EP1360142B1 - Operating method for operating automated container quay cranes - Google Patents

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

For container casks it still seems impossible for years to replace the crane operator with an automatic. Container kaikrane are therefore driven today in a semi-automated operation. This semi-automated operation was successfully realized.

However, it turned out that the handling capacity of these cranes was below expectations. The reason is that the majority of crane operators have difficulty operating the automatic functions. So far, there is a lack of a suitable human-machine interface, which optimally designed the interaction between crane operator and automatic and a corresponding operating method.

• ein Betriebsverfahren für Containerkaikrane zum Be- und Entladen von Containerschiffen mittels eines Rechners in einer Kranführerkabine, wobei das Betriebsverfahren mittels eines auf dem Containerkran angeordneten Rechners durchgeführt wird, wobei das Betriebsverfahren es erlaubt, die Ziele des Krans nach Vorgaben an den Rechner voll-oder teilautomatisch anzufahren, indem der Rechner auch die Zielvorgaben für die Automatikfahrten berechnet.

The document Geither K et al: 'Automation of Dockside Container Cranes Employing Process Computers' (Siemens Power Engineering, Siemens AG, vol. 2, no. 1, 1980, pages 17-21) is considered to be the closest prior art; This document discloses the following features of claim 1:

• an operating method for container casks for loading and unloading container ships by means of a computer in a crane cab, the operating method is performed by means of a container crane arranged on the computer, the operating method allows the goals of the crane according to specifications to the computer fully or partially automatically to approach by the calculator also calculates the targets for the automatic rides.

From the earlier unpublished DE 100 01 023 it is known to simplify the man-machine interface to use a touch screen. The touchscreen is directly connected to a PC and is controlled by it. With the help of the PC, the information is output on the touch screen, and conversely, the inputs of the crane operator are converted into the corresponding electrical control signals for the crane control.

From these documents, it is not known to use the computer that operates the touch screen for other purposes. Its function is limited to generating from the inputs of the crane operator the immediate target setting commands for the crane control.

On this basis, it is an object of the invention to provide a crane guide, which allows a simpler crane control.

So far, there were several switches, buttons and indicator lights in the consoles of the crane operator's chair for the purpose of operating the automatic. However, these simple means give the crane operator too little information about the operating state of the automatic system, about the targets to be approached by the automatic system, about fault or warning messages or about other operating states of the automatic system. Furthermore, these simple means offer too little possibility of intervention on the automatic.

1. a) Alle Bedien- und Anzeigelemente sind im Wesentlichen auf einem Touchscreen konzentriert. Dieser befindet sich rechts in Griffweite neben den Kranführersessel. Die bisher auf den Konsolen des Kranführsessels oft in verwirrender und nicht standardisierter Weise verteilten Bedienknöpfe, Taster und Leuchtmelder entfallen.
2. b) Alle wichtigen Steuerbefehle an die Automatik werden durch Antippen von Berührtastern diesem Touchscreen eingegeben.
3. c) Alle wichtigen Informationen von der Automatik werden auf diesem Touchscreen angezeigt.
4. d) Zu dem Touchscreen gehört ein Rechner. Dieser bereitet die anzuzeigenden Signale in ergonomischer Form für den Kranführer auf.
5. e) Derselbe Rechner berechnet auch die Zielvorgabe für die Automatikfahrten. Unterschied zu den bisherigen Lösungen ist, dass diese Aufgabe bisher der Kransteuerung überlassen war. Dies führte zu vielen verschiedenen, nicht standardisierten und oft fehlerhaft arbeitenden Lösungen.

Due to the features of claim 1, the invention solves the specified technical problem.

1. a) All controls and indicators are essentially focused on a touch screen. This is located right within reach next to the crane driver's chair. The previously on the consoles of the crane chair often confusing and non-standard distributed control buttons, buttons and indicators omitted.
2. b) All important control commands to the automatic system are entered by touching touch-sensitive buttons on this touchscreen.
3. c) All important information from the automatic system is displayed on this touch screen.
4. d) To the touch screen belongs a calculator. This prepares the signals to be displayed in ergonomic form for the crane operator.
5. e) The same calculator also calculates the target for automatic travel. Difference to the previous solutions is that this task was previously left to crane control. This has led to many different, non-standard and often flawed solutions.

