EP1116684B1 - Load transporting system, especially for containers - Google Patents
Load transporting system, especially for containers Download PDFInfo
- Publication number
- EP1116684B1 EP1116684B1 EP01100745A EP01100745A EP1116684B1 EP 1116684 B1 EP1116684 B1 EP 1116684B1 EP 01100745 A EP01100745 A EP 01100745A EP 01100745 A EP01100745 A EP 01100745A EP 1116684 B1 EP1116684 B1 EP 1116684B1
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- Prior art keywords
- crane
- load
- ship
- transport system
- destination
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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
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Definitions
- the object of the invention is to provide a load transport system (see FIG 1) which semiautomatic or fully automatic crane loads allows and as it is presented for example in the utility model 299 21 246.7, to complement so that it for the operator of the crane (hereinafter referred to as crane operator designated) is easy and optimal to use.
- the function is shown using the example of the container crane (ship to shore crane), but is also applicable in a somewhat modified form for other types of cranes.
- the load transport system (1) makes it possible to transport crane loads in a semi- and fully automatic manner safely, without oscillation and in a time optimal manner to a freely selectable destination in the room.
- the choice of this goal is much easier and more flexible for the crane operator by the proposed target setting device.
- the danger of wrong destination selection is significantly reduced.
- the crane operator only has rows of buttons in a console of the crane operator's chair for the purpose of selecting target positions, eg on the ship or in the wall console of the crane cabin.
- the so-called "self-learning automatic” the crane driver makes his destination selection by making the first trip on the ship by hand.
- the container receiving or settling position is specified by the crane control as a future, fixed target for the following automatic movements.
- the "self-learning automatic” can perform a second relatively frequently occurring Umzzisart, the so-called “horizontal handling operation”, ie the layer-wise clearing or placing of containers on the ship.
- the crane control system always specifies the next destination for automatic travel, a container width further towards the water side or towards the land side than in the previous automatic drive, depending on whether the ship is unloaded or loaded.
- a control device for monitoring and controlling vibration movements of crane loads is known.
- a load position control module and a pendulum control module bring the crane load in the horizontal direction, ie both in the transport direction of the trolley as well as in the transport direction of the crane landing gear, in the required position.
- a special solution is a destination setting device (5) [see FIG. 1] which represents crane (6), ship (7) and ship loading profile (8) on a touchscreen (9) [see FIG. 2].
- the current ship loading profile (8) the target setting device (5) of the loading profile memory (10) freshly updated after each ride.
- the load profile memory is usually (but not necessarily) part of the crane control (2).
- the positions of the touch areas (12) for the ship targets (13) adapt to the current load profile (8). However, the positions do not sink below the height of the ship's hatch, as automatic movements do not take place down into the ship.
- the height of the ship's railing (37) is defined as the ship's hatch height. The crane operator can also adjust this height via touch area.
- the touch areas include "Leaning Direction Land” (20) and "Leaning Toward Water” (21). If, after pressing a target touch area (14), the crane operator also touches one of the lead areas (20) or (21), the horizontal component of the respectively selected target advantageously becomes an adjustable distance (eg 0.5 m). Moved towards land or towards water. Crane operators, for example, need this function if they want to lean a container to be loaded onto the ship for easier settlement with the neighboring container.
- an adjustable distance eg 0.5 m
- Reporting areas (22) for current data, target data, fault and warning messages, etc. are still provided.
- a load profile detecting device (4) provides, after each trolley run, the current horizontal and vertical positions of the uppermost containers on the ship's positions (13) and obstacles, e.g. the ship's rail (37) to the loading profile memory (10). This transfers the data to the destination setting device (5) for the purpose of presentation on the touch screen (11) and to the load transport system (1) as obstacle coordinates.
- the load profile detection is the "Stowage Profile Scanner” from Telerob, Kiel, Germany (see Appendix 3).
- This device evaluates the data of a distance measuring laser (34) which is attached to the water-front of the trolley (17), is moved by this with the ship, and vertically downwards permanently distance measurements up to the surfaces (container [35], Schiffsboden [36] or ship's rail [37]), on which the laser beam hits, performs.
