EP1958915B1 - Device for loading and/or unloading a cargo hold or storage space and method for loading and/or unloading a cargo hold or storage space - Google Patents

Description

The invention initially relates to a method 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 device operating according to the aforementioned method, according to the features of the preamble of claim 17.

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. designed as so-called "unloading bridges" and provided in the respective ports. The bulk material, in particular the various types of ore and / or coals, are delivered by seagoing vessels. The deletion of the hold of the ships is vzw. with the aforementioned 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. Along the boom a kind of movable carriage, called "cat" is arranged movable. Substantially in the area below the carriage, a gripper is arranged with the aid of cable elements, which can be moved in the vertical direction, namely up and down to be lowered in particular by the hatch of a ship in the hold of the ship to receive the bulk material here or to take. Thereafter, the gripper is pulled in the vertical direction through the hatch back up and then essentially using the movable carriage on the boom from the water side driven on the land side, where the bulk material is stored on a heap or on a conveyor belt.

The gripper has vzw. a separate locking mechanism, which also vzw. is controlled by appropriate additional rope elements. About the carriage, so the "cat" is essentially a decoupling of the horizontal and vertical control of the gripper. The rope elements are vzw. via corresponding cable drums and these vzw. powered by DC motors. The sledge is vzw. pulled over arranged rope elements or rope drums along the boom and has vzw. a standing with the boom in contact landing gear or casters. 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 detecting the angular positions of the corresponding cable drums. Since the locking mechanism of the gripper is also controlled by separate rope elements, a force measurement can be done on the one hand on the tethers of the gripper and on the lock ropes. The force measurement on the rope elements is vzw. determined via sensory load cells. As a result, in particular, the weight of the bulk material located in the gripper 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 locking mechanism of the gripper (open / close) is therefore essentially on the control of the corresponding lock 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 essentially "three-dimensional" 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 there are oscillating movements of the gripper 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 Upward movement then into a pendulum motion over. Due to the pendulum movement of the gripper, collisions can occur with the hatch edges, so that they are damaged. Furthermore, it is problematic that during unloading process in the cargo supercritical slope angle can occur, in which case the material can slip uncontrollably and there is a risk that the gripper is spilled. A spilled gripper is a serious malfunction that results in extended downtime. Especially with pendulum movements of the gripper, which in this case impacts on critical slopes, such spills of the gripper and therefore malfunction can 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.

For example, in the prior art, a method and a device are known [ LOUDA MA ET AL: "INS-based identification of quay-crane spreader yaw", ROBOTICS AND AUTOMATION; 1998. PROCEEDINGS.91988 IEEE INTERNATIONAL CO NFERENCE ON LEUVEN; BELGIUM 16-20 MAY 1998, NEW YORK, NY, USA, IEEE, US, vol. 4, 16 May 1998 (1998-05-16), pages 3310-3315, XP010281361, ISBN: 978-0-7803-4300 -9 ], where here the cargo space of a ship can be loaded and unloaded with containers. With the help of a gripper, the respective container is gripped, whereby the position of the gripper is controlled. For this purpose, a control system is provided, wherein the position of the gripper is detected by sensors, so that a pendulum movement or a pendulum deflection of the gripper can be compensated indirectly by a corresponding control of the gripper. For detecting the position of the gripper, an inertial navigation system is provided and arranged on the gripper.

The invention is therefore based on the object, the above-mentioned method or the device 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 above-indicated object is now - for the method - solved by the features of claim 1. The device according to the features of claim 17 operates according to the aforementioned method.

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. 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 that by a corresponding automatic control of the current Movements of the gripper pendulum deflection / pendulum motion is reduced or compensated, the disadvantages mentioned above are avoided and achieved decisive advantages.

Fig. 1

den Entlade- bzw. Beladevorgang des Laderaumes eines Schiffes in schematischer Darstellung von der Seite,

Fig. 2

die Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens in schematischer Darstellung von der Seite dargestellt mit den wesentlichen Komponenten des Steuersystems,

Fig. 3

eine schematische Darstellung des Trägheitsnavigationssystems, nämlich eines dreiachsigen Inertialsysteme mit schematischer Darstellung der entsprechenden Achsen, und

Fig. 4

einen am Ausleger angeordneten bzw. verfahrbaren Schlitten in schematischer Darstellung von der Seite in einer bestimmten Ausführungeform mit den wesentlichen hier wirkenden Seilkräften.

