EP1851157A2

EP1851157A2 - Device and method for loading and/or unloading a cargo space or storage space

Info

Publication number: EP1851157A2
Application number: EP06706858A
Authority: EP
Inventors: Bernd Mann
Original assignee: Isam AG
Current assignee: Isam AG
Priority date: 2005-02-11
Filing date: 2006-02-10
Publication date: 2007-11-07
Also published as: EP1958915B1; DE202005002315U1; EP1958915B8; WO2006084739A3; WO2006084739A2; EP1958915A2; EP1958915A3

Abstract

The invention relates to a device (1, 1a) for loading and/or unloading material (3) into and/or from a cargo space (2) or storage space, especially for loading and/or unloading bulk material, preferably coal or ore, or containers into and/or from a hold (2) of a ship (4). At least one gripper (5) is provided for picking up or discharging the material (3), preferably the bulk material (3a) or container that is to be transported. The position of said gripper (5) can be controlled, i.e. the position of the gripper (5) can be changed at least in the vertical and/or the horizontal direction. The gripper (5) is connected to at least one rope element (6) while the movements of the gripper (5) in the vertical and/or horizontal direction and/or the movements for picking up and/or discharging the material (3) can be controlled with the aid of a control system (14), the position of the gripper (5) being detected in a sensory manner such that an oscillating movement and/or an oscillating deflection of the gripper (5) can be determined and be essentially compensated and/or reduced by triggering the same accordingly. An inertial navigation system (21) is arranged on the gripper (5) to detect the position of the gripper (5).

Description

Device for loading and / or unloading a loading space or storage space or method for loading and / or unloading a loading space or storage space

The invention initially relates to a device for loading and / or unloading a loading space or storage space with material, in particular for loading and / or unloading a loading space of a ship with bulk material, vzw. with coal or ore, or with containers according to the features of the preamble of claim 1. Furthermore, the invention relates to a method for loading and / or unloading a loading space with material, in particular for loading and / or unloading a cargo space of a ship with coal or Ore, or with containers, according to the features of the preamble of claim 28.

The known in the prior art devices for loading and / or unloading a hold of a ship, being stored in the hold bulk goods or the cargo space bulk, vzw. Coal, ore or the like is taken are vzw. The bulk goods, in particular the various types of ore and / or coal, are delivered by seagoing vessels and are cleared by means of the previously mentioned unloading bridges.

Such unloading bridges usually have in each case a water-side and in each case a land-side essentially horizontally extending outrigger, which are arranged on two substantially vertically extending supporting pillars. The pillars, which have a landing gear, are movable parallel to the quay wall and thus also parallel to the ship lying on the quay wall. A kind of movable carriage, called a "cat", is arranged movably along the extension arm, a gripper being arranged in the area below the carriage with the aid of cable elements, which can be moved in the vertical direction, namely up and down, in particular through the loading hatch After that, the gripper is pulled upwards in the vertical direction through the loading hatch and then, with the aid of the carriage, which can be moved on the outrigger, by the What - on the land side, where the bulk material is deposited on a heap or on a conveyor belt.

The gripper has vzw. a separate locking mechanism, which also vzw. is controlled by corresponding additional rope elements. The cable, ie the "cat", essentially decouples the horizontal and the vertical control of the gripper. The position of the carriage (in the direction of the boom) and of the gripper (ie the specific vertical distance - lifting / lowering) is controlled by the detection Since the closing mechanism of the gripper is also controlled by separate rope elements, a force measurement can be carried out on the grippers of the gripper as well as on its closing ropes the weight of yourself in the gripper located bulk material can be determined.

The control of the gripper in the vertical direction (lifting / lowering) is therefore essentially on the control of the corresponding tether of the gripper. The control of the closing mechanism of the gripper (opening / closing) is therefore essentially effected by the activation of the corresponding closing cable drum. The control of the gripper in the horizontal direction via a movement / displacement of the carriage from right to left along the corresponding boom and a corresponding suspension drive of the pillars in the direction parallel to the quay wall. Thus, the gripper is substantially "three-dimensionally" movable or controllable.Vzw., The control of the gripper is done manually via a control station, which is arranged on the unloading bridge.

Furthermore, corresponding devices or "unloading bridges" are known, lifted with the help of containers from the hold of a ship or be deposited in the hold of a ship, so a corresponding ship loaded with the containers or unloaded accordingly. The operation of such a discharge bridge is substantially similar to that described above, but the gripper for gripping the container is designed specifically differently than the gripper for gripping bulk material. Thus, the corresponding gripper for gripping a container substantially on a kind of frame, with the help of corresponding fasteners of the corresponding container can be "taken".

Practice has shown that a pendulum deflection of the gripper can be very problematic during operation, especially when unloading the hold of the ship. The following may be done for this purpose:

The loading state of the hold of the ship below the "hatch" - hereinafter referred to as "hatch" - is generally very arbitrary at the beginning of discharge from the bulk material. When unloading generally a flat surface of the charge in the hatch area is sought, from which then the bulk material is tapped with the gripper. A substantial portion of the cargo space is generally not directly below the hatch and is therefore not directly accessible to the drained grapple. However, it is trying to fully exploit the area of the opening to the hold, so the surface of the hatch. The gripper is therefore moved up close to the hatch edges, in exceptional cases, it is set off by utilizing a pendulum motion in the edge regions of the hold, which would otherwise not be easily reached. However, there is always a high risk of collision of the gripper with the hatch edges, especially in a pendulum motion. The loading of a hold of a ship with a gripper is less problematic, since there is a lower risk of collision of the gripper with the hatch edges and the bulk material can always be discharged from the top center through the hatch into the hold and thus thereby substantially uniformly in the hold distributed.