The ergonomically designed user interface of the touch screen on the one hand allows the crane operator to optimally observe the actions of the automatic and, if necessary, intervene in a simple and secure manner. On the other hand allowed The MMI touchscreen also instructs the crane operator by visual and possibly acoustic messages. This optimally facilitates the interplay between automatic and manual operation.

Crane operators who are often used on different cranes with different automation system, according to the invention need to work through before working with an automated crane no manual for the automatic operation more. The reading of 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 advantageous according to the invention?

When working on the crane, the crane operator switches on the touchscreen. He then gets to see the image shown in FIG. 1 on the touch screen.

color choice

white background

Ads (texts, numbers)

highlighted in orange

Touch key, function not activated

highlighted in green

Touch key, function activated

Light Blue

destination information

Gray

crane outline

red

end positions

purple

ship silhouette

yellow

notification bar

• Vermeidung der Blendung des Kranführers durch die Touchscreen bei Nacht
• Hervorhebung der Anzeigefelder und Bedientaster

The background is kept dark blue for reasons of recognizability. The visual recognizability of the chosen colors is important, because the concentration of the crane operator decreases significantly during the course of a shift because of its high stress. Blue as background is particularly advantageous for the following reasons:

• Avoidance of glare from the crane operator through the touch screen at night
• Highlighting the display fields and operating buttons

operation 1. The work of the crane operator is carried out with the help of the basic settings page.

First of all, the crane operator must make the basic settings for the automatic operation. The following work sheet can be carried out:

1.1 Setting the main operating mode

By means of a switch, which is not the only operating element on the touch screen for safety reasons, the crane operator can switch the automatic mode on or off. The touchscreen indicates in the top line of Fig. 1 by green envelope of the respective display area, which was selected with this external switch.

1.2 Selection of the operating mode

• Wechselspiel zwischen vollautomatischer Fahrt (vor allem für die pendelungsfreie Überwindung der weiten Distanz zwischen Landseite und Wasserseite) und konventionellem Betrieb (in der Regel für das Feinpositionieren der Last über dem Ziel, vor allem auf dem Schiff).
• Wechselspiel zwischen Automatikbetrieb (wiederum für das Überwinden der weiten Distanz) und pendelgeregeltem Handbetrieb, also Lastgeschwindigkeitsregelung (ebenfalls für das Feinpositionieren der Last).
• Funktion "Auspendeln" (Fangen und Zielpositionieren der Last nach vorherigem, nicht-pendelgeregeltem Betrieb)

Here the crane operator has 3 options:

• Interplay between fully automatic driving (especially for the swing-free overcoming the long distance between land side and water side) and conventional operation (usually for the fine positioning of the load above the target, especially on the ship).
• Interplay between automatic mode (again for overcoming the long distance) and pendulum-controlled manual mode, ie load speed control (also for fine positioning of the load).
• "Swing out" function (catching and target positioning of the load after previous non-pendulum-controlled operation)

1.3 Envelope type

• Vertical / Cyclic
  Unloading or loading the containers always in the same row on the ship
• Horizontal
  Layer-wise clearing or layering of the containers

1.4 Stopover

When the intermediate stop function is selected, the containers are not conveyed directly to the respective destination by the automatic system, but are brought to a stop at the stopover position. This stopover position is located on the land side below the crane. There either the customs seal control of the containers is carried out and / or the automatic twistlocks are inserted or removed in the bottom of the containers. After performing these activities, 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 how many rows of containers are to be processed in the ship's bay. He can increase or decrease the number of rows using the pushbuttons labeled "more" or "less". The display field between the two push buttons shows how many rows he has set.

1.6 Bow of the ship

Here, the operator of the automatic transmission can tell whether the bow of the ship lying in front of him to the left or right of him located. 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 picture according to FIG. Details can be found in the explanation of FIG. 2.

