EP1307396B1 - Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises - Google Patents

Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises Download PDF

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Publication number
EP1307396B1
EP1307396B1 EP01974134A EP01974134A EP1307396B1 EP 1307396 B1 EP1307396 B1 EP 1307396B1 EP 01974134 A EP01974134 A EP 01974134A EP 01974134 A EP01974134 A EP 01974134A EP 1307396 B1 EP1307396 B1 EP 1307396B1
Authority
EP
European Patent Office
Prior art keywords
goods
transport means
unit
unloading
transported
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
EP01974134A
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German (de)
English (en)
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EP1307396A1 (fr
Inventor
Rolf WÖHRMANN
Werner Zimmermann
Heinz-Peter Lammert
Achim Klingberg
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.)
Lase Industrielle Lasertechnik GmbH
Railion Deutschland AG
Original Assignee
Lase Ind Lasertechnik GmbH
Lase Industrielle Lasertechnik GmbH
Railion Deutschland AG
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Publication date
Application filed by Lase Ind Lasertechnik GmbH, Lase Industrielle Lasertechnik GmbH, Railion Deutschland AG filed Critical Lase Ind Lasertechnik GmbH
Publication of EP1307396A1 publication Critical patent/EP1307396A1/fr
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Publication of EP1307396B1 publication Critical patent/EP1307396B1/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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the invention relates to a method for automatic loading and unloading of transport units, in particular of units for transporting goods, preferably of metal products in wound sheet form, so-called coils or package goods also on pallets.
  • FTS laser-based driverless transport systems
  • a device for lateral loading and unloading of vehicles is known the fork-like support arms of a lifting element inserted into the pallets of the loading units lift, lift the cargo and other places settle, wherein at a loading and unloading a detection and measuring system is installed and a mobile on a track system sliding carriage with a Lowerable forks with extendible forks and both sides to these running linear conveyors provided loading and unloading device is equipped (DE 196 35 858 A1).
  • a device for the lateral loading and unloading of vehicles preferably trucks, known in the loading and unloading of the vehicle by means of a parallel to the vehicle on at least two rails movable Transfer car chassis with a slewing ring, a linear guide system with carriage and a lifting system with fork takes place, the linear guide system with carriage and lifting system with fork rotatable about the ball turntable, the rails are only on one side of the vehicle and the landing gear of the transfer carriage via counter-pressure rollers and lateral guide rollers on at least has two rails (DE 195 03 199 C2).
  • a sensor system for a crane especially a rail-mounted Pile or bridge crane operable on a container stacking yard
  • which has at least one scanning laser, with which the scanning angle ( ⁇ ) in a scanning plane from the distance of a crane part to the scanned container is made dependent
  • ⁇ scanning angle
  • a device for controlling a container crane which is a movable Lifting device for a hanging load harness has, with the container can be taken and held, at least one of which Crane placed above the load harness and looking down is provided, which is able to within the stroke range of the charging equipment to scan located surfaces and located therein edges that a minimum height jump have at least one point of the edge to measure, and is aligned so that its scanning area points at least one edge of the Ladegeschirres or at least one upper edge of a received in the cargo harness Containers and when approaching a to be taken or as a stack basis serving destination container of at least one upper edge of the destination container sweeps, the device from the positions of the determined edge points and from the known dimensions of the load harness or attached thereto Container in an engaged position with the target container converts (WO 94/05586).
  • Both devices relate exclusively to the handling of containers on a conventional loading place by means of a crane, with a laser / sensor equipped, down a scanning of the container makes and this means transported a container loading equipment to a destination location.
  • the invention has for its object to develop a method for automatic loading and unloading of transport units, in which the disadvantages of the prior art are to be eliminated by the claims 1-11, in particular accounts for the previously existing in any case and necessary shipping level should.
  • This is inventively achieved in that the goods to be transported and the transport unit independently of their respective location by means of a known ah, movably arranged laser scanner, preferably from above, in their position, their dimensions and their structure three-dimensional cartographic recorded, the data obtained transmitted central unit, where they are compared with the transponder and a reading unit obtained specific data of the transport unit and checked and forwarded to a sampling unit, through which the goods taken and transported without the need to switch an additional shipping level directly to the transport unit and there to exactly be set off predetermined point, wherein at the destination of the discharge process is realized in the same manner.
  • a track-bound rail vehicle preferably a freight car or a road-bound vehicle, preferably a truck
  • goods in particular metal products in wound sheet form preferably so-called coils for recording, loading and / or unloading and transporting.
  • the goods can also be collected, unloaded or unloaded and transported in palletized or package-like form.
  • laser scanner is preferably a non-contact on natural surfaces measuring laser with high performance level is used, which has a rotating head for the described application and which is preferably used in the crane runway / bridge from above. The laser scanner sweeps an angle of 0-180 ° and is used one or more times over the goods to be transported and on the transport unit for accurate three-dimensional detection of the position of the goods in the warehouse on the one hand and the clearances on the transport unit on the other hand.
  • the processing of the information obtained is carried out as follows:
  • the individual goods are stored in the warehouse or on the transport unit with their coordinates and spatial dimensions. For coils is still the center calculated. This is important for the placement of the forceps.
  • the comparison and comparison of this data with the data of a transponder, which is attached to the transport unit via a reader, which is arranged in the track or road area, in the central control unit in such a way that now a list of on the transport unit lying goods, with all relevant data, such as dimension and location and the unique identification number of the transport unit is generated.
  • This information is made available to the warehouse management system and makes it possible to generate the corresponding driving jobs for the crane fully automatically. It is thus carried out a completely automatic sequence of loading and unloading, which requires no intervention of personnel.
  • the implementation of the invention depends decisively on the technical reliability of the laser-based data processing systems and the logistical advantages that arise in the context of a holistically defined logistics chain as an economic result both for the consignor and the recipient.
  • the advantages of the invention are both in the physical area, as well as in the field of information logistics, since the material and product flow is significantly simplified and expanded. This results in interesting potential for rationalization, since in every case the interface "shipping level" is completely eliminated for the first time.
  • the data flow of the information logistics is considerably simplified with the invention.
  • the direct inclusion of the transport unit in the data handling creates a continuous flow of data up to and including the transport vessel.
  • This data can be passed on to the recipient, that not only the individual transport goods of an order, but also the respective assignment to the transport unit and the exact Absetzort the respective cargo within a transport unit is known. On the receiving side, this allows unloading according to company-specific criteria, thus creating the conditions for optimization there.
  • the transport unit 1 with its special receptacles for the cargo 2 is within the warehouse 3 in the catchment area of attached to the cat 4 of the crane runway / bridge 5 laser scanner 6, which can also detect the located in the hall 3 Transportgut 7 with its rays 8.
  • the transponder 9 is fixed, which communicates with the reader 10 in the track bed.
  • a punctual laser 11 is mounted for measuring the crane travel x-axis. All data acquisition devices are connected to a control unit, not shown. In detail, the following vote takes place:
  • the unillustrated control unit In the unillustrated control unit (PC), all transported goods with dimensions and spatial position are stored after the scanning process.
  • the crane uses its laser rangefinders, moves to the coordinates stored in the control unit. If the product is coils, the control unit knows the center coordinate and the crane tongs are positioned accordingly. After picking up the cargo, the crane moves to the destination coordinates and unloads the transported goods. The drive order is completed and a corresponding message is sent to the warehouse management system.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (11)