- the load profile detection device has an image evaluation which consists of the laser distance measurement data container (35) and other objects, e.g. the Schiffsreling (37) detected and identified as such in the record.
- profiling devices e.g. of line scan cameras as used for docking aircraft to the gates.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
Aufgabe der Erfindung ist es, ein Lasttransportsystem (siehe FIG 1) welches semiautomatischen oder auch vollautomatischen Transport von Kranlasten ermöglicht und wie es beispielsweise im Gebrauchesmuster 299 21 246.7 vorgestellt ist, so zu ergänzen, dass es für den Bediener des Kranes (im Folgenden als Kranführer bezeichnet) leicht und in optimaler Wiese zu bedienen ist. Die Funktion wird am Beispiel des Containerkaikranes (Ship to Shore Kran) dargestellt, ist aber in etwas abgewandelter Form auch für andere Arten von Kranen anwendbar.The object of the invention is to provide a load transport system (see FIG 1) which semiautomatic or fully automatic crane loads allows and as it is presented for example in the utility model 299 21 246.7, to complement so that it for the operator of the crane (hereinafter referred to as crane operator designated) is easy and optimal to use. The function is shown using the example of the container crane (ship to shore crane), but is also applicable in a somewhat modified form for other types of cranes.
Das bisherige Kransteuerungssystem, bestehend aus der eigentlichen Kransteuerung (2) - in der Regel eine PLC-Steuerung - und dem Lasttransportsystem (1) wird um eine, besser aber um zwei Komponenten erweitert:
- 1) Das Zielvorgabegerät (3)
- 2) Die Beladungsprofilerfassung (4) [Optional]
- 1) The targeting device (3)
- 2) The load profile detection (4) [Optional]
Das Lasttransportsystem (1) erlaubt es, Kranlasten in semi- und vollautomatischer Weise sicher, pendelungsfrei und in zeitoptimaler Weise zu einem frei wählbaren Ziel im Raum zu transportieren. Die Anwahl dieses Zieles wird für den Kranführer durch das vorgeschlagene Zielvorgabegerät wesentlich erleichtert und flexibler. Die Gefahr falscher Zielanwahl wird deutlich reduziert.The load transport system (1) makes it possible to transport crane loads in a semi- and fully automatic manner safely, without oscillation and in a time optimal manner to a freely selectable destination in the room. The choice of this goal is much easier and more flexible for the crane operator by the proposed target setting device. The danger of wrong destination selection is significantly reduced.
Bei herkömmlichen Verfahren verfügt der Kranführer zum Zwecke der Anwahl von Zielpositionen, z.B. auf dem Schiff, lediglich über Reihen von Knöpfen in einer Konsole des Kranführersessels oder in der Wandkonsole der Krankabine. Die Zuordnung zwischen den Konsolknöpfen und den zugehörigen Positionen auf dem Schiff muss er gedanklich selbst herstellen. Dies wird dadurch erschwert, dass die feste Anzahl der Konsolknöpfe und der tatsächlich auf dem Schiff vorhandenen Containerpositionen in der Regel nicht übereinstimmt. Bei einem weiteren bisher eingesetzten Verfahren, der so genannten "Selbstlernenden Automatik" trifft der Kranführer seine Zielanwahl, indem er die erste Fahrt auf das Schiff von Hand durchführt. Die Containeraufnahme- oder -absetzposition wird von der Kransteuerung als zukünftiges, festes Ziel für die folgenden Automatikfahrten vorgegeben.In conventional methods, the crane operator only has rows of buttons in a console of the crane operator's chair for the purpose of selecting target positions, eg on the ship or in the wall console of the crane cabin. The assignment between the console buttons and the corresponding positions on the ship, he must mentally make himself. This is made more difficult by the fact that the fixed number of console buttons and the actual container positions actually on the ship do not match. In another previously used method, the so-called "self-learning automatic", the crane driver makes his destination selection by making the first trip on the ship by hand. The container receiving or settling position is specified by the crane control as a future, fixed target for the following automatic movements.