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. Preferred embodiments of the invention will become apparent from the following description of the preferred embodiment, illustrated by the following drawings. In the drawing shows:

Fig. 1

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

Fig. 2

the apparatus 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

a schematic representation of the inertial navigation system, namely a three-axis inertial systems with a schematic representation of the corresponding axes, and

Fig. 4

a arranged on the boom or movable carriage in a schematic representation of the side in a particular embodiment with the essential here acting tensile forces.

The Fig. 1 to 4 show - at least partially - a device 1 for loading and / or unloading a cargo 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. in particular in the Fig. 1 and 2 illustrated unloading bridge 1a explains:

In Fig. 1 are first - more generally - the essential mechanical components of the device 1 shown. Good to see here is the vzw. designed as a discharge bridge 1a 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.

About one in the Fig. 1 not shown, in the Fig. 2 indicated and in the Fig. 4 illustrated slide 10 (also referred to as "cat" markable), the gripper 5 is substantially in the horizontal direction along the boom 7 and 8 movable. The rope element 6 shown here runs vzw. via a arranged on the carriage 10 deflection roller 11 (see. Fig. 4 ). Vzw. will also be the slide 10 over here in the Fig. 1 not shown further rope elements along the boom 7 and 8 moves. With the movement of the carriage 10 is therefore also the gripper 5 - hanging on the cable element 6 - along the boom 7 and 8 correspondingly movable. Due to the fact that the supporting pillars 9 have a separate running gear 12, the entire device 1 designed as unloading bridge 1a is movable substantially parallel to the quay wall 13 and therefore also the gripper 5. It is conceivable that the device 1 not only supports the holds 2 of mobile vehicles (Trucks, ships, etc.) loading or unloading, but, for example. even on solid ground standing by walls limited cargo spaces 2 ("storage rooms").

To control the movements of the gripper 5, is now in the Fig. 1 not shown, but from the Fig. 2 apparent control system 14 is 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 help of in the Fig. 1 for example in Fig. 2 1, the bulk material 3a is unloaded from the hold 2, wherein the gripper 5 is lowered into the hold 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 then actuated by means of its locking mechanism, namely, closed and then pulled over a corresponding cable drum drive the gripper 5 again 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, so that the gripper 5 in all in the Fig. 1 respectively. Fig. 2 shown directions, ie in the X, Y and Z directions accordingly movable so that the bulk material to be transported 3a then a funnel 16 on the conveyor belts 17 and 18 (shown by arrow B) can be discharged or on a heap 19 (shown by the arrow C) is heaped 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 corresponding rope control, vzw. driven cable drums for moving the carriage 10 and thus also 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 "slide" is a vzw. understood along the boom 7 and 8 movable element. It is conceivable that the carriage 10 is guided by means of a rail system along the investors 7 and 8 or vzw. in the Fig. 4 has shown drive rollers.

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 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 now essentially shows the device 1, the vzw. is designed as a discharge bridge 1a. 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 substantially horizontally displaceable along the first arm 7, as indicated by the unspecified arrows, wherein the apparatus 1 along the quay wall 13 is movable via the landing gear 12 not shown in detail here.

Also clearly shown is the control system 14 shown here schematically 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 over a corresponding cable drive of the cable element 6, in the X direction over the carriage 10 and in the Z direction over the motorized by means of the chassis 12 device 1 along the quay wall 13 can be realized. 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 kinematic intervention realized by the control system 14 is now automatically the pendulum motion / pendulum deflection of the gripper 5 vzw. completely compensated, but at least reduced. For this purpose, the control system 14 then controls the actuators, ie the cable drums for the carriage 10, the motor for the chassis 12 and / or the cable drum for setting the current height of the gripper 5 automatically.