On the other hand, especially when unloading the loading space - after a certain period of unloading - usually so far a so-called wheel loader be placed on the floor of the hold, which pushes the bulk material from the lateral areas of the hold in the area below the hatch, where it can then be picked up by the gripper. But also oscillations above the hatch can lead to damage to the ship, especially in the companionways or on the ship superstructures. In addition, the gripper, in particular by an inclined position of the gripper in the bulk material, be excited to a torsional vibration.

The situation is similar with the unloading bridges used to transport containers. The gripped by the gripper container must be sold with pinpoint accuracy, in particular oscillations or pendulum deflections of the gripper are highly problematic here, especially due to the size and weight of the container to be transported can result in collisions to considerable damage and the associated costs. The following may be done for this purpose:

In the devices known in the prior art or in the known methods, several points are problematic. On the one hand, pendulum movements of the gripper occur during transport of the corresponding material, in particular of the bulk material or the container. In particular, during the discharge of bulk material, which is essentially because of the fact that the gripper can not be placed precisely under the carriage due to the charge distribution of the bulk material in the hold or "wiping" accordingly when settling along a slope, the loaded with bulk gripper goes to his Due to the pendulum movement of the gripper, collisions with the hatch edges can occur so that they are damaged, and it is also problematic that supercharging angles of attack can occur in the region of the charge, whereby the material can slip off in an uncontrolled manner A buried gripper is a serious malfunction that results in prolonged downtime, especially if the gripper oscillates, impacting critical slopes en of the gripper and therefore malfunction occur. Since unloading the seagoing vessels is a time-critical task and long downtimes of ships cause high costs, a disruption can be very costly here - in the end. It follows that the previously known in the prior art devices or the previous known controls the gripper are not yet optimally formed.

The invention is therefore based on the object, the above-mentioned device or the method mentioned in such a way and further, that the loading and / or unloading process is simplified, in particular the associated costs and possibly associated malfunctions, in particular the risk of collisions of the gripper are significantly reduced.

The object indicated above is now - for the device - solved by the features of the characterizing part of claim 1.

The object indicated above is now - for the method - achieved by the features of the characterizing part of claim 28.

The fact that the position of the gripper now vzw. is continuously sensory detected by means of an inertial navigation system, a pendulum motion, in particular directly at their beginning can be determined and carried out with the aid of a control system corresponding automatic immediate control of the movement of the gripper influencing actuators or components, so that the pendulum deflection or the disturbing pendulum movement of the gripper compensated accordingly, but at least can be reduced. As a result, the aforementioned disadvantages are avoided. In particular, the danger of collision of the gripper with the hatch edges or the ship superstructures is avoided. Furthermore, the risk of spillage of the gripper is minimized, so that the previously known malfunctions and the associated high costs are avoided. In particular, the gripper can now be sold with pinpoint accuracy. The fact that with the help of the inertial navigation system, the pendulum movement of the gripper is detected and thereby characterized by a corresponding automatic control of the current len movements of the gripper pendulum deflection / pendulum motion is reduced or compensated, the disadvantages mentioned above are avoided and achieved decisive advantages.

There are now different ways of embodying and developing the invention in an advantageous manner. For this purpose, reference may first be made to the claims subordinate to claim 1 or claim 28. Preferred embodiments of the invention will become apparent from the following description of the preferred Ausführungsbei- game, explained with reference to the following drawings. In the drawing shows:

1 shows the unloading or loading process of the hold of a ship in a schematic representation of the side,

2 shows the device according to the invention for carrying out the method according to the invention in a schematic representation from the side with the essential components of the control system,

Fig. 3 is a schematic representation of the inertial navigation system, namely a three-axis inertial system with a schematic representation of the corresponding axes, and

4 shows a slide arranged or movable on the arm in a schematic representation from the side in a specific embodiment with the essential tensile forces acting here.

Figs. 1 to 4 show - at least partially - a device 1 for loading and / or unloading a loading space 2 with material 3, vzw. with bulk material 3a.

The device 1 shown here is therefore suitable for loading and / or unloading a loading space or a storage space with material 3, ie vzw. with bulk material 3a or, for example, also for loading and / or unloading the loading space of a ship with containers. The device 1 is in the following but vzw. explained with reference to the unloading bridge Ia shown in particular in FIGS. 1 and 2: In Fig. 1, the main mechanical components of the device 1 are first - very generally - shown. Good to see here is the vzw. designed as a discharge bridge Ia device 1 for loading and / or unloading the cargo space 2 of a ship 4 with bulk material 3a. Vzw. The device 1 serves for loading and / or unloading the loading space 2 of a ship 4 with coal, ore or the like. The device 1 has a gripper 5 for receiving or delivering the bulk material 3a to be transported. The position of the gripper 5 relative to the transporting bulk material 3a is controllable, wherein the position of the gripper 5 is initially variable in the vertical direction according to the arrow A, namely the gripper 5 can be lowered on the one hand, on the other hand can be pulled up. For this purpose, the gripper 5 is connected to at least one cable element 6, which is indicated schematically here. The term "cable element" is also understood, for example, as chain-like elements or the like, which are not rigid and allow a pendulum movement of the gripper 5.