  1. Procédé de chargement et de déchargement automatique d'unités de transport, notamment d'unités de transport de marchandises, les marchandises étant prélevées de manière entièrement automatique dans un entrepôt et accumulées sur l'unité de transport puis de nouveau déchargées au lieu de destination et déposées dans un autre entrepôt, caractérisé en ce que les marchandises à transporter et l'unité de transport sont détectées en trois dimensions par cartographie indépendamment de leur emplacement respectif au moyen d'un balayeur à laser connu en soi disposé de manière mobile, de préférence par le haut, au niveau de leur position, de leurs dimensions et de leur structure, les données récupérées étant transmises à une unité de commande centrale, y étant comparées et compensées avec les données spécifiques de l'unité de transport récupérées par un transpondeur et une unité de lecture puis communiquées à une unité de prélèvement qui prélève les marchandises et les transporte sans la nécessité d'intégrer un plan d'expédition supplémentaire directement vers l'unité de transport, puis déposées là à un endroit précisément prédéfini, le processus de déchargement étant réalisé de la même manière au lieu de destination.
  2. Procédé selon la revendication 1, caractérisé en ce qu'on utilise comme unité de transport un véhicule ferroviaire sur voie, de préférence un wagon de marchandises.
  3. Procédé selon la revendication 1, caractérisé en ce qu'on utilise comme unité de transport un véhicule routier.
  4. Procédé selon les revendications 1 à 3, caractérisé en ce que les marchandises saisies, transbordées et/ou déchargées puis transportées sont notamment des produits métalliques sous forme de tôle enroulée, de préférence ce qu'on appelle des cerclages.
  5. Procédé selon les revendications 1 à 4, caractérisé en ce que les marchandises sont saisies, transbordées et/ou déchargées puis transportées sur palettes ou sous forme empaquetée.
  6. Procédé selon la revendication 1, caractérisé en ce qu'on utilise comme balayeur à laser un laser à tête rotative mesurant des cibles naturelles.
  7. Procédé selon les revendications 1 et 6, caractérisé en ce que le balayeur à laser est fixé à un chemin de roulement/un pont de grue ou à une unité linéaire se déplaçant séparément.
  8. Procédé selon les revendications 1, 6 et 7, caractérisé en ce que le balayeur à laser parcourt une surface dans un angle de 0 à 180° une ou plusieurs fois.
  9. Procédé selon la revendication 1, caractérisé en ce qu'on utilise comme transpondeur un transpondeur à micro-ondes ou une unité télématique ou une unité vidéo.
  10. Procédé selon les revendications 1 et 9, caractérisé en ce que le transpondeur est fixé sous l'unité de transport et communique avec l'unité de lecture disposée au niveau de la voie ou de la route.
  11. Procédé selon les revendications 1, 9 et 10, caractérisé en ce que les données spécifiques de l'unité de transport déterminées par l'unité de lecture sont comparées et compensées dans l'unité de commande avec les données de balayage.
EP01974134A 2000-08-09 2001-08-08 Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises Expired - Lifetime EP1307396B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10039629 2000-08-09
DE10039629A DE10039629B4 (de) 2000-08-09 2000-08-09 Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern
PCT/EP2001/009148 WO2002014203A1 (fr) 2000-08-09 2001-08-08 Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises

