EP1958915B1 - Dispositif de chargement et/ou déchargement d'une soute ou d'un espace de stockage et procédé de chargement et/ou déchargement d'une soute ou d'un espace de stockage - Google Patents

Dispositif de chargement et/ou déchargement d'une soute ou d'un espace de stockage et procédé de chargement et/ou déchargement d'une soute ou d'un espace de stockage Download PDF

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Publication number
EP1958915B1
EP1958915B1 EP08006281.3A EP08006281A EP1958915B1 EP 1958915 B1 EP1958915 B1 EP 1958915B1 EP 08006281 A EP08006281 A EP 08006281A EP 1958915 B1 EP1958915 B1 EP 1958915B1
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EP
European Patent Office
Prior art keywords
grab
determined
gripper
movement
pendular
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP08006281.3A
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German (de)
English (en)
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EP1958915B8 (fr
EP1958915A3 (fr
EP1958915A2 (fr
Inventor
Bernd Mann
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Isam AG
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Isam AG
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Publication of EP1958915A3 publication Critical patent/EP1958915A3/fr
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Publication of EP1958915B1 publication Critical patent/EP1958915B1/fr
Publication of EP1958915B8 publication Critical patent/EP1958915B8/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the invention 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.
  • vzw 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.
  • a kind of movable carriage called “cat” is arranged movable.
  • 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.
  • 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 is controlled by detecting the angular positions of the corresponding cable drums.
  • 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 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.
  • 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.
  • 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.
  • 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".
  • 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.
  • the gripper 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.
  • a control system 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.
  • 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.
  • 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.
  • the danger of collision of the gripper with the hatch edges or the ship superstructures is avoided.
  • the risk of spillage of the gripper is minimized, so that the previously known malfunctions and the associated high costs are avoided.
  • the gripper can now be sold with pinpoint accuracy.
  • 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:
  • Fig. 1 are first - more generally - the essential mechanical components of the device 1 shown.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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").
  • Fig. 1 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.
  • 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.
  • 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.
  • the device 1 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
  • the carriage 10 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control system 14 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.
  • 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.
  • 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.
  • 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.
  • the respective acceleration vectors of the respective axes X-, Y- and Z-axis
  • 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.
  • the position of the load receiving means namely the gripper 5 in space
  • integration simple integration with rotational speed values, dual integration with acceleration values
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control system 14 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.
  • 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.
  • 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.
  • 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.
  • a pendulum deflection of the gripper 5 shown here represented by the Angle ⁇ , 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.
  • 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 .
  • the bearing of the deflection roller 11 can be equipped with a moment sensor.
  • 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.
  • 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.
  • 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.
  • the current distribution of the charge, that is the bulk material 3a within the cargo space 2 is scanned.
  • an automatic method for reducing and / or compensating the pendulum deflection of the gripper 5 is now feasible.
  • 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.
  • 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).
  • 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.
  • the current specific height of the Gripper 5 in the Y direction
  • 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.
  • the individual components are controlled via the control system 14.
  • an inertial navigation system 21 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ship Loading And Unloading (AREA)

Claims (29)