It can be clearly seen that the device 1 embodied here as a discharge bridge 1a has a - first - water-side boom 7 and a - second - land-side boom 8. The booms 7 and 8 are substantially horizontal and are arranged on vertically arranged pillars 9.

The carriage 5, which is not shown in FIG. 1 and is indicated in FIG. 2 and can also be referred to as a "cat", is movable in a substantially horizontal direction along the arms 7 and 8. The cable element 6 shown here runs, in particular, over a deflection roller 11 (see Fig. 4) arranged on the carriage 10. Also, the carriage 10 is moved along the extension arms 7 and 8 via further cable elements, not shown here in FIG Therefore, with the movement of the carriage 10, the gripper 5-which is suspended from the cable element 6-can also be moved correspondingly along the arms 7 and 8. Because the support pillars 9 have a separate chassis 12, the entire device 1 constructed as the discharge bridge 1a It is conceivable that the device 1 not only the cargo holds 2 mobile vehicles (trucks, ships, etc.) or entl dt, but for example. even on solid ground standing by walls limited cargo spaces 2 ("storage rooms").

In order to control the movements of the gripper 5, a control system 14, not shown in FIG. 1 but shown in FIG. 2, is now provided. The recording and / or delivery of the bulk material 3 a by the gripper 5 is realized by means of a separate locking mechanism of the gripper 5, not shown here, which in turn vzw. is operated via separate rope elements not shown here in detail. The same applies if containers are to be transported with the device 1 and a specifically designed gripper.

With the aid of the device 1 shown in FIG. 1, for example, in FIG. 2, the bulk material 3a is now unloaded from the loading space 2, the gripper 5 being lowered into the loading space 2 of the ship 4 through the corresponding hatch 15, here the bulk material to be transported 3a is taken in the open state of the gripper 5, the gripper 5 is then actuated by means of its locking mechanism, namely closed and then pulled over a corresponding cable drum drive the gripper 5 through the hatch 15 upwards. Vzw. Thereafter, the carriage 10 is then moved accordingly, namely along the boom 7 and 8, respectively, to the point where the bulk material 3a is then to be unloaded. At the same time, the entire device 1 along the quay wall 13 by means of the chassis 12 are also moved. As a result, the gripper 5 is thus correspondingly movable in all the directions shown in FIGS. 1 and 2, ie in the X, Y and Z directions, so that the bulk material 3 a to be transported then arrives on a hopper 16 Conveyor belts 17 and 18 (shown by arrow B) can be discharged or on a heap 19 (shown by the arrow C) is heaped up or can be removed from the heap. This depends on the particular application.

For the movement / control of the gripper 5 in the individual directions, ie in the X, Y and Z directions, the device 1 has the corresponding components / actuators not shown in detail here, ie a correspondingly driven cable drum for moving the gripper 5 in the Y direction, one _ _

ne corresponding rope control, vzw. driven cable drums for movement of the carriage 10 and thus also of the gripper 5 in the X direction along the boom 7 and 8 and for the movement of the gripper 5 along the quay wall 13 in the Z direction, the chassis 12th

In particular, via the carriage 10 is initially a decoupling of the horizontal (at least in the X direction) and vertical (in the Y direction) control of the gripper 5. The corresponding cable drums not shown here are vzw. powered by DC motors. The term "carriage" is understood to mean a movable element along the extension arm 7 or 8. It is conceivable that the carriage 10 is guided along the feeders 7 and 8 by means of a rail system or else that shown in FIG has shown drive rollers.

The disadvantages mentioned above are now avoided in that the position of the gripper 5 can be sensed by means of an inertial navigation system 21, so that a pendulum movement or pendulum deflection of the gripper 5 can be determined and the pendulum deflection can be substantially compensated for and / or reduced by a corresponding control , Vzw. So now the current position of the gripper 5 vzw. detected continuously sensory, so that a current pendulum motion and / or pendulum deflection of the gripper 5 is determined and then compensated by a corresponding automatic control of the individual components for controlling the gripper 5, this pendulum motion or the pendulum deflection substantially and / or is reduced. As a result, collisions of the gripper 5 with the hatch edge of the hatch 15 and also with the ship superstructures of a ship 4 can now be avoided. The settling of the gripper 5 in the area of the loading space 2 is now optimized, in particular the gripper 5 does not hit here against critical slopes of the bulk material 3a, so that spillage of the gripper 5 is avoided and costly malfunctions are prevented. The same applies to a gripper with which containers are transported. Specifically, the following may now be executed:

Fig. 2 shows now essentially the inventively constructed device - -

1, the vzw. is designed as a discharge bridge Ia. Good to see here is the first boom 7, the pillars 9 a control pulpit 20, the ship 4, the load compartment 2, the hatch 15 and the gripper 5, which depends on the cable element 6 and is connected to the carriage 10. The carriage 10 is displaceable substantially horizontally along the first expander 7, as indicated by the unspecified arrows, the device 1 being movable along the quay wall 13 via the landing gear 12, which is not shown in detail here.