In Fig. 3 Now, 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 embodied as an inertial system is used to determine the position of the gripper 5 for containers, then 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 embodied 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 in FIG Fig. 2 shown. Additionally shown in the Fig. 3 Here are the corresponding 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 from 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 constantly 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. Stoppbar when the gripper 5 vzw in the moment of his determined "zero crossing" with the material 3. can be brought into contact with the bulk material 3a, so that this rotational movement is stopped. In the known movement of the carriage 10 and the chassis 12 and the mitverlagernde "zero crossing" of a pendulum motion can be determined, because this zero point even with a pendulum motion in the known movements of the system (carriage 10, chassis 12, cable element 6) in X- , Y- or Z-direction is calculated and with respect. 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 designed as an inertial inertial system 21 permanently determines the position and position of the gripper 5, wherein the reversal points of the pendulum and / or rotational movement of the gripper 5 are permanently 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 lies in possible existing ones Measuring errors of the 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 rotational movements are permanently determined or determined and these movements / vibrations yes to the rest position / zero point, now support of the measured data can take place in the direction of this zero point, because the zero point of the pendulum motion in a known movement the carriage 10 and / or the chassis 12 can also be calculated. In other words, the possibly changing measurement data due to the above-described systemic inherent drift of the inertial navigation system 21 can always be permanently supported correspondingly in the direction of the calculated zero point / zero crossing of the oscillatory movements. 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 current reversal points of the pendulum and / or rotational movements, the inertial system or the corresponding measurement data can now be supported correspondingly in the direction of the determined zero point position, ie the measurement data determined by the inertial system can be correspondingly "corrected", namely by one possible to eliminate system inherent drift.

The possibility of a further sensory detection of the position of the gripper 5 is in Fig. 4 shown. Fig. 4 shows the carriage 10, the guide roller 11 for the cable element 6 for raising 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 F _Res . The horizontal component of this force is F _horizontal, the rope load of the cable element 6 is here indicated with F _last . The horizontal component of the resultant force F _Res, ie the horizontal component F _horizontal, must be applied by the guide cables of the carriage 10. In the case that the carriage 10 is unaccelerated: F _horizontal = F _lake - F _country . Because the Rope load of the cable element 6 F _{load has} already been measured and the control system 14 is available, now in addition the corresponding forces on the cable elements 22 and 23 of the carriage 10 vzw. determined with power cans. In the in Fig. 4 illustrated case, 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 rope 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. At that then in Fig. 4 illustrated application can also be deduced with the corresponding force measurement of the cable elements 6, 22 and 23 and the corresponding moment measurement on the guide roller 11 to a corresponding pendulum deflection and / or oscillating movement of the gripper 5, namely with the aid of an evaluation / calculation 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. Moments 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 advantageously be additionally configured in this way, so that in fact the exact position of the ship 2 and / or the hatch 15 or the hatch edges can also be sensed. 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 using the laser scanner 24 then the exact position of the ship 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 4 would lead. 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 stored in the hold 2 bulk material 3a can be determined and again in connection with the determined pendulum deflection of the gripper 5 and their compensation collision of the gripper 5 can be avoided with a slope of the bulk material 3, 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. continuously sensory detected, so that a pendulum movement of the gripper 5 is determined and then compensated by an automatic control of the gripper 5 and the individual actuators (slide 10, chassis 12, etc.) this oscillating motion substantially and / or is reduced. For this purpose vzw. the current movement of the carriage 10 controlled accordingly, which transmits them 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 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.

Other aspects are:

The 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, works vzw. with the device (1, 1a).

With at least one gripper (5), the material to be transported (3), vzw. the bulk material (3a) or the container, received and / or delivered, 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) 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, wherein the position of the gripper ( 5) is sensory detected 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, and wherein the position of the gripper (5) by means of an inertial navigation system (21 ) is determined.

The translatory and / or rotational accelerations of the gripper (5) are determined by means of the sensors of the inertial navigation system (21). The data determined by the inertial navigation system (21) are transmitted to the control system (14). The control system (14) uses an evaluation unit (14a) to evaluate the data transmitted by the inertial navigation system (21) and determines the position of the gripper (5) and / or calculates its trajectory using a computer unit (14b).

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. The data measured by the inertial system are transmitted by radio to the control system.

For a certain position of the gripper in its rest position, the reference point / zero point of the kinematic system is defined. The current position of the gripper and / or the pendulum motion, pendulum deflection and / or the pendulum angle is determined continuously. 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.

The movements of the carriage (10) on the gripper (5) via the cable element (6) are transmitted substantially parallel to the respective direction of movement of the carriage (10) (in the X direction). A boom (7) is arranged substantially horizontally on at least one supporting pillar (9), wherein the supporting pillar (9) is moved on a ground, namely substantially in a 90 degrees to the direction of movement of the carriage (10) offset direction (Z Direction) is moved. The substantially in the vertical direction (Y-direction) extending movements of the gripper (5) and / or the opening and closing movements of the gripper (5) are controlled by cable elements.