Publications (2)

Publication Number Publication Date
EP1307396A1 EP1307396A1 (fr) 2003-05-07
EP1307396B1 true EP1307396B1 (fr) 2004-11-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP01974134A Expired - Lifetime EP1307396B1 (fr) 2000-08-09 2001-08-08 Procede de chargement et dechargement automatiques d'unites de transport, en particulier d'unites de transport de marchandises

Country Status (5)

Country Link
EP (1) EP1307396B1 (fr)
AT (1) ATE282578T1 (fr)
AU (1) AU2001293738A1 (fr)
DE (2) DE10039629B4 (fr)
WO (1) WO2002014203A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
US11530118B2 (en) 2019-02-25 2022-12-20 Abb Schweiz Ag Container crane comprising reference marker

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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
DE202007016156U1 (de) 2007-11-16 2008-03-20 Noell Mobile Systems Gmbh Portalhubstapler mit automatischer Lenkung
DE102009037742A1 (de) 2009-08-17 2011-02-24 Harry Halfar Verfahren und Vorrichtung bzw. Sensorik zur Gewinnung von spezifischen Objektinformationen
CA2795624A1 (fr) 2012-11-02 2014-05-02 Martin Boni Procede d'entrepot
WO2014066989A1 (fr) * 2012-11-02 2014-05-08 Carego Innovative Solutions, Inc. Installation et procédé relatifs à un entrepôt
WO2015172242A1 (fr) 2014-05-15 2015-11-19 Carego Innovative Technologies Inc. Procédé d'empilage de tubes soudés
EP3020675A1 (fr) * 2014-11-14 2016-05-18 Giovanni De Carli Système et procédé pour la manutention de charges sous forme de bobines ou de rouleaux, tels que des bobines de feuille métallique
CN106608550A (zh) * 2016-05-05 2017-05-03 襄阳忠良工程机械有限责任公司 一种移动带式装卸机用滑移台车
JP6950127B2 (ja) * 2017-09-14 2021-10-13 株式会社日立プラントメカニクス コイル運搬用自動クレーンのコイル把持位置の位置決め方法
US11429916B2 (en) 2018-02-27 2022-08-30 Carego Tek Inc. Facility for processing steel
CN112390156A (zh) * 2020-11-09 2021-02-23 中国建筑土木建设有限公司 一种用于无坡道地下室大型精密设备吊装装置
CN113636298B (zh) * 2021-07-30 2022-09-23 杭州电子科技大学 一种袋装物料装车机的码包状态检测系统及方法
CN113844813B (zh) * 2021-09-30 2022-08-02 湖南天桥嘉成智能科技有限公司 一种基于机器视觉的板坯识别跟踪调度管理系统
CN114180353B (zh) * 2021-12-28 2022-08-30 湖南天桥嘉成智能科技有限公司 一种多类型物料备料无人天车智能控制系统及方法
CN116198898B (zh) * 2023-04-20 2023-07-25 巴斯夫一体化基地(广东)有限公司 用于存储货物的仓库
CN116878538B (zh) * 2023-09-06 2023-11-21 南通明泰信息科技有限公司 一种用于wms的agv小车运行数据采集系统

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Publication number Priority date Publication date Assignee Title
US11530118B2 (en) 2019-02-25 2022-12-20 Abb Schweiz Ag Container crane comprising reference marker

Also Published As

Publication number Publication date
EP1307396A1 (fr) 2003-05-07
WO2002014203A1 (fr) 2002-02-21
DE10039629A1 (de) 2002-03-21
AU2001293738A1 (en) 2002-02-25
DE50104556D1 (de) 2004-12-23
ATE282578T1 (de) 2004-12-15
DE10039629B4 (de) 2007-01-11

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