1.7 Training operation

When selecting the training mode, the crane operator of the automatic control via a suitable push button pretend that a container was unloaded or recorded on the ship or on the land side. The purpose is to enable toggling the target between ship side and land side even if there is no ship on which containers could be loaded or unloaded. This function is necessary because crane operators first have to train without a ship before starting the handling operation with an automatic system.

After completion of the basic settings, the crane operator taps on the button "to the side automatic mode" bottom right in Fig. 1 and thus reaches the actual working side of FIG. 2.

2nd page "Automatic mode"

The "automatic operation" page was permanently switched on by the crane operator while working on the ship. A change to other sites would distract the crane operator from work and could cause dangerous situations. For this reason, all relevant information and operating elements are contained in an ergonomic form on the "Automatic operation" page.

The picture is essentially divided into three parts.

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

The right side of the lower half shows the land side of the crane.

The left part of the lower half shows the operating data which the crane operators must be able to control permanently.

2.1 The water side 2.1.1 Crane frame

The crane frame is shown in gray color and the quay edge 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 moving the trolley 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 small white rectangles in front of the arrowheads turn red when the cat or hoist reaches the respective limit switch.

2.1.4 Container positions and target

Under the waterside crane boom, the cross section of the ship is stylized in purple. Above the ship, the container parking spaces on or in the ship are represented by rectangular fields with numbers located therein. The rectangles are therefore under container receptacle shafts Deck or top-level container loaded on deck. A representation of the underlying container was deliberately omitted because they play no role in the processing by the crane operator. The presentation of superfluous information would confuse the crane operator and thereby impair the safety of the operation.

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

In the middle of the rectangles is a white highlighted display field. This shows the number of the series according to international standardization. Rows on the starboard side of the ship are provided from the ship's center to the outside with ascending odd numbers. The rows on the port side of the ship are numbered from the center of the ship to the outside with ascending even numbers. If the ship has an odd number of rows, then the middle row carries the number 0. However, if the number of rows in the respective ship bay is even, then the number 0 is omitted. The computer assigned to the touchscreen carries the numbers into the display fields in the Rectangles, according to the number of rows in the bay and the fact that the bow of the ship is on the right, so the starboard side is at the quay, or vice versa. As a result, the crane operator has the direct assignment between his loading plans and the display on the touchscreen.

target

The container rectangles also show the crane operator which target the automatic will approach next. The border around the number field inside the rectangles then undergoes a color change from gray to light blue, when the automatic is the next destination for the next automatic drive Direction ship has determined. The interior of the row number display panel may also turn light blue. This color change marks the last destination targeted by the automatic system. As a result, the crane operator has the orientation between the previous destination and the next destination of the automatic rides.

Change of goals

The computer assigned to the touchscreen calculates the next destination depending on whether horizontal or vertical handling is selected or whether unloading of the ship or loading operation of the ship is present. In vertical mode, this will again be the same destination as the last started. For horizontal unloading, it is a bit further down the land side than the previous destination. For horizontal loading, the next target is a row further towards the water side opposite the last target.

If the crane operator wants to change the destination, he has the touch key with the inscription "+" or "-". By pressing the "+" button, the target jumps one row further towards the water side. Pressing the "-" button takes you a long way towards the land side. By repeatedly pressing the button, the destination can also be shifted by several rows. The light blue border of the number field jumps to the newly selected destination. As a result, the crane operator has complete control of where he has set the target (see Fig. 3).

2.1.5 Timing of the target position

In the upper right corner is the touch button "Vorhalt LS" (Vorhalt Landseite).