The carriage (10) is driven by cable elements (22, 23). With the aid of the control system (14), the movements of the carriage (10) and / or the support pillar (9) and the up and down movement of the gripper (5) are controlled.

With 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 movement.

The reversal points of the pendulum movements 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 the chassis (12) is calculated, so that a possible inherent drift of Inertial navigation system (21) is eliminable in that the inertial navigation system (21) is supported towards this zero point of the gripper (5).

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.

The exact position of the ship (4) and / or a hatch (15) is detected by sensors.

The image acquisition system determines with a laser scanner (24) the current distribution of the charge of the bulk material (3) within the hold (2). The slope angle of the bulk material (3) stored in the loading space (2) is determined.

A rotary movement of the gripper is compensated or stopped in that the gripper can be brought into contact with the bulk material (3a) precisely at the moment of its determined zero crossing.

The data of the inertial navigation system (21) and / or the data of the image acquisition system are transmitted to the control system (14), from which the pendulum motion or the pendulum deflection of the gripper (5) by means of the evaluation unit (14a) is determined, in which case Arithmetic unit (14a) of the control system (14) calculates the kinematic sequences 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 wherein the carriage (10), the chassis (12). and / or the height of the gripper (5) automatically controlled accordingly, namely moved accordingly or adjusted. The current distribution of the bulk material (3a) in the loading space (2) is determined with the aid of a laser scanner (24), wherein the data determined by the laser scanner (24) are transmitted to the control system (14), wherein the evaluation and / or arithmetic unit ( 14a and 14b), the angle of repose of the bulk material (3) is calculated and detected as a function of the respective specific bulk material (3) and the stored in the memory unit (14c) parameters critical slope angle of the bulk material (3).

With the help of the laser scanner (24), the environment of the ship (2) and / or a hatch (15) can be determined, with critical oscillations and / or pendulum deflections of the gripper (5) in automatic operation an "emergency stop" is realized.

LIST OF REFERENCE NUMBERS

1

contraption

1a

Entladebrücke

2

hold

3

material

3a

bulk

4

ship

5

grab

6

cable element

7

first boom

8th

second boom

9

buttress

10

carriage

11

idler pulley

12

landing gear

13

quay wall

14

control system

14a

evaluation

14b

computer unit

14c

storage unit

15

hatch

16

funnel

17

conveyor belt

18

conveyor belt

19

heap

20

control pulpit

21

Inertial navigation system

22

rope elements

23

rope elements

24

laser scanner

A

arrow

B

arrow

C

arrow

Claims (29)

