EP1360142A1

EP1360142A1 - Operating method and device for operating automated container quay cranes

Info

Publication number: EP1360142A1
Application number: EP02708225A
Authority: EP
Inventors: Wolfgang Wichner
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 2001-02-13
Filing date: 2002-02-07
Publication date: 2003-11-12
Anticipated expiration: 2022-02-07
Also published as: EP1360142B1; WO2002064486A1; JP2004520250A; DE10107048A1; NO20033597L; CN1633392A; KR20030090640A; US6965823B2; ATE349398T1; DE20121503U1; CN100431941C; NO20033597D0; US20040073358A1; DE50209075D1

Abstract

A touch screen handles operating and environmental parameters for loading containers. It gives loading weights regarding lift, lift heights, wind strength, spreader position in trolley/crab direction, on/off switch for automatic operation and type of container load. Sound card, optical signals and text are included. Operating touch screen areas are color-coded to match functions. An independent claim is also included for a computer touch screen for operating container cranes on dock quaysides.

Description

B, esehreibung

Operating method and operating device for automated container quay cranes

For container quay cranes, it seems impossible for years to replace the crane operator with an automatic system. Container quay cranes are now operated in a partially automated operation. This semi-automated operation was successfully implemented.

However, it turned out that the handling performance of these cranes fell short of expectations. The reason is that the majority of crane operators have difficulty operating the automatic functions. So far there is no suitable one

Human-machine interface, which optimally designs the interaction between crane operator and automatic and a corresponding operating procedure.

Previously, there were several switches, buttons and indicator lights in the console of the crane operator's chair for the purpose of operating the automatic system. However, these simple means give the crane operator too little information about the operating status of the automatic system, about the destinations to be reached next by the automatic system, about fault or warning messages or about other automatic operating states. Furthermore, these simple means offer too little intervention on the automatic.

The invention solves the specified technical problem in the following way:

a) All control and display elements are essentially concentrated on a touchscreen. This is on the right hand side next to the crane operator's chair. The loads previously distributed on the consoles of the crane control chair in a confusing and non-standard way control buttons, buttons and indicator lights are no longer required. b) All important control commands to the automatic system are entered on this touchscreen by touching the touch buttons. c) All important information from the automatic system is displayed on this touchscreen. d) A computer belongs to the touchscreen. This prepares the signals to be displayed in an ergonomic form for the crane operator. e) The same computer in particular also calculates the target for the automatic drives. The difference to the previous solutions is that this task was previously left to the crane controller. This led to many different, non-standardized and often incorrectly working solutions.

The ergonomically designed user interface of the touchscreen allows the crane operator to optimally observe the actions of the automatic system and, if necessary, to intervene in a simple and safe manner. On the other hand, the MMI touchscreen also allows the crane operator to be instructed by visual and, if necessary, acoustic messages. This optimally enables the interplay between automatic and manual operation.

Crane operators, who are often used on different cranes with different automation systems, no longer need to work through operating instructions for the automatic mode before working with an automated crane. Reading through the operating instructions is unpopular with the crane operators and is therefore often omitted. The crane operator relies on his memory. The result is that mistakes are made.

How is the procedure advantageously carried out according to the invention? When starting work on the crane, the crane operator switches on the touchscreen. He then gets to see the image according to FIG. 1 on the touch screen.

color choice

white highlighted displays (texts, numbers) orange highlighted touch button, function not activated green highlighted touch button, function activated light blue target indication gray crane outline red end positions purple ship silhouette yellow message bar

For reasons of recognizability, the background is advantageously kept dark blue. The visual recognizability through the chosen colors is important, because the concentration of the crane operator decreases considerably in the course of a shift due to his high demands. Blue as a background is particularly beneficial for the following reasons:

Avoiding glare to the crane operator through the touchscreen at night - highlighting the display fields and control buttons

operation

1. The crane operator starts work using the basic settings page.

First the crane operator has to make the basic settings for automatic operation, the following work instructions can be carried out: 1.1 Setting the main operating mode

The crane operator can switch the automatic mode on or off using a switch, which for safety reasons is the only control element that is not on the touchscreen. The touchscreen shows in the top line of FIG. 1 by turning the respective display area green what has been selected with this external switch.

1.2 Selection of the operating mode

The crane operator has three options here:

Interplay between fully automatic travel (especially for the commute-free bridging of the long distance between land and water side) and conventional operation (usually for fine positioning of the load above the destination, especially on the ship). Interplay between automatic mode (again for covering the long distance) and sway-controlled manual mode, i.e. load speed control (also for fine positioning of the load).