Also clearly shown is the control system 14 schematically shown here for the corresponding control of the gripper 5. Also shown is the coordinate system that is intended to represent the directions of movement of the gripper 5 in the X, Y and Z directions, the individual movements, namely in Y Direction can be realized via a corresponding cable drive of the cable element 6, in the X direction via the carriage 10 and in the Z direction via the motor-driven device 1 along the quay wall 13 with the aid of the carriage 12. Not shown in detail here is the locking mechanism of the gripper 5, which is also controlled via not shown here separate cable elements, so that the opening and closing movements of the gripper 5 also with the aid of the control system 14 can be realized.

To capture the vzw. current position of the gripper 5, so the load receiving means, in all its pendulum axes now an inertial navigation system 21 is provided. An inertial navigation system 21 is particularly advantageous in poor visibility conditions for determining the position of the gripper 5, since poor visibility on the determination of the position of the gripper 5 have no influence here. This inertial navigation system 21 is on the gripper 5, ie on the load receiving means according to vzw. arranged directly in a box. The inertial navigation system 21 has corresponding sensors for determining the current translational and / or rotational accelerations or rotational speeds of the gripper 5. The data determined by the inertial navigation system 21 data immediately to the control system 14 vzw. transmitted by radio.

The control system 14 has vzw. an illustrated evaluation unit 14a and / or a computing unit 14b and vzw. a storage unit 14c. The data transmitted by the inertial navigation system 21 are then evaluated and thus the current position of the gripper 5 is determined or also a possible pendulum deflection and / or oscillating movement of the gripper 5 is determined or its trajectory calculated.

If the inertial navigation system 21 or the evaluation unit of the control system 14a detects a pendulum movement of the gripper 5, the pendulum movement or the movement path of the gripper 5 can then be calculated via the evaluation and / or arithmetic unit 14a, 14b of the control system 14. The control system 14 or the computing unit 14b then calculates the kinematic "counter measures" and gives the control commands to the individual actuators for controlling the components such as the movement of the carriage 10, the chassis 12 and / or the specific height of the gripper 5. About the The kinematic intervention realized by the control system 14 is automatically compensated for, but at least reduced, by the pendulum movement / pendulum deflection of the gripper 5. The control system 14 then controls the actuators, ie the cable drums for the carriage 10, the engine for the chassis 12 and / or. or the cable drum to adjust the current height of the gripper 5 automatically.

In Fig. 3, the inertial navigation system 21 is shown in its specific embodiment. The inertial navigation system 21 is here vzw. designed as a three-axis inertial system and has a corresponding sensor, namely vzw. up to three orthogonal gyroscopes and vzw. up to three accelerometers on.

If the inertial navigation system 21 designed as an inertial system is used to determine the position of the gripper 5 in the case of the bulk material 3a, the inertial system has three orthogonal gyroscopes and three accelerometers, namely for the corresponding three relevant pendulum axes. If the inertial navigation system 21 designed as an inertial system is used to determine the position of the gripper 5 for containers, the inertial navigation system 21 vzw. two orthogonal gyroscopes or vzw. two Accelerometer on, namely due to the vzw. Here realized specific suspension of the gripper 5 for the relevant here for this case here two pendulum axes.

The inertial navigation system 21 designed as an inertial system is here arranged in a kind of box or the sensors are arranged in the box, this box being arranged directly on the load receiving means, namely on the gripper 5, as shown in FIG. Additionally illustrated in FIG. 3, here are the respective respective three axes, namely the X-axis, the Y-axis and the Z-axis. The data measured by the inertial system are vzw. transmitted by radio to the control system 14. For each of the possible pendulum axles, here vzw. The three axes of the inertial system are permanently determined for the respective axis, the measured rotational speed about this axis and / or the vectorial acceleration in the direction of this axis using the gyro associated with this axis or the accelerometer associated with this axis.

With the thus formed inertial navigation system 21, it is possible the position and position of the load receiving means, namely the gripper 5 in space by the corresponding integration of the measured data, ie vzw. to determine the current position and position of the gripper 5 in space. Thus, the respective acceleration vectors of the respective axes (X-, Y- and Z-axis) are determined, so that the resulting acceleration vector can be determined accordingly, wherein additionally and simultaneously the "rate of turn" of the gripper 5 from the individual angular velocities to the individual Axes can be determined, namely with the help of the respective measured data of orthogonal gyroscopes.

With the thus formed inertial navigation system 21 and the measured values obtained here by the inertial system, therefore, the position of the load receiving means, namely the gripper 5 in space can be calculated by integration (simple integration with rotational speed values, dual integration with acceleration values) via the currently obtained measurement data , For this purpose vzw. with the help of the control system 14 for a particular position of the load receiving means, so the gripper 5 in its rest position, a reference point defined for the kinematic system. This happens vzw. also in rest position of the carriage 10 and der Fahrwerkes 12.

At an incipient movement of the gripper 5 then the current measurement data are transmitted to the control system 14, so that the current position of the gripper 5 in space on the corresponding integration of the measurement data, in particular the pendulum deflection is calculated accordingly and the control system 14 here a pendulum deflection or pendulum motion of the gripper 5, since the inertial navigation system 21 embodied as an inertial system continuously and permanently transmits the corresponding measurement data to the control system 14 and the movement or position of the carriage 10 is always known to the control system 14, so that then the current position of the gripper 5 due to the corresponding integration of the permanently transmitted measurement data and the adaptation of the coordinates in the space whose position is calculated at any time. This has the great advantage that the whole kinematic system can work without an imaging system and bad weather conditions, namely poor visibility can not influence this. On the contrary, pendulum deflections caused by wind forces can be compensated immediately.