1. Method for loading and/or unloading material (3) into and/or from a cargo hold (2) or storage space, especially for loading and/or unloading bulk material (3a), preferably coal or ore, or containers into and/or from a hold (2) of a ship (4), wherein the material (3) to be transported, preferably the bulk material (3a), or the container is picked up and/or discharged by at least one grab (5), wherein the position of the grab (5) is controlled, to be specific the position of the grab (5) is changed at least in the vertical and/or horizontal direction(s), wherein the grab (5) is suspended on at least one cable element (6) and the movements of the grab (5) in the vertical and/or horizontal direction(s) and/or the movements for picking up and/or discharging the material (3) are controlled, wherein the position of the grab (5) is detected by sensors and a pendular movement and/or a pendular deflection of the grab (5) is determined and then substantially compensated and/or reduced by appropriate activation, wherein the position of the grab (5) is determined with the aid of an inertial navigation system (21), characterized in that the reversal points of the pendular movements of the grab (5) are permanently determined and the zero point of the grab (5) at a given time, preferably in respect of the known position or movement of the carriage (10) and/or the running gear (12), is calculated by the permanent determination of the reversal points of the pendular and/or rotational movements, so that a possible inherent drift of the inertial navigation system (21) can be eliminated by the inertial navigation system (21) being permanently supported in the direction of this zero point of the grab (5).
2. Method according to Claim 1, characterized in that the translational and/or rotational accelerations of the grab (5) are determined with the aid of the sensors of the inertial navigation system (21) and in that the data determined by the inertial navigation system (21) are transmitted to a control system (14) and in that the control system (14) evaluates with the aid of an evaluating unit (14a) the data transmitted from the inertial navigation system (21) and determines the position of the grab (5) and/or calculates its path of movement with the aid of a computing unit (14b).
3. Method according to either of Claims 1 and 2, characterized in that the inertial navigation system (21) is designed as an inertial system that has orthogonal gyroscopes and accelerometers, so that, for each of the relevant pendulum axes, the rotational speed measured for the respective axis about this axis and/or the vectorial acceleration in the direction of this axis can be permanently determined.
4. Method according to Claim 3, characterized in that the data measured by the inertial system are transmitted by radio to the control system (14).
5. Method according to one of Claims 1 to 4, characterized in that the reference point/zero point of the kinematic system is defined for a specific position of the grab (5) in its position of rest.
6. Method according to one of Claims 1 to 5, characterized in that the position of the grab (5) at a given time and/or the pendular movement, pendular deflection and/or the pendular angle is determined continuously and in that in addition a rotational movement of the grab (5), to be specific a circling movement of the grab in space and/or a circling movement of the grab (5) substantially about its own vertical axis, is determined.
7. Method according to one of Claims 1 to 6, characterized in that the movements of a carriage (10) are transferred to the grab (5) by way of the cable element (6) substantially parallel to the respective direction of movement of the carriage (10) (in the X direction) and in that an extension arm (7) is arranged substantially horizontally on at least one supporting pillar (9) and in that the supporting pillar (9) is moved on a base, to be specific is moved substantially in a direction offset by 90 degrees in relation to the direction of movement of the carriage (10) (Z direction).
8. Method according to one of Claims 1 to 7, characterized in that the movements of the grab (5) substantially in the vertical direction (Y direction) and/or the opening and closing movements of the grab (5) are controlled by way of cable elements and in that the carriage (10) is driven by cable elements (22, 23).
9. Method according to either of Claims 7 and 8, characterized in that the movements of the carriage (10) and/or of the supporting pillar (9) and also the movement up and down of the grab (5) are controlled with the aid of the control system (14).
10. Method according to one of Claims 1 to 9, characterized in that, with a known movement of the carriage (10) and/or of the running gear (12) and/or of the cable element (6), the concomitantly shifting zero point of the pendular movement can be determined.
11. Method according to one of Claims 1 to 10, characterized in that the position of the grab (5) at a given time, to be specific the pendular deflection of the grab (5) in all of its pendulum axes and/or the rotation of the grab (5), is determined.
12. Method according to one of Claims 1 to 11, characterized in that the exact position of the ship (4) and/or of a hatchway (15) is detected by sensors and in that an image acquisition system arranged on the first extension arm (7) determines with a laser scanner (24) the distribution of the cargo of bulk material (3) at a given time within the cargo hold (2), and in that the angle of slope of the bulk material (3) stored in the cargo hold (2) is determined.
13. Method according to one of Claims 1 to 12, characterized in that a rotational movement of the grab (5) is compensated or stopped by the grab (5) being able to be brought into contact with the bulk material (3a) precisely at the moment of its determined zero crossing.
14. Method according to either of Claims 12 and 13, characterized in that the data of the inertial navigation system (21) and/or the data of the image acquisition system are transmitted to the control system (14), in that the pendular movement or the pendular deflection of the grab (5) is determined from these data with the aid of the evaluating unit (14a), and in that the kinematic sequences are then calculated by way of the computing unit (14a) of the control system (14) and the appropriate control commands to compensate for and/or reduce the pendular deflection of the grab (5) are determined by the control system (14) and in that the carriage (10), the running gear (12) and/or the height of the grab (5) is/are correspondingly automatically activated, to be specific correspondingly moved or adjusted.