Dieses Verfahren eignet sich natürlich nur, wenn immer die gleiche Zelle im Schiff angefahren werden soll, also im so genannten vertikalen Umschlagbetrieb. In einer weiteren Betriebsart kann die "Selbstlernende Automatik" noch eine zweite relativ häufig vorkommende Umschlagsart ausführen, den sogenannten "Horizontale Umschlagsbetrieb", also das lagenweise Abräumen oder Auflegen von Containern auf dem Schiff. Dabei gibt die Kransteuerung das nächste Ziel für die Automatikfahrt immer eine Containerbreite weiter Richtung Wasserseite oder Richtung Landseite vor als bei der vorherigen Automatikfahrt, je nachdem ob das Schiff entladen oder beladen wird.Of course, this method is only suitable if the same cell in the ship is always to be approached, ie in the so-called vertical handling operation. In a further mode of operation, the "self-learning automatic" can perform a second relatively frequently occurring Umschlagsart, the so-called "horizontal handling operation", ie the layer-wise clearing or placing of containers on the ship. The crane control system always specifies the next destination for automatic travel, a container width further towards the water side or towards the land side than in the previous automatic drive, depending on whether the ship is unloaded or loaded.
Das Verfahren versagt, wenn die Positionen auf dem Schiff in unregelmäßiger Weise angefahren werden müssen. Zusätzliche Positionswechseltester sind hier zwar hilfreich, falsche Zielvorgaben durch die Kranführer erfolgen aber erfahrungsgemäß recht häufig.The procedure fails when the positions on the ship have to be approached in an irregular manner. Although additional position change testers are helpful here, erroneous target specifications by the crane operators are usually quite common.
Aus der Druckschrift DE 299 21 246 U1 ist eine Steuervorrichtung zur Überwachung und Regelung von Schwingungsbewegungen von Kranlasten bekannt. Dabei bringen ein Lastpositionsregelmodul und ein Pendelregelungsmodul die Kranlast in Horizontalrichtung, d. h. sowohl in Transportrichtung der Krankatze als auch in Transportrichtung des Kranfahrwerks, in die geforderte Position.From the document DE 299 21 246 U1 a control device for monitoring and controlling vibration movements of crane loads is known. Here, a load position control module and a pendulum control module bring the crane load in the horizontal direction, ie both in the transport direction of the trolley as well as in the transport direction of the crane landing gear, in the required position.
Die erfindungsgemäße Lösung dieser Problematik ergibt sich mit dem Lasttransportsystem aus Anspruch 1. Weiterbildungen dieses Systems sind in den abhängigen Ansprüchen definiert.The solution according to the invention of this problem arises with the load transport system of claim 1. Further developments of this system are defined in the dependent claims.
Eine spezielle Lösung ist ein Zielvorgabegerät (5) [siehe FIG 1], welche Kran (6), Schiff (7) und Schiffsbeladungsprofil (8) auf einem Touchscreen (9) [siehe FIG 2] darstellt. Dabei wird das aktuelle Schiffsbeladungsprofil (8) dem Zielvorgabegerät (5) von dem Beladungsprofilspeicher (10) nach jeder Fahrt frisch aktualisiert vorgegeben. Der Beladungsprofilspeicher ist in der Regel (aber nicht notwendig) Teil der Kransteuerung (2).A special solution is a destination setting device (5) [see FIG. 1] which represents crane (6), ship (7) and ship loading profile (8) on a touchscreen (9) [see FIG. 2]. In this case, the current ship loading profile (8) the target setting device (5) of the loading profile memory (10) freshly updated after each ride. The load profile memory is usually (but not necessarily) part of the crane control (2).
Die Touchscreen-Bedieneroberfläche (11) besitzt z.B. folgende Funktionen:
- a) Die Darstellung des Kranes (6) und des Kais (19).