In addition, it is advantageous that also a rotary movement of the gripper 5, on the one hand a substantially circular movement of the gripper 5 in space but also a circular movement gripper 5 is substantially determined about its own vertical axis. This has the particular advantage that even such a rotary movement of the gripper 5 by the control system 14 can be reduced or compensated. Such a rotary movement of the gripper 5 is thereby compensated or vzw. Stoppable when the gripper 5 can be brought into contact with the material 3 or with the bulk material 3a precisely at the moment of its determined "zero crossing", so that this rotational movement is thus stopped 12 is also the mitverlagernde "zero crossing" of a pendulum motion determined, because this zero point is calculated even in a pendulum motion in the known movements of the system (carriage 10, chassis 12, cable element 6) in the X, Y or Z direction and concerning. - -

of the gripper 5 thus a continuous compensation of the pendulum movement with respect. This zero point on the control system 14 is made possible. The system described above therefore has the advantages that a direct and continuous measurement of the pendulum angle is made possible without a visual contact with the load receiving means, so the gripper 5 is necessary. Furthermore, the above-described rotational movements of the gripper 5 can be determined and reduced or compensated.

In particular, the system described above vzw. additionally, a continuous check of the measured data by comparing the positions of the gripper 5 integrated via the accelerometers and / or rotary gyroscopes with a position of the gripper 5 determined from the pendulum angle and the position of the carriage 10. As a result, the integration of the measured data of the inertial navigation system 21 embodied as an inertial system permanently determines the position and position of the gripper 5, vzw. permanently the reversal points of the pendulum and / or rotational movement of the gripper 5 can be determined and then a compensation of the movements of the gripper 5 respect. Its rest position is possible.

By the direct action of the control system 14 after the detected pendulum movement of the gripper 5 can now with the help of the evaluation or arithmetic unit 14a / 14b of the control system 14 and with the aid of a stored in the memory unit 14c computer program, the corresponding physical effects and the actual predetermined considered specific geometries and forces, the pendulum movement of the gripper 5 vzw. be compensated. Vzw. In addition, the weight of the bulk material 3 a located in the gripper 5 is determined via a force measurement on the cable element 6 and transmitted to the control system 14, as vzw. Also, the current height of the gripper 5 (over the set rope length of the cable element 6), so that the control system 14 in addition also all the essential parameters for checking the measurement data of the inertial navigation system 21 - as already mentioned above - are available. It may be problematic that the measurement results of the inertial navigation system 21, which is designed as an inertial system, have an error which increases steadily with time t. The reason for this is possible - -

measuring errors of accelerometers or gyroscopes, which are increasingly affected by integration with time. This inaccuracy (drift / bias) can now be eliminated by supporting the system. The fact that the reversal points of the pendulum and the rotation movements are permanently determined or determined and that these movements / vibrations are made about the rest position / zero point, can now support the measurement data in the direction of this zero point, because the zero point of the pendulum motion at known movement of the carriage 10 and / or the chassis 12 can also be calculated. Expressed differently, the measurement data possibly changing due to the system-inherent drift of the inertial navigation system 21 described above can be measured in the direction of the calculated zero point / zero crossing of the oscillatory movements vzw. Always be supported accordingly. The supports otherwise known in the prior art of such a system, for example, a support only by the acceleration of gravity or a support only by an external navigation system, would not be effective in the application described above for the gripper 5. However, due to the determination of the actual reversal points of the pendulum and / or rotational movements, the inertial system or the corresponding measurement data can now also be supported accordingly in the direction of the determined zero point position, ie. the measurement data determined by the inertial system are correspondingly "corrected", namely to eliminate a possible system inherent drift.

The possibility of further sensory detection of the position of the gripper 5 is shown in FIG. 4 shows the carriage 10, the guide roller 11 for the cable element 6 for lifting and lowering the gripper 5 and the cable elements 22 and 23 (guide cables) for moving the carriage 10 along the boom 7. In a pendulum deflection of the gripper 5 shown here, represented by the angle φ, arises in the region of the carriage 10, a corresponding resultant force FR _Θ S. The horizontal component of this force is Fhorizontai, the rope load of the rope element 6 is here indicated with Flaut. The horizontal component of the resultant force FR _es , that is the horizontal component Fhorizontai, must be applied by the guide cables of the carriage 10. In the event that the carriage 10 is unaccelerated applies: Fhorizontai = Fsee - FLand. Because the _ _

Rope load of the rope element 6 FLast has already been measured and the control system 14 is available, now in addition the corresponding forces on the rope elements 22 and 23 of the carriage 10 vzw. determined with power cans. In the case illustrated in FIG. 4, a measurement of the pendulum deflection of the gripper 5 is now possible at least in the direction of movement of the carriage 10 (X direction), in particular because the cable length of the cable element 6 or the respective angle of rotation of the cable drum and thus the specific height of the gripper 5 is known. In order to be able to measure a deflection in the direction of the quay wall 13, ie in the Z direction and to be able to measure possible torsion angles of the gripper 5, the bearing of the deflection roller 11 can be equipped with a moment sensor. 4, the corresponding force measurement of the cable elements 6, 22 or 23 or the corresponding moment measurement on the deflection roller 11 can be used to deduce a corresponding pendulum deflection and / or pendulum motion of the gripper 5, namely with the aid of an evaluation unit / Arithmetic unit 14a, 14b of the control system 14, these are calculated. The forces acting on the carriage 10 rope forces are determined by force sensors, in addition vzw. Torque sensors are arranged on the deflection rollers of the cable elements required here, so that the pendulum deflection of the gripper 5 can be determined as a result with the aid of the determined values and the evaluation unit / arithmetic unit 14a, 14b of the control system 14. About the corresponding program stored in the control system 14, then the pendulum deflection of the gripper 5 can be compensated or reduced by means of the control commands or control of the individual actuators, as described above, namely via a corresponding automatic control of the carriage 10, the chassis 12 and / or the change in the height of the gripper 5.