  1. Procédé de chargement et/ou de déchargement d'une soute (2) et/ou d'un espace de stockage avec du matériau (3), notamment de chargement et/ou de déchargement d'une soute (2) d'un navire (4) avec un produit en vrac (3a), du charbon ou du minerai, ou avec des containers, le matériau (3) à transporter, le produit en vrac (3a) ou le container étant notamment reçus et/ou sortis à l'aide d'au moins un grappin (5), la position du grappin (5) étant commandée, notamment la position du grappin (5) étant modifiée au moins dans la direction verticale, le grappin (5) étant accroché à au moins un élément de câble (6) et les mouvements du grappin (5) dans la direction verticale et/ou horizontale et/ou les mouvements pour recevoir et/ou pour sortir le matériau (3) étant commandés, la position du grappin (5) étant détectée par le biais de capteurs et un mouvement pendulaire et/ou une déviation pendulaire du grappin (5) étant calculés puis pour l'essentiel compensés et/ou réduits par une excitation correspondante, la position du grappin (5) étant calculée à l'aide d'un système de navigation inertiel (21), caractérisé en ce que les points d'inversement des mouvements pendulaires du grappin (5) ainsi que le point zéro actuel du grappin (5) sont calculés de façon permanente, notamment en cas de position connue du coulisseau (10) et/ou du châssis (12) et/ou de mouvement de ceux-ci, par le biais de la détermination permanente des points d'inversement des mouvements pendulaires et/ou rotatifs, de sorte qu'une dérive inhérente possible du système de navigation inertiel (21) peut être éliminée en assistant en permanence le système de navigation inertiel (21) en direction de ce point zéro du grappin (5).
  2. Procédé selon la revendication 1, caractérisé en ce que les accélérations en translation et/ou en rotation du grappin (5) sont calculées à l'aide de capteurs dû système de navigation inertiel (21) et que les données calculées par le système de navigation inertiel (21) sont transmises à un système de commande (14) et que le système de commande (14) analyse les données transmises par le système de navigation inertiel (21) à l'aide d'une unité d'analyse (14a) et calcule la position du grappin (5) et/ou calcule sa trajectoire de mouvement à l'aide d'une unité de calcul (14b).
  3. Procédé selon l'une quelconque des revendications 1 et 2, caractérisé en ce que le système de navigation inertiel (21) est réalisé sous la forme d'un système inertiel comportant un gyroscope perpendiculaire et un système de mesure d'accélération, de sorte que pour chacun des axes pendulaires pertinents, la vitesse de rotation autour de cet axe mesurée pour l'axe respectif et/ou l'accélération vectorielle en direction de cet axe est calculée de façon permanente.
  4. Procédé selon la revendication 3, caractérisé en ce que les données mesurées par le système inertiel sont transmises par voie radio au système de commande (14).
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le point de référence/point zéro du système cinématique est défini pour une position déterminée du grappin (5) dans sa position de repos.
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la position actuelle du grappin (5) et/ou le mouvement pendulaire, la déviation pendulaire et/ou l'angle pendulaire est calculé en continu et qu'en outre, un mouvement de rotation du grappin (5), notamment un mouvement circulaire du grappin, est calculé dans l'espace et/ou qu'un mouvement circulaire du grappin (5) est calculé pour l'essentiel autour de son propre axe vertical.
  7. Procédé selon l'une quelconque des revendications 1 à 6, caractérisé en ce que les mouvements d'un coulisseau (10) sont transmis sur le grappin (5) via l'élément de câble (6) pour l'essentiel parallèlement à la direction de déplacement respective du coulisseau (10) (dans la direction X) et qu'une potence (7) est disposée pour l'essentiel de façon horizontale au niveau d'au moins un pilier d'appui (9) et que le pilier d'appui (9) est déplacé sur un support, notamment pour l'essentiel dans une direction (direction Z) décalée de 90 degrés par rapport à la direction de déplacement du coulisseau (10).
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que les mouvements du grappin (5) s'étendant pour l'essentiel dans la direction verticale (direction Y) et/ou les mouvements d'ouverture et de fermeture du grappin (5) sont commandés via les éléments de câble et que le coulisseau (10) est entraîné avec les éléments de câble (22, 23).
  9. Procédé selon l'une quelconque des revendications 7 ou 8, caractérisé en ce que les mouvements du coulisseau (10) et/ou du pilier d'appui (9) ainsi que les mouvements montants et descendants du grappin (5) sont commandés à l'aide du système de commande (14).
  10. Procédé selon l'une quelconque des revendications 1 à 9, caractérisé en ce qu'en cas de mouvement connu du coulisseau (10) et/ou du châssis (12) et/ou de l'élément de câble (6), le point zéro du mouvement pendulaire se déplaçant concomitamment est calculé.