15. Method according to one of Claims 12 to 14, characterized in that the distribution of the bulk material (3a) at a given time in the cargo hold (2) is determined with the aid of a laser scanner (24), in that the data determined by the laser scanner (24) are transmitted to the control system (14), in that the evaluating unit (14a) and/or computing unit (14b) calculates the angles of slope of the bulk material (3) and determines critical angles of slope of the bulk material (3) on the basis of the respective specific bulk material (3) and the parameters stored for it in the memory unit (14c).
16. Method according to Claim 15, characterized in that the surrounding area of the ship (2) and/or of a hatchway (15) can be determined with the aid of the laser scanner (24) and in that an "emergency stop" is executed during automatic operation in the event of critical pendular movements and/or pendular deflections of the grab (5).
17. Device (1), operating on the basis of one of method claims, Claims 1 to 16, in particular an unloading gantry (1a) for loading and/or unloading material (3) into and/or from a cargo hold (2) or storage space, especially for loading and/or unloading bulk material (3a), preferably coal or ore, or containers into and/or from a hold (2) of a ship (4), wherein at least one grab (5) for picking up and discharging the material (3) to be transported, preferably the bulk material (3a) or the container, is provided, wherein the position of the grab (5) can be controlled, to be specific the position of the grab (5) can be changed at least in the vertical and/or horizontal direction(s), wherein the grab (5) is connected to at least one cable element (6) and wherein the movements of the grab (5) in the vertical and/or horizontal direction(s) and/or the movements for picking up and/or discharging the material (3) can be controlled with the aid of a provided control system (14), wherein the position of the grab (5) can be detected by sensors, so that a pendular movement and/or pendular deflection of the grab (5) can be determined and can be substantially compensated and/or reduced by appropriate activation, wherein an inertial navigation system (21) is provided to determine the position of the grab (5) and the inertial navigation system (21) is arranged on the grab (5), and wherein the inertial navigation system (21) is designed as an inertial system, characterized in that the zero point/zero crossing of the grab (5) can be determined by the permanent determination of the reversal points of the pendular and/or rotational movements and in that a possible inherent drift of the inertial navigation system (21) can be substantially eliminated by permanent support of the measurement data in the direction of this zero point of the grab (5).
18. Device according to Claim 17, characterized in that the inertial navigation system (21) has sensors for determining the translational and/or rotational accelerations of the grab (5) and in that the data determined by the inertial navigation system (21) can be transmitted, preferably by radio, to a control system (14) and/or in that the control system (14) has an evaluating unit (14a) for evaluating the data transmitted from the inertial navigation system (21) and for determining the position of the grab (5).
19. Device according to either of Claims 17 and 18, characterized in that the inertial navigation system (21) is configured as a three-axis inertial system.
20. Device according to Claim 19, characterized in that the sensor equipment of the inertial system comprises gyroscopes and accelerometers and in that, for each of the axes of the inertial system, the rotational speed measured for the respective axis about this axis and/or the vectorial acceleration in the direction of this axis can be permanently determined.
21. Device according to one of Claims 17 to 20, characterized in that the control system (14) defines the reference point of the kinematic system for a specific position of the grab (5) in its rest position and in that the position of the grab (5) at a given time and/or the pendular movement, pendular deflection and/or the pendular angle can be determined continuously and/or in that in addition a rotational movement of the grab, to be specific a circling movement of the grab in space and/or a circling movement of the grab (5) substantially about its own vertical axis, can be determined.
22. Device according to Claim 21, characterized in that the device (1, 1a) has at least one extension arm (7, 8) and a carriage (10) is arranged movably along the extension arm (7) and in that the carriage (10) and the grab (5) are connected by way of the cable element (6).
23. Device according to Claim 22, characterized in that the extension arm (7, 8) is arranged substantially horizontally and at least one substantially vertically arranged supporting pillar (9) is provided and in that the supporting pillar (9) is arranged movably on a base and can be moved substantially in a direction offset by 90 degrees in relation to the direction of movement of the carriage (10) and/or a control station (20) is provided.
24. Device according to either of Claims 22 and 23, characterized in that the carriage (10) and the supporting pillar or pillars (9) has/have a running gear (12) and in that the carriage (10) can be driven by cable elements.
25. Device according to one of Claims 22 to 24, characterized in that, with a known movement of the carriage (10) and/or of the running gear (12) and/or of the cable element (6), the concomitantly shifting zero point of the pendular movement can be determined.
26. Device according to one of Claims 17 to 25, characterized in that the movements of the grab (5), to be specific the movements of the grab (5) substantially in the vertical direction, and the opening and closing movements of the grab (5) can be controlled by way of cable elements.
27. Device according to one of Claims 17 to 26, characterized in that the cargo hold (2) is formed in a ship (4) and is accessible for the grab (5), in that the exact position of the ship (4) and/or of a hatchway (15) can be detected by sensors with the aid of an image acquisition system arranged on the first extension arm (7).
28. Device according to Claim 27, characterized in that the image acquisition system has at least one laser scanner (24), to be specific that the laser scanner (24) is designed as a 3D laser scanner, and in that the distribution of the bulk material (3a) at a given time within the cargo hold (2) can be determined.
29. Device according to one of Claims 17 to 28, characterized in that a rotational movement of the grab (5) can be compensated or stopped by the grab (5) being able to be brought into contact with the material (3) precisely at the moment of its determined zero crossing.

Images