unit (20) for sensor signals (16, 17) comprising means for calculating the position of a platform (9) of the transport means (8) arranged in the parking area (7), relative to the fixed mark (10), from the signals of the first and second sensors (16, 17) and from memorizing this position. Installation suivant la revendication 2, caractérisée par le fait que l'unité de traitement (20) constituée par un calculateur est reliée aux moyens (21) de commande de déplacement de la structure de manutention (2) et du palonnier (14), constitués par un automate et comporte des moyens de détermination des déplacements à faire effectuer au palonnier (14) depuis sa position initiale, pour déposer un conteneur (6a), dans une position parfaite sur la plate-forme (9) du moyen de transport (8).Installation according to claim 2, characterized in that the processing unit (20) constituted by a computer is connected to the means (21) for controlling the movement of the handling structure (2) and the spreader (14), constituted by an automaton and includes means for determining movements to be made to the lifter (14) from its initial position, to deposit a container (6a), in a perfect position on the platform (9) of the means of transport (8). Installation suivant l'une quelconque des revendications 2 et 3, caractérisée par le fait que le premier capteur (16) et le second capteur (17) sont constitués par des capteurs optiques et que le repère fixe (10) et la plate-forme (9) du moyen de transport (8) comportent des éléments de repérage optique (18, 19).Installation according to any one of claims 2 and 3, characterized by the fact that the first sensor (16) and the second sensor (17) consist of optical sensors and that the fixed mark (10) and the platform (9) of the means of transport (8) have locating elements optics (18, 19). Installation suivant la revendication 4, caractérisée par le fait que le premier capteur (16) et le second capteur (17) sont des systèmes de télévision tels que des caméras vidéo.Installation according to claim 4, characterized in that the first sensor (16) and the second sensor (17) are television systems such as video cameras. Installation suivant l'une quelconque des revendications 2 à 5, caractérisée par le fait que le repère fixe (10) de l'installation (1) est constitué par un muret solidaire d'une aire de stockage et de circulation (4) de l'installation (1) et disposé parallèlement à la direction de circulation horizontale (X) de la structure de manutention (2) de l'installation (1), des moyens de repérage optiques (18) étant fixés sur la surface supérieure du muret (10).Installation according to any one of claims 2 to 5, characterized by the fact that the fixed mark (10) of the installation (1) is constituted by a low wall integral with a storage and circulation area (4) of the installation (1) and arranged parallel to the direction of horizontal circulation (X) of the handling structure (2) of the installation (1), optical locating means (18) being fixed on the upper surface of the low wall (10). Installation suivant l'une quelconque des revendications 2 à 6, caractérisée par le fait que la structure de manutention (2) est un portique comportant des colonnes verticales (11) et une structure supérieure horizontale (12) sur laquelle se déplace un chariot (15) portant le palonnier (14), par l'intermédiaire d'un treuil de levage.Installation according to any one of claims 2 to 6, characterized by the fact that the handling structure (2) is a gantry comprising vertical columns (11) and a horizontal upper structure (12) on which a carriage (15) carrying the lifter (14) moves, by means of a lifting winch.
EP00400570A 1999-04-09 2000-03-02 Method for loading a container on a platform of a transport means and installation for stocking and handling of containers Withdrawn EP1043262A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9904484A FR2791963B1 (en) 1999-04-09 1999-04-09 METHOD FOR LOADING A CONTAINER ONTO A PLATFORM WITH A MEANS OF TRANSPORT AND INSTALLATION FOR STORING AND HANDLING CONTAINERS
FR9904484 1999-04-09

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CN113979146A (en) * 2021-10-27 2022-01-28 青岛港国际股份有限公司 Rail crane directly interactive with shore bridge and control method thereof
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CN108190754A (en) * 2018-01-17 2018-06-22 苏州诚满信息技术有限公司 A kind of crane method of work and system based on augmented reality measuring technique
CN113353803A (en) * 2021-06-30 2021-09-07 日照钢铁控股集团有限公司 Automatic accurate and rapid positioning control method for cyclone well travelling crane
CN113979146A (en) * 2021-10-27 2022-01-28 青岛港国际股份有限公司 Rail crane directly interactive with shore bridge and control method thereof
CN113979146B (en) * 2021-10-27 2023-11-03 青岛港国际股份有限公司 Rail type crane directly interacted with quay crane and control method thereof
WO2023201993A1 (en) * 2022-04-18 2023-10-26 中国矿业大学 High-precision positioning system and positioning method for coal-mine underground monorail crane

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