Furthermore, the device 1 can now advantageously also be designed in this way, so that the exact position of the ship 2 and / or the hatch 15 or the hatch edges can also still be sensed by sensors. This is vzw. via another image acquisition system, vzw. realized via a laser scanner 24, which is designed in particular as a 3D laser scanner. In the preferred case, the laser scanner 24 is arranged on the first arm 7 above the area of the hatch 15. Vzw. is with the help of the laser scanner 24 then the exact position of the vessel 2 and the hatch 15 sensed. This initially has the advantage that an "emergency stop" can be carried out, namely when the evaluation unit 14a of the control system 14 determines that a current pendulum movement of the gripper 5 in further operation to a collision with the hatch edge of the hatch 15 or with a ship body of the ship The evaluation unit 14a or computing unit 14b determines this from the data transmitted by the laser scanner 24 or by the sensory detection of the position of the gripper 5.

In a further advantageous embodiment, in addition to the laser scanner 24, the current distribution of the charge, that is the bulk material 3a within the cargo space 2 is scanned. This has the advantage that the slope angle of the bulk material 3a stored in the loading space 2 can be determined and also in connection with the determined pendulum deflection of the gripper 5 or its compensation, a collision of the gripper 5 with a slope of the bulk material 3 can be avoided. so that spilling of the gripper 5 is avoided.

With the components of the control system 14 shown here, an automatic method for reducing and / or compensating the pendulum deflection of the gripper 5 is now feasible. For this purpose, the position of the gripper 5 vzw. detected continuously sensor, so that a pendulum movement of the gripper 5 is determined and then by an automatic control of the gripper 5 and the individual actuators (slide 10, chassis 12, etc.) this oscillating motion is substantially compensated and / or reduced. For this purpose vzw. the current movement of the carriage 10 is controlled accordingly, which transmits it to the gripper 5 via the cable element 6 substantially parallel to the respective direction of movement of the carriage 10 (X-direction). In addition, however, a compensating compensation in the Z direction can also take place via the running gear 12 of the device 1, that is to say the running gear 12 can be controlled via the control system 14 in accordance with the compensation of the oscillating movement of the gripper 5. Finally, it is conceivable that the current specific height of the - -

Gripper 5 (in the Y direction) is changed, in particular, the current load of the gripper 5 is determined with bulk material 3 via a corresponding force measurement on the cable element 6 and a corresponding current height adjustment of the gripper 5, the pendulum motion is reduced or compensated. For this purpose, the individual components are controlled via the control system 14.

For the sensory detection of the current position of the gripper 5, an inertial navigation system 21 is provided here, which determines the translational and / or rotational accelerations of the gripper 5 with the aid of the sensors of the inertial navigation system 21, the determined data being transmitted to the control system 14. Here, these data are evaluated with the aid of an evaluation unit 14a and the current position of the gripper 5 or its trajectory calculated, then then based on the corresponding control of the chassis 12, the carriage 10 and / or the height of the gripper 5 then the compensation or reduction of the pendulum movement can take place.

Although it is also conceivable that the charge distribution of the bulk material 3 within the cargo space by the lowering of the gripper 5 at different locations within the area of the hatch 15 tactile determined and stored in the memory unit 14 c of the control system 14, vzw. However, a corresponding laser scanner 24 is used to determine the distribution of the bulk material 3.

On the interaction of the various components decisive advantages are achieved, in particular reduced operating costs and collisions of the gripper 5 avoided. In particular, the current position of the gripper 5 is to be determined at any time, so that vzw. the unloading process is not affected by poor visibility, whereby crucial cost savings in operating costs can be realized. LIST OF REFERENCE NUMBERS

1 device

Ia unloading bridge

2 loading space

3 material

3a bulk material

4 ship

5 grippers

6 rope element

7 first boom

8 second boom

9 pillars

10 sleds

11 pulley

12 landing gear

13 quay wall

14 tax system

14a evaluation unit

14b arithmetic unit

14c storage unit

15 hatch

16 funnels

17 conveyor belt

18 conveyor belt

19 heap 20 control cockpit

21 inertial navigation system

22 rope elements

23 rope elements

24 laser scanners

A arrow

B arrow

C arrow

Claims

claims:

1. Device (1, Ia) for loading and / or unloading a loading space (2) or storage space with material (3), in particular for loading and / or unloading a loading space (2) of a ship (4) with bulk material ( 3a), vzw. with coal or ore, or with containers, wherein at least one gripper (5) for receiving or for delivering the material to be transported (3), vzw. the position of the gripper (5) is controllable, namely the position of the gripper (5) at least in the vertical and / or horizontal direction is variable, wherein the gripper (5) with at least a rope element (6) is connected and wherein the movements of the gripper (5) in the vertical and / or horizontal direction and / or the movements for receiving and / or delivery of the material (3) by means of a dedicated control system (14) are controllable , wherein the position of the gripper (5) is detectable by sensors, so that a pendulum movement and / or pendulum deflection of the gripper (5) can be determined and by a corresponding control substantially compensated and / or reduced, characterized in that for detecting the position of Gripper (5) an inertial navigation system (21) is provided and that the inertial navigation system (21) on the gripper (5) is arranged.