In a horizontal handling operation crane operators very often want the automatic not to load the load directly into the vehicle Target position transported exactly above the container to be approached row, but about half a meter too far landside brings to a halt. (By standing is meant to hang quietly over the target, so free of oscillation.) This allows the crane operator to lean the load in a comfortable manner to the neighboring container soft and in manual operation. If the automatic system would drive the load directly over the destination, the crane operator would often first have to manually pull the load back a little bit towards the land side, then lower it and then lean it manually towards the water side to the neighboring container. This is necessary because the load usually has a more or less strong skew oscillation (rotational vibration about the vertical axis), so that when lowering the load there is a risk that one of the corners will hit the neighboring container. (Activation of the function see Fig. 4)
For the reverse case, ie the leaning of containers to the neighboring container from the water side, there is still the touch button "Vorhalt WS" (water side) in the upper left corner of the picture.

2.1.6 Target jump after water-sided or landside end of the ship

In the case of horizontal handling operations, it regularly happens that the loading or unloading process should be continued on the shore or water-side edge of the ship. Therefore, in the picture shown in FIG. 2 when selecting the horizontal handling operation in the basic settings of FIG. 1, the two additional touch keys "After LS" (on land side) and "After WS" (on the water side). This allows the crane operator to initiate a target jump on either the most landward-located container row or the farthest water-side container row.

2.1.7 Teaching function

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

2.1.7.1 Enter target height ship

At the beginning of the work process, the crane operator moves the load over the ship to the desired height and presses this touch button. This altitude is then taken as the target altitude for the future automatic rides. It can be redefined on all subsequent trips by pressing this button again.

2.1.7.2 Input Container Row

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

2.1.8 Simulation and Display "Unlocked - Locked"

This touch key, shown in green in the picture according to FIG. 2 with the text "unlocked", becomes visible only when "training mode" has been selected in FIG. This function deceives the automatic attaching and re-hanging a container, so the locking and unlocking before. Then the switches Automatic the goals between land and water side. Usually, "Unlocked" is represented by a color change to green, while the state Locked by a color change is displayed to be red. The touch button thus assumes either green or red color. Touching changes the state from locked to unlocked and vice versa (see Fig. 6).

2.2 Landside 2.2.1 Direction of travel, limit switch, cat position

The land side of the crane is shown in the image of FIG. 2 in the lower right quarter of the image. In gray color in turn the crane frame is stylized and the quay. In the area of the quay is the touch key to switch to the page "Basic Settings" (as shown in FIG. 1). Furthermore, can be found in the parts of the crane frame the triangular arrows and limit switch bar for the cat and hoist movement and reaching the limit switch, as already described in 2.1.2 and 2.1.3. The cat's position is marked by a red rectangle at the top right of the luffing jib. This rectangle moves with the movement of the cat over the crane boom and jumps on reaching the water side of the crane on the crane boom in the upper part of the picture. When returning to the land side, the red rectangle jumps back onto the shore-side boom section.

The presentation of the load hanging on the cat is deliberately avoided, since the crane operator receives this information better through the view from the crane cabin window.

2.2.2 Parking position

In the middle between the crane legs is the touch key "Parkp." (Park position). When this button is pressed, the automatic system receives the park position of the crane trolley as the destination for the next automatic movement.

2.2.3 Landside goals

At the bottom right in the picture is again a container symbol, marked with the inscription "VC B Pos." (Van Carrier position). A color change of the gray inner surface to light blue indicates that the automatic system has determined this landside target as the next target for the next automatic movement.

If the function "intermediate stop" has been activated in the "Basic settings" screen (as shown in FIG. 1), then the automatic system will make a stopover at the landing side of the ship at the so-called Laschposition before moving on to the actual destination "Van Carrier position "drives.

2.3 Data display field

• Lastgewichte in t Hubwerk 1 (HW 1) , Hubwerk 2 (HW 2) und Summe Lastgewichte Hubwerk 1 + 2
• Hubhöhen B Istwerte Hubwerk 1 und 2
• Windstärke
• Position des Spreaders (in Katzrichtung, also Horizontalkomponente) und der Katze selbst
• Automatikbetrieb eingeschaltet oder nicht, falls eingeschaltet, jeweiliger Ablaufschritt der Automatiksteuerung
• Aktive Art des Containerumschlags (Vertikal oder Horizontal, mit oder ohne Zwischenstopp, Laden oder Entladen) Hinweis: Ob Laden oder Entladen gefahren wird, bestimmt die Automatik selbst. Falls der erste Container nach Arbeitsbeginn auf dem Schiff ergriffen wird, herrscht Entladebetrieb vor, falls er auf der Landseite ergriffen wird, wird Ladebetrieb gefahren.
• Koordinaten des nächsten, von der Automatik angewählten Zieles