  11. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que la position actuelle du grappin (5), notamment la déviation pendulaire du grappin (5), est calculée dans tous ses axes pendulaires et/ou que la rotation du grappin (5) est calculée.
  12. Procédé selon l'une quelconque des revendications 1 à 11, caractérisé en ce que la position précise du navire (4) et/ou d'un hublot (15) est déterminée par le biais de capteurs et qu'un système de détection d'image disposé au niveau de la première potence (7) calcule à l'aide d'un scanner à laser (24) la répartition actuelle du chargement du produit en vrac (3) à l'intérieur de la soute (2) et que l'angle de berge du produit en vrac (3) stocké dans la soute (2) est calculé.
  13. Procédé selon l'une quelconque des revendications 1 à 12, caractérisé en ce qu'un mouvement de rotation du grappin (5) est compensé et/ou arrêté en amenant le grappin (5) en contact avec le produit en vrac (3a) précisément au moment de son passage à zéro calculé.
  14. Procédé selon l'une quelconque des revendications 12 ou 13, caractérisé en ce que les données du système de navigation inertiel (21) et/ou les données du système de détection d'image sont transmises au système de commande (14), qu'à partir d'elles, le mouvement pendulaire et/ou la déviation pendulaire du grappin (5) sont calculés à l'aide de l'unité d'analyse (14a), que les courbes cinématiques sont ensuite calculées via l'unité de calcul (14a) du système de commande (14) et que les ordres de commande correspondants sont déterminés à partir du système de commande (14) en vue de compenser et/ou de réduire la déviation pendulaire du grappin (5) et que le coulisseau (10), le châssis (12) et/ou la hauteur du grappin (5) sont automatiquement commandés de façon correspondante, notamment déplacés et/ou réglés de façon correspondante.
  15. Procédé selon l'une quelconque des revendications 12 à 14, caractérisé en ce que la répartition actuelle du produit en vrac (3a) dans la soute (2) est déterminée à l'aide d'un scanner à laser (24), que les données déterminées par le scanner à laser (24) sont transmises au système de commande (14), que l'unité d'analyse et/ou de calcul (14a et/ou 14b), calcule l'angle de berge du produit en vrac (3) et détecte les angles de berge critiques du produit en vrac (3) en fonction du produit en vrac (3) spécifique respectif et de paramètres mémorisés à cet effet dans l'unité de mémoire (14c).
  16. Procédé selon la revendication 15, caractérisé en ce que la zone environnementale du navire (2) et/ou d'un hublot (15) est calculée à l'aide du scanner à laser (24) et qu'en cas de mouvements pendulaires et/ou d'orientations pendulaires critiques du grappin (5), un « arrêt d'urgence » est réalisé en fonctionnement automatique.
  17. Dispositif (1), fonctionnant selon une des revendications de procédé 1 à 16, notamment pont de déchargement (1a) servant au chargement et/ou déchargement d'une soute (2) et/ou d'un espace de stockage avec un matériau (3), notamment au chargement et/ou déchargement d'une soute (2) d'un navire (4) avec un produit en vrac (3a), notamment avec du charbon ou du minerai, ou avec des containers, au moins un grappin (5) étant prévu pour recevoir et/ou pour sortir le matériau (3) à transporter, notamment le produit en vrac (3a) ou le container, la position du grappin (5) pouvant être commandée, la position du grappin (5) étant notamment modifiable au moins dans la direction verticale, le grappin (5) étant relié à au moins un élément de câble (6) et les mouvements du grappin (5) pouvant être commandés dans la direction verticale et/ou les mouvements servant à recevoir et/ou à sortir le matériau (3) pouvant être commandés à l'aide d'un système de commande (14) prévu, la position du grappin (5) pouvant être déterminée par le biais de capteurs, de sorte qu'un mouvement pendulaire et/ou une déviation pendulaire du grappin (5) sont déterminés et peuvent être pour l'essentiel compensés et/ou modifiés par le biais d'une excitation correspondante, un système de navigation inertiel (21) étant prévu pour détecter la position du grappin (5) et le système de navigation inertiel (21) étant disposé au niveau du grappin (5) et le système de navigation inertiel (21) étant réalisé sous la forme d'un système inertiel, caractérisé en ce que le point zéro/passage par zéro du grappin (5) peut être déterminé par la détermination permanente des points d'inversement des mouvements pendulaires et/ou rotatifs et qu'une possible dérive inhérente du système de navigation inertiel (21) peut être pour l'essentiel éliminée en s'assistant en permanence des données de mesure en direction de ce point zéro du grappin (5).
  18. Dispositif selon la revendication 17, caractérisé en ce que le système de navigation inertiel (21) comporte des capteurs pour déterminer les accélérations en translation et/ou en rotation du grappin (5) et que les données déterminées par le système de navigation inertiel (21) sont transmises à un système de commande (14), notamment par point, et/ou que le système de commande (14) comporte une unité d'analyse (14a) pour analyser les données transmises par le système de navigation inertiel (21) et pour déterminer la position du grappin (5).