"Sway out" function (catching and positioning the load after previous, non-sway-controlled operation)

1.3 Type of envelope

Vertical / Cyclic

Unloading or loading of the containers always in the same row on the ship. Horizontal layer-by-layer clearing or stacking of the containers

1.4 stopover

When the stopover function is selected, the containers are not automatically transported to the respective destination by the automatic system, but stopped at the stopover position beforehand. This stopover position is on the land side below the crane. There is performed either the customs seal control of the container and / or the automatic twistlocks pinned down in ^'-the container or removed. After performing these tasks, the automatic system transports the container to the actual destination.

1.5 Number of rows in the bay

Here the crane operator tells the automatic system how many rows of containers are in the ship bay to be processed. He can increase or reduce the number of rows using the pushbuttons labeled "more" or "less". The display field between the two pushbuttons shows him how many rows he has set.

1.6 bow of the ship

Here the crane operator can tell the automatic system whether the bow of the ship in front of him is to the left or right of him. With this information together with the information about the number of rows in the bay, the automatic system can correctly enter the numbering of the container positions on the ship in the image according to FIG. 2. Further details can be found in the explanations for FIG. 2.

1.7 Training mode

When the training mode is selected, the crane operator or the automatic control can use a suitable push button to pretend that a container has been unloaded or picked up on the ship or on the shore side. The purpose is to enable the target to be switched back and forth between the ship side and the shore side even when there is no ship on which containers could be loaded or unloaded. This function is necessary because crane operators have to Field operation with an automatic must first train without a ship.

After completing the basic settings, the crane operator taps the "To automatic mode page" button at the bottom right in FIG. 1 and thus arrives at the actual work page according to FIG. 2.

2nd page "Automatic mode"

The crane operator permanently switched on the "Automatic mode" while working on the ship. A change to other pages would distract the crane operator from work and could lead to dangerous situations. Therefore, on the "Automatic mode" page all relevant information and controls are ergonomic Form included.

The picture is essentially divided into three parts.

In the upper half of the picture (above the yellow colored bar) is the water side (ship side) of the crane.

The land side of the crane is shown in the right part of the lower half.

The left half of the lower half shows the operating data that the crane operator must be able to check continuously.

2.1 The water side

2.1.1 Crane frame

The crane frame and the quay edge are shown in gray color in the lower right corner. 2.1.2 Direction of travel cat and hoist

The white triangles in the crane frame represent arrowheads. They turn green when the crane trolley moves in the respective direction. The same applies to the arrowheads in the vertical crane leg when the load is moved in the direction of lifting or lowering.

2.1.3 Limit switch

The white small rectangles in front of the arrow tips turn red when the cat or the hoist reaches the respective limit switch.

2.1.4 Container positions and target

The cross-section of the ship is stylized in purple under the water-side crane boom. Above the ship, the container parking spaces on or in the ship are represented by rectangular fields with numbers inside. The rectangles therefore stand for container receiving shafts below deck or for the top level of the containers loaded on deck. The containers below were deliberately omitted, since they do not play a role in the handling by the crane operator. The presentation of superfluous information would confuse the crane operator and thereby impair the safety of the company.

The number of rectangles corresponds to the number of rows in the bay, which the crane operator has made in the basic settings in FIG. 1 for "number of rows in the bay".

In the middle of the rectangles there is a display field with a white background. This shows the number of the row in accordance with international standardization. Rows on the starboard side of the ship are marked with ascending odd numbers from the middle of the ship to the outside. The rows on the The port side of the ship is numbered from the center of the ship to the outside with ascending even numbers. If the ship has an odd number of rows, the middle row has the number 0. However, if the number of rows in the respective ship bay is even, row 0 is omitted. The computer assigned to the touchscreen carries the numbers in the display fields in the Rectangles, depending on the number of rows in the bay and whether the bow of the ship is on the right, i.e. the starboard side is on the quay edge, or vice versa. This gives the crane operator the direct assignment between his loading plans and the display on the touchscreen.

target

The container rectangles also show the crane operator which destination the automatic will approach next. The border around the number field inside the rectangles then changes color from gray to light blue when the automatic has determined this row as the next destination for the next automatic drive towards the ship's side. The inside of the row number display field can also turn light blue. This change in color indicates the last destination to which the automatic system approached. This gives the crane operator the orientation between the previous destination and the next destination of the automatic drives.