- b) Die graphische Darstellung der aktuellen Position von Krankatze (17) und Last (18).
- c) Die "Touch-Bereiche" (12) für die üblicherweise benötigten Ziele
- Schiffpositionen (13)
- Fahrspuren an Land (14)
- Absetzposition für die Schiffslukendeckel (15)
- Parkposition der Krankatze (16)
- a) The representation of the crane (6) and the quay (19).
- b) The graphical representation of the current position of crane trolley (17) and load (18).
- c) The "touch areas" (12) for the goals usually required
- Ship positions (13)
- Lanes on land (14)
- Settling position for the ship's hatch covers (15)
- Parking position of the crane trolley (16)
Die Positionen der Touch-Bereiche (12) für die Schiffsziele (13) passen sich dem aktuellen Beladungsprofil (8) an. Die Positionen sinken aber nicht unter die Schiffslukenhöhe, da Automatikfahrten unten in das Schiff hinein nicht stattfinden. Als Schiffslukenhöhe wird die Höhe der Schiffsreling (37) festgesetzt. Der Kranführer kann auch diese Höhe über Touch-Bereich verstellen.The positions of the touch areas (12) for the ship targets (13) adapt to the current load profile (8). However, the positions do not sink below the height of the ship's hatch, as automatic movements do not take place down into the ship. The height of the ship's railing (37) is defined as the ship's hatch height. The crane operator can also adjust this height via touch area.
Die Touch-Bereiche enthalten z.B. "Vorhalt Richtung Land" (20) und "Vorhalt Richtung Wasser" (21). Falls der Kranführer nach dem Drücken eines Ziel-Touch-Bereichs (14) noch einen der Vorhalt-Bereiche (20) oder (21) berührt, so wird die Horizontalkomponente des jeweils angewählten Zieles vorteilhaft um eine einstellbare Strecke (z.B. 0,5 m) Richtung Land oder Richtung Wasser verschoben. Die Kranführer benötigen diese Funktion beispielsweise, wenn sie einen auf das Schiff zu ladenden Container zum leichteren Absetzen an den Nachbarcontainer anlehnen wollen.For example, the touch areas include "Leaning Direction Land" (20) and "Leaning Toward Water" (21). If, after pressing a target touch area (14), the crane operator also touches one of the lead areas (20) or (21), the horizontal component of the respectively selected target advantageously becomes an adjustable distance (eg 0.5 m). Moved towards land or towards water. Crane operators, for example, need this function if they want to lean a container to be loaded onto the ship for easier settlement with the neighboring container.
Meldeflächen (22) für aktuelle Daten, Zieldaten, Stör- und Warnmeldungen etc. sind weiterhin vorgesehen.Reporting areas (22) for current data, target data, fault and warning messages, etc. are still provided.
Falls der Kranführer die Vorgabe des nächsten Zieles bereits von einem Host-Rechner (23) [siehe FIG 1] bekommt und nicht wie bisher meist üblich von Tallimann auf dem Schiff über Funk und Handzeichen, so kann der Touchscreen (11) des Zielvorgabegeräts (5) diese Zielvorgabe, welche über die Kransteuerung (2) zum Zielvorgabegerät (5) transferiert wurde, z.B. durch Blinken des entsprechenden Touch-Bereichs (12) anzeigen.If the crane operator already receives the specification of the next destination from a host computer (23) [see FIG. 1] and not as usual from Tallimann on the ship via radio and hand signals, then the touchscreen (11) of the destination specification device (5 ) This target, which has been transferred via the crane control (2) to the target setting device (5), eg by flashing the corresponding touch area (12).
Der Kranführerstand (24) besteht aus dem Kranführersessel (25) mit seiner linken Bedienerkonsole (26) und seiner rechten Bedienerkonsole (27). Der Kranführerstand (24) ist z.B. durch folgende Hauptfunktionen gekennzeichnet:
- a) Den Meisterschalter Hubwerk (28) für manuellen Betrieb des Hubwerks.
