EP1116684B1 - Système de transport de charges, en particulier pour des conteneurs - Google Patents

Système de transport de charges, en particulier pour des conteneurs Download PDF

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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
Authority
EP
European Patent Office
Prior art keywords
crane
load
ship
transport system
destination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01100745A
Other languages
German (de)
English (en)
Other versions
EP1116684A1 (fr
Inventor
Wolfgang Wichner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP1116684A1 publication Critical patent/EP1116684A1/fr
Application granted granted Critical
Publication of EP1116684B1 publication Critical patent/EP1116684B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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 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.

Landscapes

  • 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)

Claims (4)

  1. Système (1) de transport de charge, notamment de conteneurs (18), comprenant :
    - une grue,
    - un dispositif (23) informatique ayant un programme de commande de destination,
    - un dispositif de détection de la position d'une charge, et
    - un appareil (5) de prescription d'une destination,
    caractérisé en ce que
    - l'appareil (5) de prescription d'une destination comporte un écran (9) tactile sur lequel peuvent être représentées la grue (6), une surface (7, 14, 15, 36) de dépôt de charge et un profil de chargement, et
    - une mémoire (10) de profil de chargement est raccordée à l'appareil (5) de prescription de destination, peut être mise à jour après chaque trajet et permet de prescrire un profil de chargement instantané à l'appareil (5) de prescription d'une destination.
  2. Système de transport de charge suivant la revendication 1,
    caractérisé
    en ce que l'appareil (5) de prescription d'une destination comporte un écran (9) tactile fonctionnant indirectement sans interrupteur.
  3. Système (1) de transport de charge suivant la revendication 1 ou 2, comprenant en outre un dispositif (4) de détection d'un profil de chargement, par lequel des positions de charge détectées par le dispositif de détection et d'éventuels obstacles (37) peuvent être représentés graphiquement.
  4. Système de transport de charge suivant la revendication 3, dans lequel le dispositif de détection est fixé au treuil (17) de la grue (6).
EP01100745A 2000-01-13 2001-01-12 Système de transport de charges, en particulier pour des conteneurs Expired - Lifetime EP1116684B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10001023A DE10001023A1 (de) 2000-01-13 2000-01-13 Lasttransportsystem, insbesondere für Container
DE10001023 2000-01-13

Publications (2)

Publication Number Publication Date
EP1116684A1 EP1116684A1 (fr) 2001-07-18
EP1116684B1 true EP1116684B1 (fr) 2006-08-02

Family

ID=7627305

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01100745A Expired - Lifetime EP1116684B1 (fr) 2000-01-13 2001-01-12 Système de transport de charges, en particulier pour des conteneurs

Country Status (3)

Country Link
EP (1) EP1116684B1 (fr)
AT (1) ATE334929T1 (fr)
DE (2) DE10001023A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10107048A1 (de) * 2001-02-13 2002-08-29 Siemens Ag Betriebsverfahren und Bedienungseinrichtung für automatisierte Containerkaikrane
DE10224312A1 (de) 2002-05-31 2004-12-02 Siemens Ag Verfahren zur Automatisierung des Be- und Entladens von Containerschiffen in Containerterminals und entsprechende Kranautomatisierungsanlage
DE10233872A1 (de) * 2002-07-25 2004-02-19 Siemens Ag Verfahren zum Betrieb eines Containerkrans
DE102005002192B4 (de) * 2005-01-17 2008-08-14 Siemens Ag Verfahren zum Betrieb einer Krananlage, insbesondere eines Containerkrans, sowie Krananlage, insbesondere Containerkran
DE102006054083A1 (de) * 2006-11-16 2008-05-29 Siemens Ag Verfahren und Navigationssystem zum Navigieren eines Transportmittels für Waren, deren Anwendungen und Verwendungen sowie Computerprogramm und Datenspeichermedium
DE102007037878A1 (de) * 2007-08-10 2009-02-12 Siemens Ag Verfahren und Steuerungsprogramm zur Bewegung einer seilgeführten Last von einem Startpunkt zu einem Zielpunkt
CN103101840B (zh) * 2013-02-05 2015-08-12 中船第九设计研究院工程有限公司 一种门座式起重机plc现场总线的通信方法
CN103072897A (zh) * 2013-02-06 2013-05-01 中船第九设计研究院工程有限公司 一种dp总线构架的门座式起重机plc通信方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
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 (ja) * 1993-11-05 2002-01-07 鹿島建設株式会社 運転状態表示装置を備えたクレーン制御装置
FI111243B (fi) * 1994-03-30 2003-06-30 Samsung Heavy Ind Menetelmä nosturin käyttämiseksi
WO1997045358A1 (fr) * 1996-05-24 1997-12-04 Siemens Aktiengesellschaft Procede et systeme pour eviter des collisions de charge dans un appareil deplaçant une charge suspendue
JP3254152B2 (ja) * 1996-12-10 2002-02-04 三菱重工業株式会社 クレーンの荷役経路設定方法及びその装置
DE19803202A1 (de) * 1998-01-28 1999-07-29 Tax Technical Consultancy Gmbh Zieldetektionseinrichtung
DE19841570C2 (de) * 1998-09-11 2001-04-12 Telerob Ges Fuer Fernhantierun Kaikran zum Be- und Entladen von Containern

Also Published As

Publication number Publication date
EP1116684A1 (fr) 2001-07-18
DE50110574D1 (de) 2006-09-14
DE10001023A1 (de) 2001-07-19
ATE334929T1 (de) 2006-08-15

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