2. Device according to the preceding claim, characterized in that the inertial navigation system (21) has sensors for determining the translational and / or rotational accelerations of the gripper (5).

3. Device according to one of the preceding claims, characterized in that the data determined by the inertial navigation system (21) to the control system (14) can be transmitted.

4. Device according to one of the preceding claims, characterized indicates that the control system (14) has an evaluation unit (14a) for evaluating the data transmitted by the inertial navigation system (21) and for determining the position of the gripper (5).

5. Device according to one of the preceding claims, characterized in that inertial navigation system is designed as a three-axis inertial system.

6. Device according to one of the preceding claims, character- ized in that the sensors of the inertial gyroscopes and

Accelerometer has.

7. Device according to one of the preceding claims, characterized in that the data measured by the inertial vzw. be transmitted by radio to the control system.

8. Device according to one of the preceding claims, characterized in that for each of the three axes of the inertial system permanently measured for the respective axis rotational speed about this axis and / or the vectorial acceleration in the direction of this

Axis can be determined.

9. Device according to one of the preceding claims, characterized in that the control system defines the reference point of the kinematic system for a certain position of the gripper in its rest position.

10. Device according to one of the preceding claims, characterized in that the zero point / zero crossing of the gripper (5) is mediate and a possible inherent drift of the Trägheitsnavigi- onssystems (21) by supporting the measured data in the direction of this zero point of the gripper (5) is substantially eliminable.

11. Device according to one of the preceding claims, characterized indicates that the current position of the gripper and / or the pendulum movement pendulum deflection and / or the pendulum angle is continuously determinable.

12. Device according to one of the preceding claims, characterized in that in addition a rotational movement of the gripper, namely a circular movement of the gripper in space and / or a circular movement of the gripper can be determined substantially about its own vertical axis.

13. Device according to the preceding claim, characterized in that the device (1, Ia) at least one arm (7, 8) and along the boom (7), a carriage (10) is movably arranged.

14. Device according to one of the preceding claims, characterized in that the carriage (10) and the gripper (5) via the cable element (6) is connected.

15. Device according to one of the preceding claims, characterized in that the boom (7, 8) is arranged substantially horizontally and at least one substantially vertically arranged supporting pillar (9) is provided.

16. Device according to one of the preceding claims, characterized in that the supporting pillar (9) is arranged movably on a base and is movable substantially in a 90 degrees to the direction of movement of the carriage (10) offset direction.

17. Device according to one of the preceding claims, characterized in that the device (1) is designed as a discharge bridge (Ia) and / or a control cam (20) is provided.

18. Device according to one of the preceding claims, characterized indicates that the movements of the gripper (5), namely the substantially vertically extending movements of the gripper (5) and the opening and closing movement of the gripper (5) are controllable via cable elements.

19. Device according to one of the preceding claims, characterized in that the carriage (10) and the or the supporting pillars (9) have a chassis (12).

20. Device according to one of the preceding claims, characterized in that the carriage (10) can be driven with rope elements.

21. Device according to one of the preceding claims, characterized in that in known movement of the carriage (10) and / or the chassis (12) and / or the cable element (6) can be determined with displaced zero point of the pendulum motion.

22. Device according to one of the preceding claims, characterized in that the loading space (2) in a ship (4) is formed and for the gripper (5) is accessible.

23. Device according to one of the preceding claims, characterized in that the exact position of the vessel (4) and / or a hatch (15) can be detected by sensors.

24. Device according to one of the preceding claims, characterized in that an image acquisition system is provided and the image acquisition system has at least one laser scanner (24).

25. Device according to one of the preceding claims, characterized in that the laser scanner (24) is designed as a 3D laser scanner.

26. Device according to one of the preceding claims, characterized indicates that the current distribution of the bulk material (3a) within the loading space (2) can be determined.

27. Device according to one of the preceding claims, characterized in that a rotational movement of the gripper (5) can be compensated or stopped, that the gripper (5) in the moment of its determined zero crossing with the material (3) can be brought into contact is.

28. Method for loading and / or unloading a loading space (2) or storage space with material (3), in particular for loading and / or unloading a loading space (2) of a ship (4) with bulk material (3a), vzw. with coal or ore, or with containers, vzw. Working with a device (1, Ia) according to one or more of claims 1 to 27, wherein with at least one gripper (5) the material to be transported (3), vzw. the bulk material (3a) or the container is received and / or dispensed, wherein the position of the gripper (5) is controlled, namely the position of the gripper (5) is changed at least in the vertical and / or horizontal direction, wherein the Gripper (5) on at least one cable element (6) depends and the movements of the gripper (5) in the vertical and / or horizontal direction and / or the movements for receiving and / or delivery of the material (3) are controlled, the position the gripper (5) is detected by sensors and a pendulum movement and / or a pendulum deflection of the gripper (5) is determined and then substantially compensated and / or reduced by a corresponding control, characterized in that the position of the gripper (5) Help an inertial navigation system (21) is determined.