- b) Den Meisterschalter Katze "konventionell (29) für manuellen Betrieb des Katzfahrwerks und zwei im konventionellen Handbetrieb (ohne Pendelregelungsfunktion).
- c) Den Meisterschalter Katze "Pendelgeregelt" (30) für pendelgeregelten Handbetrieb des Katzfahrwerks sowie ggf. zum Starten automatischer Bewegungsvorgänge.
- d) Den Freigabetaster "Touchscreeneingabe" (31). Eingaben, z.B. Zielanwahlen, auf dem Touchscreen sind nur möglich, wenn gleichzeitig dieser Taster gedrückt wird, um unabsichtliche Eingaben zu vermeiden.
- e) Den Schlüsselschalter "Trainingsbetrieb" (32). Mit ihm werden Funktionen, welche zur Ausbildung von Kranführern auf Automatikkranen erforderlich sind, freigeschaltet.
- a) The master switch hoist (28) for manual hoist operation.
- b) The master switch cat "conventional (29) for manual operation of the trolley and two in conventional manual mode (without pendulum control function).
- c) The master switch cat "pendulum-controlled" (30) for pendulum-controlled manual operation of the trolley and, if necessary, for starting automatic movements.
- d) The "Touchscreen input" release button (31). Inputs, eg destination selections, on the touchscreen are only possible if this button is pressed at the same time in order to avoid unintentional input.
- e) The key switch "Training mode" (32). With it, functions that are necessary for the training of crane operators on automatic cranes are unlocked.
Die Verwendung von Meisterschaltern und Freigabetastern anstelle auch möglicher Eingaben in den PC ist für die Sicherheit des Kranbetriebs besonders vorteilhaft, da dem Kranführer das Umlegen oder Drücken eines Schalters besser im Gedächtnis bleibt, als eine Eingabe in den PC.The use of master switches and release buttons instead of possible inputs to the PC is particularly advantageous for the safety of crane operation, as the Crane operator, remembering to move or press a switch better than memorizing the PC.
Der Beladungsprofilspeicher (10) enthält das Beladungsprofil (8) der aktuell zu bearbeitenden Schiffsbay. Diese Daten dienen zwei Zwecken:
- a) Das Profil (8) wird dem Lasttransportsystem (1) übergeben. Dieses berechnet dann aus den zwischen Startpunkt und Ziel einer Fahrt liegenden Hindernissen die optimale Raumkurve (33) der Bewegung der Last (18).
- b) Das Profil (8) wird dem Zielvorgabegerät (5) übergeben und auf dessen Touchscreen (11) dargestellt.
- a) The profile (8) is transferred to the load transport system (1). This then calculates the optimal space curve (33) of the movement of the load (18) from the obstacles lying between the starting point and the destination of a journey.
- b) The profile (8) is passed to the destination setting device (5) and displayed on the touch screen (11).
Bis heute kennt man zwei Versionen:
- a) Die Selbstlernende Automatik" (siehe oben) Dabei wird darauf verzichtet, einzelne Containerpositionen auf dem Schiff zum Zwecke der Gestaltung der Raumkurve (33) zu speichern. Es wird lediglich die Kurve der ersten Fahrt, welche - wie oben erläutert - rein manuell erfolgen muss, gespeichert und bei den folgenden Automatikfahrten von der Automatik "nachgefahren". Eine Darstellung eines Beladungsprofils (8) auf der Touchscreen (11) ist hier natürlich unmöglich.
- b) Die Containerposition - Lernmethode
Hierbei wird bei jedem Containerverriegelungs- und/oder--entriegelungsvorgang die Position der Last im Beladungsprofilspeicher (10) gespeichert. Erst nachdem alle Schiffspositionen (13) einmal zum Aufnehmen oder Absetzen eines Containers angefahren wurden, ergibt sich das komplette Beladungsprofil (8).
- a) The self-learning automatic "(see above) It is omitted to store individual container positions on the ship for the purpose of designing the space curve (33) .It is merely the curve of the first drive, which - as explained above - are purely manual has to be stored and "retraced" by the automatic system during the following automatic movements.A representation of a loading profile (8) on the touch screen (11) is of course impossible here.