In the left lower quarter of the image (FIG. 2), those operating data are displayed which the crane operator must have permanently ready:

• Load weights in t hoist 1 (HW 1), hoist 2 (HW 2) and total load weights hoist 1 + 2
• Lifting heights B actual values hoist 1 and 2
• wind strength
• Position of the spreader (in the cat direction, ie horizontal component) and the cat itself
• Automatic mode switched on or not, if switched on, respective sequence step of the automatic control
• Active type of container handling (vertical or horizontal, with or without stopover, loading or unloading) Note: Whether loading or unloading is driven, determines the automatic itself. If the first container is grabbed after work on the ship unloading operation prevails, if it is seized on the land side, charging operation is driven.
• Coordinates of the next target selected by the automatic system

2.4 Message bar

The horizontal message bar in the middle of the picture informs the crane operator about all states of the automatic crane system: Status display colour flash normal operation Currently running process yellow No Automatic demands action from the crane operator Action to take yellow Yes disorder Designation, possible cause (s), necessary corrective measures orange Yes warning Name, possible cause (s), possibly required measures red Yes

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

Further inventive details emerge from the dependent claims

The content of the drawings is self-explanatory for the expert (crane operator, crane designer).

Claims (18)

1. Operating method for container quay cranes for loading and unloading container ships, said method being carried out by means of a touchscreen in a crane driver cabin and a computer belonging to the touchscreen, the goals of the crane, through the operating method, being approached fully or partly automatically as specified to the computer, and the computer also computing the specified destinations for the automatic movements.
2. Operating method according to Claim 1, in which selected specified destinations can be adjusted.
3. Operating method according to Claim 1 or 2, in which the crane approaches, traceably on the touchscreen, the destinations which the automatic system specifies.
4. Operating method according to Claims 1 to 3, in which multiple operating modes, particularly for fully automatic movement and fine positioning, are present, it being possible to switch between the operating modes.
5. Operating method according to one or more of the preceding claims, in which various types of cover for the containers can be set.
6. Operating method according to one or more of the preceding claims, in which a "training operation" operating mode can be set.
7. Operating method according to one or more of the preceding claims, in which a "supply" operating mode can be set.
8. Operating method according to one or more of the preceding claims, in which learning functions can be set.
9. Operating method according to one or more of the preceding claims, in which the actions to be carried out by crane drivers are displayed.
10. Operating method according to Claim 1, in which a touchscreen, which has a dark background colour, particularly dark blue, and touch fields in signal colours, is provided to carry out the operating method.
11. Operating method according to Claim 10, in which the touchscreen contains symbolically represented ship and crane details.
12. Operating method according to Claim 9, in which current destination settings, container positions and system states are represented on the touchscreen by colour changes.
13. Operating method according to Claim 9, in which on the touchscreen, next to the touch fields and the symbolically represented details of the ship and crane, fields for giving instructions in text form and numbers are present.
14. Operating method according to Claim 9, in which the touchscreen has at least one labelled, conspicuous instruction bar which in particular runs transversely across the touchscreen, and which gives the current operating state or operating instructions.
15. Operating method according to Claim 14, in which the instruction bar gives work instructions to the crane driver before a work step is initiated.
16. Operating method according to Claim 14, in which the instruction bar also gives information to the crane driver, e.g. about the next required work step, and in particular changes its colour depending on the content of the output.
17. Operating method according to Claim 9, in which the touchscreen can be operated by touch or the mouse arrow of a PC mouse.
18. Operating method according to Claim 1, in which the program is programmed and can be changed using object-oriented methods, in particular using the Win CC program of Siemens AG.

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