Change of goals

The computer assigned to the touchscreen calculates the next destination depending on whether horizontal or vertical handling mode is selected or whether the ship is unloading or loading. In vertical operation, this will be the same goal as the last one. With horizontal unloading, it is a series further towards the land side than the previous destination. at Loading horizontally is the next goal a row further towards the water side compared to the last goal.

If the crane operator wants to change the destination, he has the touch key labeled "+" or "-". When the "+" button is pressed, the destination jumps one row further towards the water side. When the "-" button is pressed, the destination jumps one row further towards the land side. The target can also be moved by several rows by pressing the key several times. The light blue outline of the number field jumps to the newly selected destination. This gives the crane operator complete control over where he has placed the target (see Fig. 3).

2.1.5 Provision of the target position

In the upper right corner there is the "Vorhalt LS" touch button (land side guard).

In the case of horizontal handling operations, the crane operators very often wish that the automatic system does not transport the load directly to the target position exactly above the row of containers to be approached, but rather brings it to a halt about half a meter too far on land. (Standing means hanging quietly above the target, i.e. free of commuting.) This makes it possible

Crane operators then lean the load comfortably against the neighboring container in manual operation. If the automatic system were to drive the load directly over the destination, the crane operator would often have to pull the load back a little bit towards the land side, then lower it and then lean it manually towards the water side of the neighboring container. This is necessary because the load generally has a more or less strong skew vibration (rotational vibration around the vertical axis), so that when the load is lowered there is a risk that one of the corners will hit the neighboring container. (For activation of the function see Fig. 4) For the opposite case, i.e. leaning containers against the neighboring container from the water side, there is still the touch button "Vorhalt WS" (Vorhalt WSeite) in the top left of the picture.

2.1.6 Jump to the target after the water-side or shore-side end of the ship

In the case of horizontal transshipment operations, it regularly happens that the loading or unloading process should be continued on the shore or water side edge of the ship. For this reason, the two additional touch buttons "To LS" (to the land side) and "To WS" (to the water side) appear in the image according to FIG. 2 when the horizontal handling operation is selected in the basic settings according to FIG. 1. This enables the crane operator to initiate a target jump on either the most row of containers on the land side or the row of containers on the most water side.

2.1.7 Teach function

In the middle above the container rectangles is the large touch button "Enter ship target height". This has two teach functions.

2.1.7.1 Enter target ship height

At the start of the work process, the crane operator moves the load above the ship to the desired height and presses this touch button. This height is then taken as the target height for the future automatic drives. It can be redefined for all further journeys by pressing this button again.

2.1.7.2 Enter container row

After entering the target height, the text on the touch button changes to "Enter current row of containers" The process only takes place on the first trip to the ship. The automatic system calculates the probable row which corresponds to the current position based on the geometric data and indicates this by changing the color of the respective rectangle to yellow. If, however, the automatic system has incorrectly calculated this first row, the crane operator can correct this by pressing the "+" or "-" button and confirm the result by pressing the touch button (see Fig. 5). For all subsequent journeys, the touch button bears the text "Enter target height ship" again. This allows the crane operator to correct the target height above the ship on each trip, if desired.

2.1.8 Simulation and display "Unlocked - Locked"

This touch button, shown in the image in FIG. 2 in green with the text “unlocked”, is only visible if “training mode” has been selected in FIG. 1. This function simulates the automatic system of attaching and detaching a container, ie locking and unlocking. Then the automatic system switches the destinations between the land and water side. Usually "unlocked" is shown by a color change to green, while the locked state is shown by a color change to red. The touch button therefore takes on either green or red color. Touching it changes the status from locked to unlocked and vice versa. (See Fig. 6).

2.2 Land side

2.2.1 Direction of travel, limit switch, trolley position

The land side of the crane is shown in the image according to FIG. 2 in the lower right quarter of the image. The crane frame and the quay are stylized in gray. In the

Surface of the quay is the touch button for switching to the "Basic settings" page (according to Fig. 1). Furthermore In the parts of the crane frame there are triangular arrows and limit switch bars for the movement of the trolley and hoist as well as the reaching of the limit switches, as already described under 2.1.2 and 2.1.3. The position of the cat is marked by a red rectangle on the top right of the onshore crane boom. This rectangle moves with the movement of the cat over the crane boom and jumps to the crane boom in the upper part of the picture when it reaches the water side of the crane. When returning to the land side, the red rectangle jumps back onto the onshore part of the boom.