  19. Dispositif selon l'une quelconque des revendications 17 ou 18, caractérisé en ce que système de navigation inertiel (21) est réalisé sous la forme d'un système inertiel à trois axes.
  20. Dispositif selon la revendication 19, caractérisé en ce que le système de technique des capteurs du système inertiel comporte des gyroscopes et des systèmes de mesure d'accélération et que pour chacun des axes du système inertiel, la vitesse de rotation mesurée pour l'axe respectif est calculée de façon permanente autour de cet axe et/ou l'accélération vectorielle est calculée de façon permanente en direction de cet axe.
  21. Dispositif selon l'une quelconque des revendications 17 à 20, caractérisé en ce que le système de commande (14) définit en continu, pour une position définie du grappin (5) dans sa position de repos, le point de référence du système cinématique et que la position actuelle du grappin (5) et/ou le mouvement pendulaire, la déviation pendulaire et/ou l'angle pendulaire est calculé et/ou qu'en sus un mouvement de rotation du grappin, notamment un mouvement circulaire du grappin, est calculé dans l'espace et/ou qu'un mouvement circulaire du grappin (5) est calculé pour l'essentiel autour de son propre axe vertical.
  22. Dispositif selon la revendication 21, caractérisé en ce que le dispositif (1, 1a) comporte au moins une potence (7, 8) et qu'un coulisseau (10) est disposé de façon à pouvoir se déplacer le long de la potence (7) et que le coulisseau (10) et le grappin (5) sont reliés via l'élément de câble (6).
  23. Dispositif selon la revendication 22, caractérisé en ce que la potence (7, 8) est disposée pour l'essentiel de façon horizontale et qu'au moins un pilier d'appui (9) disposé pour l'essentiel verticalement est prévu et que le pilier d'appui (9) est disposé de façon mobile sur un support et peut être déplacé pour l'essentiel dans une direction décalée de 90 degrés par rapport à la direction de déplacement du coulisseau (10) et/ou qu'un poste de commande (20) est prévu.
  24. Dispositif selon l'une quelconque des revendications 22 à 23, caractérisé en ce que le coulisseau (10) et le et/ou les piliers d'appui (9) comportent un châssis (12) et que le coulisseau (10) est entraîné à l'aide des éléments de câble.
  25. Dispositif selon l'une quelconque des revendications 22 à 24, caractérisé en ce qu'en présence d'un mouvement connu du coulisseau (10) et/ou du châssis (12) et/ou de l'élément de câble (6), le point zéro du mouvement pendulaire se déplaçant concomitamment est calculé.
  26. Dispositif selon l'une quelconque des revendications 17 à 25, caractérisé en ce que les mouvements du grappin (5), notamment les mouvements du grappin (5) s'étendant pour l'essentiel dans la direction verticale, et le mouvement d'ouverture et de fermeture du grappin (5) peuvent être commandés via les éléments de câble.
  27. Dispositif selon l'une quelconque des revendications 17 à 26, caractérisé en ce que la soute (2) est réalisée dans un navire (4) et est accessible au grappin (5), que la position précise du navire (4) et/ou d'un hublot (15) peut être détectée par le biais de capteurs à l'aide d'un système de détection d'image disposé au niveau de la première potence (7).
  28. Dispositif selon la revendication 27, caractérisé en ce que le système de détection d'image comporte au moins un scanner à laser (24), notamment que le scanner à laser (24) est réalisé sous la forme d'un scanner à laser 3D et que la répartition actuelle du produit en vrac (3a) à l'intérieur de la soute (2) est déterminée.
  29. Dispositif selon l'une quelconque des revendications 17 à 28, caractérisé en ce qu'un mouvement de rotation du grappin (5) peut être compensé et/ou arrêté en amenant le grappin (5) en contact avec le matériau (3) précisément au moment de son passage à zéro déterminé.
EP08006281.3A 2005-02-11 2006-02-10 Dispositif de chargement et/ou déchargement d'une soute ou d'un espace de stockage et procédé de chargement et/ou déchargement d'une soute ou d'un espace de stockage Not-in-force EP1958915B8 (fr)

Applications Claiming Priority (2)

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DE200520002315 DE202005002315U1 (de) 2005-02-11 2005-02-11 Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.
EP06706858A EP1851157A2 (fr) 2005-02-11 2006-02-10 Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage

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EP06706858A Division EP1851157A2 (fr) 2005-02-11 2006-02-10 Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage

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EP1958915B1 true EP1958915B1 (fr) 2016-01-27
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CN110817490A (zh) * 2019-11-15 2020-02-21 中冶宝钢技术服务有限公司 一种抓斗卸船机及其作业方法

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EP1958915B8 (fr) 2016-06-08
EP1958915A3 (fr) 2012-08-15
EP1851157A2 (fr) 2007-11-07
DE202005002315U1 (de) 2005-06-16
WO2006084739A2 (fr) 2006-08-17
WO2006084739A3 (fr) 2006-11-02
EP1958915A2 (fr) 2008-08-20

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