29. The method according to claim 28, characterized in that the translational and / or rotational accelerations of the gripper (5) by means of the sensors of the inertial navigation system (21) are determined.

30. The method according to any one of the preceding claims, characterized in that the data determined by the inertial navigation system (21) data are transmitted to the control system (14).

31. The method according to any one of the preceding claims, characterized in that the control system (14) using an evaluation unit (14a) evaluates the data transmitted by the inertial navigation system (21) and determines the position of the gripper (5) and / or with the aid of a computing unit (14b) calculates its trajectory.

32. Method according to one of the preceding claims, characterized in that the inertial navigation system is designed as a three-axis inertial system having orthogonal gyroscopes and accelerometers, so that for each of the relevant pendulum axes permanently measured for the respective axis rotational speed about this axis and / or the vectorial acceleration in the direction of this axis can be determined.

33. Method according to one of the preceding claims, characterized in that the data measured by the inertial system are transmitted by radio to the control system.

34. The method according to any one of the preceding claims, characterized in that for a certain position of the gripper in its rest position, the reference point / zero point of the kinematic system is defined.

35. The method according to any one of the preceding claims, characterized in that the current position of the gripper and / or the pendulum movement, pendulum deflection and / or the pendulum angle is determined continuously.

36. Device according to one of the preceding claims, characterized in that in addition a rotational movement of the gripper, namely a circular movement of the gripper in space and / or a circular movement of the gripper is determined substantially about its own vertical axis.

37. The method according to any one of the preceding claims, characterized in that the movements of the carriage (10) on the gripper (5) via the cable element (6) transmitted substantially parallel to the respective direction of movement of the carriage (10) (in the X direction) become.

38. The method according to any one of the preceding claims, characterized in that a boom (7) is arranged substantially horizontally on at least one supporting pillar (9) and that the supporting pillar (9) is moved on a substrate, namely substantially in a 90 to Degree to the direction of movement of the carriage (10) staggered direction (Z direction) is moved.

39. The method according to any one of the preceding claims, characterized in that the movements of the gripper (5) extending substantially in the vertical direction (Y-direction) and / or the opening and closing movements of the gripper (5) are controlled via cable elements ,

40. The method according to any one of the preceding claims, characterized in that the carriage (10) with rope elements (22, 23) is driven.

41. The method according to any one of the preceding claims, characterized in that with the aid of the control system (14) the movements of the carriage (10) and / or the supporting pillar (9) and the up and down movement of the gripper (5) are controlled ,

42. The method according to any one of the preceding claims, characterized in that in known movement of the carriage (10) and / or the chassis (12) and / or the cable element (6) with the displacing zero point of the pendulum motion can be determined.

43. The method according to any one of the preceding claims, characterized in that the reversal point of the oscillations of the gripper (5) are determined and the current zero point of the gripper (5) in the known position or movement of the carriage (10) and / or of the landing gear (12) is calculated so that a possible inherent drift of the inertial navigation system (21) can be eliminated by supporting the inertial navigation system (21) in the direction of this zero point of the gripper (5).

44. The method according to any one of the preceding claims, characterized in that the current position of the gripper (5), namely the pendulum deflection of the gripper (5) in all its pendulum axes and / or the rotation of the gripper (5) is determined.

45. The method according to any one of the preceding claims, characterized in that the exact position of the vessel (4) and / or a hatch (15) is detected by sensors.

46. The method according to any one of the preceding claims, characterized in that the image acquisition system with a laser scanner (24) determines the current distribution of the charge of the bulk material (3) within the loading space (2).

47. The method according to any one of the preceding claims, characterized in that the slope angle of the loading space (2) stored bulk material (3) is determined.

48. The method according to any one of the preceding claims, characterized in that a rotational movement of the gripper is compensated or stopped by the fact that the gripper can be brought into contact with the bulk material (3a) precisely at the moment of its determined zero crossing.

49. The method according to any one of the preceding claims, characterized in that the data of the inertial navigation system (21) and / or the data of the image acquisition system to the control system (14) are transmitted, that from the pendulum movement or the pendulum deflection of the gripper (5) Help of the evaluation unit (14a) is determined that then calculated via the computing unit (14a) of the control system (14), the kinematic processes and the control system (14) the corresponding control commands for compensation and / or reduction of the pendulum deflection of the gripper (5) are determined and that the carriage (10), the chassis (12) and / or the height of the gripper (5) are automatically controlled accordingly, namely correspondingly moved or adjusted.

50. The method according to any one of the preceding claims, characterized in that using a laser scanner (24), the current distribution of the bulk material (3a) in the loading space (2) is determined that the data determined by the laser scanner (24) to the control system (14 ), that the evaluation and / or arithmetic unit (14a or 14b), calculates the angle of repose of the bulk material (3) and depending on the respective specific bulk material (3) and the parameters stored in the memory unit (14c) critical slope angle of the bulk material (3) detected.

51. Method according to one of the preceding claims, characterized in that the environment region of the ship (2) and / or a hatch (15) can be determined with the aid of the laser scanner (24) and that during critical oscillations and / or pendulum deflections of the gripper (5 ) is realized in automatic operation an "emergency stop".