The load hanging on the trolley is deliberately avoided because the crane operator can get this information better by looking out of the window of the crane cabin.

2.2.2 Parking position

In the middle between the crane legs is the "Parkp." Touch button (park position). When this button is pressed, the automatic receives the parking position of the crane trolley as the destination for the next automatic drive.

2.2.3 Land-based goals

At the bottom right of the picture there is again a container symbol labeled "VC - Pos." (Van Carrier position). A color change of the gray inner surface to light blue indicates that the automatic system is the next destination for the next automatic drive of this landward destination determined.

If the "Stopover" function has been activated in the "Basic Settings" screen (according to FIG. 1), the automatic system will stop at the so-called lashing position when traveling from the ship's side towards the shore side before continuing to the actual destination " Van Carrier position "drives. 2.3 Data display field

In the lower left quarter of the picture (Fig. 2) the operating data that the crane operator must have at hand is displayed:

Load weights in t hoist 1 (HW 1), hoist 2 (HW 2) and total load weights hoist 1 + 2 lifting heights - actual values hoist 1 and 2 wind force - position of the spreader (in the direction of the trolley, i.e. horizontal component) and the trolley itself

Automatic mode switched on or not, if switched on, respective step of the automatic control Active type of container handling (vertical or horizontal, with or without a stopover, loading or unloading)

Note: The automatic system determines whether loading or unloading is carried out. If the first container is picked up on the ship after work has started, the unloading mode prevails, if it is picked up on the shore side, loading mode is driven.

Coordinates - of the next target selected by the automatic

2.4 Message bar

The horizontal message bar in the middle of the picture informs the crane operator about all the status of the automatic crane system:

If the computer belonging to the touchscreen is equipped with a sound card, the optical signals are supplemented by announcements of texts.

Further, also inventive, details emerge from the claims and from the drawings.

The content of the drawings is self-explanatory for the specialist (crane operator, crane project engineer).

Claims

claims

1. Operating method for container quay cranes for loading and unloading container ships using a PC with a monitor in a crane operator's cabin, characterized in that the operating method is carried out using a touchscreen and a computer, the operating method permitting the goals of the crane to be started fully or partially automatically according to the specifications on the computer.

2. Operating method according to claim 1, characterized in that selected targets are adjustable.

3. Operating method according to claim 1 or 2, characterized gekennz ei chnet that targets set by the automatic on the touch screen are traceably approached by the crane.

4. Operating method according to claim 1, 2 or 3, characterized in that several operating modes, e.g. for fully automatic driving and fine positioning are available, and you can switch between the operating modes.

5. Operating method according to one or more of the preceding claims, characterized in that different types of handling can be set for the containers.

6. Operating method according to one or more of the preceding claims, characterized in that a training mode can be set.

7. Operating method according to one or more of the preceding claims, characterized in that a holding mode can be set.

8. Operating method according to one or more of the preceding claims, characterized in that learning functions can be set.

9. Operating method according to one or more of the preceding claims, characterized in that the actions to be carried out by crane operators are displayed. ^•

10. container crane operating touchscreen, in particular for performing the operating method according to one or more of the preceding claims, characterized in that the touchscreen has a dark background color, in particular dark blue, and touchfeider in signal colors.

11. Container crane operating touchscreen according to claim 10, characterized in that the touchscreen contains symbolically represented ship and crane details.

12. Container crane operating touchscreen, characterized in that current target settings, container positions and system states are displayed via color changes.

13. Container crane operating touchscreen according to claims 10, 11 or 12, characterized in that in addition to the touch fields and the symbolically illustrated details of the ship and the crane, fields for specifying information in text form and numbers are available.

14. container crane operating touchscreen according to one or more of claims 10 to 13, characterized in that it has at least one labeled, in particular across the touchscreen striking notice bar with details of the respective operating state or operating instructions.

15. Container crane operating touchscreen according to claim 14, characterized in that the information bar also gives work instructions to the crane operator before initiating a work step.

16. Container crane operating touchscreen according to claim 14 or 15, characterized in that the information bar also issues messages for the crane operator such as information about the next necessary work step and in particular changes its color depending on the type of content output.

17. Container crane operating touchscreen according to one or more of claims 10 to 16, characterized in that it can be operated by touching or by the mouse arrow of a PC mouse.

18. Container crane operating touchscreen according to one or more of claims 10 to 17, characterized in that its program is programmed in an object-oriented manner and can be changed in an object-oriented manner, in particular by means of the Win CC program from Siemens AG.