- b) The container position - learning method
In this case, the position of the load in the loading profile memory (10) is stored in each container locking and / or - unlocking. Only after all ship positions (13) have been approached once for receiving or depositing a container, results in the complete load profile (8).
Gemäß einem weiteren erfindungsgemäßen Ausführungsbeispiel liefert ein Beladungsprofilerfassungsgerät (4) nach jeder Katzfahrt die aktuellen Horizontal- und Vertikalpositionen der obersten Container auf den Schiffspositionen (13) sowie von Hindernissen, wie z.B. der Schiffsreling (37) an den Beladungsprofilspeicher (10). Dieser übergibt die Daten an das Zielvorgabegerät (5) zum Zwecke der Darstellung auf dem Touchscreen (11) sowie an das Lasttransportsystem (1) als Hinderniskoordinaten.According to a further embodiment of the invention, a load profile detecting device (4) provides, after each trolley run, the current horizontal and vertical positions of the uppermost containers on the ship's positions (13) and obstacles, e.g. the ship's rail (37) to the loading profile memory (10). This transfers the data to the destination setting device (5) for the purpose of presentation on the touch screen (11) and to the load transport system (1) as obstacle coordinates.
Als Beladungsprofilerfassung kommt beispielsweise der "Stowage Profile Scanner" der Fa. Telerob, Kiel, Deutschland (siehe Anlage 3) in Betracht. Dieses Gerät wertet die Daten eines Distanzmesslasers (34) aus, welcher an der wasserseitigen Vorderseite der Krankatze (17) befestigt ist, von dieser mit über das Schiff bewegt wird, und senkrecht nach unten permanent Distanzmessungen bis zu den Oberflächen (Container [35], Schiffsboden [36] oder Schiffsreling [37]), auf welche der Laserstrahl trifft, durchführt. Das Beladungsprofilerfassungsgerät verfügt über eine Bildauswertung, welche aus den Laserdistanzmessdaten Container (35) und andere Objekte, z.B. die Schiffsreling (37) detektiert und als solche im Datensatz kennzeichnet.For example, the load profile detection is the "Stowage Profile Scanner" from Telerob, Kiel, Germany (see Appendix 3). This device evaluates the data of a distance measuring laser (34) which is attached to the water-front of the trolley (17), is moved by this with the ship, and vertically downwards permanently distance measurements up to the surfaces (container [35], Schiffsboden [36] or ship's rail [37]), on which the laser beam hits, performs. The load profile detection device has an image evaluation which consists of the laser distance measurement data container (35) and other objects, e.g. the Schiffsreling (37) detected and identified as such in the record.
Die Verwendung anderer Profilerfassungsgeräte ist natürlich möglich, so z.B. von Zeilenkameras, wie sie für das Andocken von Flugzeugen an die Gates verwendet werden.The use of other profiling devices is of course possible, e.g. of line scan cameras as used for docking aircraft to the gates.
Claims (4)
- Load transport system (1), especially for containers (18), with- a crane,- a computing device (23) with destination control program,- a sensor arrangement for recording load positions and- a destination specification device (5),characterized in that- the destination specification device (5) features a touchscreen (9) on which the crane (6), a load set-down surface (7, 14, 15, 36) and a loading profile can be displayed, and- a loading profile memory (10) is connected to the destination specification device (5) which can be updated after each journey and with which a current loading profile can be predetermined for the destination specification device (5)
- Load transport system in accordance with claim 1,
characterized in that,
the destination specification device (5) features a touchscreen (9) operating indirectly without switches. - Load transport system (1) in accordance with claim 1 or 2, also with a loading profile recording device (4), with which load positions (8) recorded by the sensor arrangement (8) and any obstacles (37) can be displayed graphically.
- Load transport system in accordance with claim 3, with the sensor arrangement being attached to a trolley (17) of the crane (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10001023A DE10001023A1 (en) | 2000-01-13 | 2000-01-13 | Load transporting system for containers - has personal computer with target guidance program and sensor system for detecting position of load |
| DE10001023 | 2000-01-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1116684A1 EP1116684A1 (en) | 2001-07-18 |
| EP1116684B1 true EP1116684B1 (en) | 2006-08-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP01100745A Expired - Lifetime EP1116684B1 (en) | 2000-01-13 | 2001-01-12 | Load transporting system, especially for containers |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1116684B1 (en) |
| AT (1) | ATE334929T1 (en) |
| DE (2) | DE10001023A1 (en) |
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| DE10107048A1 (en) * | 2001-02-13 | 2002-08-29 | Siemens Ag | Operating method and operating device for automated container quay cranes |
| DE10224312A1 (en) | 2002-05-31 | 2004-12-02 | Siemens Ag | Process for automating the loading and unloading of container ships in container terminals and corresponding crane automation system |
| DE10233872A1 (en) * | 2002-07-25 | 2004-02-19 | Siemens Ag | Operating container crane for loading transport vehicle, e.g. ship, involves semi-automatic process taking into account obstruction and/or target position height data acquired before/during loading |
| DE102005002192B4 (en) * | 2005-01-17 | 2008-08-14 | Siemens Ag | Method for operating a crane installation, in particular a container crane, and crane installation, in particular a container crane |
| DE102006054083A1 (en) * | 2006-11-16 | 2008-05-29 | Siemens Ag | Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods |
| DE102007037878A1 (en) * | 2007-08-10 | 2009-02-12 | Siemens Ag | Method for moving cable-guided load from starting point to target point involves determining obstacles on potential paths of load, forces acting upon load, and optimum trajectory with regard to time for moving load |
| CN103101840B (en) * | 2013-02-05 | 2015-08-12 | 中船第九设计研究院工程有限公司 | A kind of communication means of high pedestal jib crane PLC fieldbus |
| CN103072897A (en) * | 2013-02-06 | 2013-05-01 | 中船第九设计研究院工程有限公司 | Programmable logic controller (PLC) communication method of gantry crane of decentralized periphery (DP) bus framework |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5152408A (en) * | 1988-05-18 | 1992-10-06 | Hans Tax | Container crane installation |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| US5645181A (en) * | 1992-02-12 | 1997-07-08 | Kato Works Co., Ltd. | Method for detecting a crane hook lifting distance |
| JP3245283B2 (en) * | 1993-11-05 | 2002-01-07 | 鹿島建設株式会社 | Crane control device with operating status display device |
| FI111243B (en) * | 1994-03-30 | 2003-06-30 | Samsung Heavy Ind | A method of operating a crane |
| WO1997045358A1 (en) * | 1996-05-24 | 1997-12-04 | Siemens Aktiengesellschaft | Method and arrangement for preventing load collisions in a suspended load movement apparatus |
| JP3254152B2 (en) * | 1996-12-10 | 2002-02-04 | 三菱重工業株式会社 | Crane handling route setting method and apparatus |
| DE19803202A1 (en) * | 1998-01-28 | 1999-07-29 | Tax Technical Consultancy Gmbh | Target detection device detecting target position of movable load carrier for crane control |
| DE19841570C2 (en) * | 1998-09-11 | 2001-04-12 | Telerob Ges Fuer Fernhantierun | Quay crane for loading and unloading containers |
-
2000
- 2000-01-13 DE DE10001023A patent/DE10001023A1/en not_active Withdrawn
-
2001
- 2001-01-12 EP EP01100745A patent/EP1116684B1/en not_active Expired - Lifetime
- 2001-01-12 AT AT01100745T patent/ATE334929T1/en not_active IP Right Cessation
- 2001-01-12 DE DE50110574T patent/DE50110574D1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DE50110574D1 (en) | 2006-09-14 |
| ATE334929T1 (en) | 2006-08-15 |
| EP1116684A1 (en) | 2001-07-18 |
| DE10001023A1 (en) | 2001-07-19 |
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