EP3606860B1 - Procédé d'enlèvement et de pose, de manière précise en position, d'un conteneur par le biais d'un chariot gerbeur cavalier et chariot gerbeur cavalier associé - Google Patents

Procédé d'enlèvement et de pose, de manière précise en position, d'un conteneur par le biais d'un chariot gerbeur cavalier et chariot gerbeur cavalier associé Download PDF

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Publication number
EP3606860B1
EP3606860B1 EP18715660.9A EP18715660A EP3606860B1 EP 3606860 B1 EP3606860 B1 EP 3606860B1 EP 18715660 A EP18715660 A EP 18715660A EP 3606860 B1 EP3606860 B1 EP 3606860B1
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EP
European Patent Office
Prior art keywords
spreader
gantry lift
lift stacker
gantry
stacker
Prior art date
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Application number
EP18715660.9A
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German (de)
English (en)
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EP3606860A1 (fr
Inventor
Stefan Klement
Markus Wolz
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Konecranes Global Oy
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Konecranes Global Oy
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Publication of EP3606860A1 publication Critical patent/EP3606860A1/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
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions 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 relates to a straddle carrier, in particular in the form of a straddle carrier, with a spreader for containers and with a positioning system arranged on the straddle carrier that determines a position of the straddle carrier that differs from the position of the spreader, a container to be picked up or a storage space for containers is.
  • the invention also relates to a method for a straddle carrier for determining the position of a spreader, a container to be picked up or a storage space for containers for positioning containers with a straddle carrier, in which position data of the straddle carrier are determined via a positioning system arranged on the straddle carrier.
  • a straddle carrier for containers which has steerable wheels in the usual way.
  • automatic steering is used as soon as the straddle carrier drives into a parked container, in particular the first container in a row of containers.
  • a laser scanner is arranged at the front of one of the two carrier girders of the straddle carrier and thus laterally offset from the respective container to be driven over, from whose measurement signals a distance between the carrier and a side wall of the container is determined.
  • the use of laser scanners reduces the structural effort compared to complete navigation systems such as radar navigation, transponders or DGPS.
  • a fully automatic, driverless straddle carrier which is equipped with different sensor systems for vehicle location and navigation.
  • One of the sensor systems consists of a local radio location system (LPR), for each of which a mobile radio base station is attached to the straddle carrier and for which a large number of Radio transponders are arranged in a fixed manner distributed over the operating area to be driven on.
  • LPR local radio location system
  • Radio transponders are arranged in a fixed manner distributed over the operating area to be driven on.
  • DGPS satellite-based differential global positioning system
  • Signals from these sensor systems are brought together in an electronic sensor fusion system, which precisely determines the coordinates of the current location of the straddle carrier.
  • straddle carrier a fully automatic and driverless steering, movement and positioning of the straddle carrier is possible.
  • laser scanners are attached to the straddle carrier, which enable automatic steering along and over a row of containers. When a row of containers is reached, a control based on LPR and also DGPS is automatically switched to a control based on laser scanners and the straddle carrier is automatically guided over the row of containers.
  • the US 2014 / 0046587A1 also discloses straddle carriers and, in relation to this, a positioning system comprising two stationary landmarks with a known position, the positioning system being designed to measure the distance of the straddle carrier from the landmarks.
  • the EP 2 128 074 A1 discloses a straddle carrier, the spreader of which is guided on the portal supports.
  • the invention is based on the object of a straddle carrier with a spreader for containers and with a positioning system arranged on the straddle carrier and a method for a straddle carrier for determining the position of a spreader, a container to be picked up or a storage space for containers for positioning containers with a straddle carrier to enable a more precise picking up or placing of containers at a predetermined position in a container terminal.
  • a straddle carrier in the form of a straddle carrier according to claim 1 and a method for such a straddle carrier according to claim 13.
  • Advantageous refinements of the invention are given in the dependent claims 2 to 12 and 14 and in the description below.
  • the straddle carrier according to the invention is a straddle carrier with a lifting device for the spreader in the sense of the above definition, which is fixedly attached to its portal frame.
  • the portal frame of the straddle carrier comprises a front, first portal frame part and a rear, second portal frame part, each of which has two vertical portal supports that extend with their respective longitudinal axes parallel to the lifting and lowering direction, the spreader being guided on the portal supports of the gantry forklift truck during lifting and lowering .
  • the position of the straddle carrier that can be determined by means of the positioning system includes in particular at least two-dimensional position data, that is to say a corresponding degree of longitude and latitude or x and y coordinates in a local Cartesian coordinate system.
  • the control unit is preferably part of the gantry lift truck and is alternatively integrated into its vehicle control or designed as a separate unit and optionally operatively connected to the vehicle control.
  • the sensors arranged on the straddle carrier include at least one sensor for determining an inclination of the straddle carrier, the inclination being able to be represented in particular by a roll angle and / or a pitch angle of the straddle carrier. Accordingly, a separate inclination sensor can be provided for determining an inclination for each inclination angle, that is to say both for the roll angle and for the pitch angle. An inclination sensor that can determine both inclination angles is also conceivable.
  • the sensors arranged on the straddle carrier include at least one sensor for determining a relative position of the spreader on the straddle carrier.
  • the relevant point is defined in particular by the location system and preferably on the machine platform.
  • the relative position of the spreader can be a lifting height in the sense of a distance of the spreader, measured in particular in the lifting and lowering direction, relative to the straddle carrier or relative to the point which is decisive for determining the position of the straddle carrier.
  • the lifting height or the distance can also be part or the basis of a calculation of the relative position.
  • the relative position can also include a three-dimensional position of the spreader relative to the relevant point in the form of corresponding position data.
  • corresponding absolute positions of the spreader and thus also relative or absolute positions of the containers received by the spreader can be derived from the relative positions or position data of the spreader and in particular also determine the storage location, for example if the container picked up by the spreader is already parked there or is parked with the portal lift truck in the same position. The same applies to the placing or taking up of containers on or from a container stack.
  • the relative position of the spreader is preferably measured from the machine platform.
  • the invention enables a more precise arrangement of containers within a row of containers or within the container terminal, and the use of space within a container terminal is improved by the smaller deviations from a designated parking space.
  • it must be compensated.
  • the position of the spreader or the container is thus determined with maximized or maximum accuracy and the position of the straddle carrier known via the positioning system is converted accordingly, in particular to the height of the position of the spreader in terms of the relative position and in particular the lifting height of the spreader, of the container to be picked up or the parking space for containers.
  • the sensors provide the necessary measured values for this.
  • this is the relative height difference or distance between the height of the position of the spreader, the container to be picked up or the storage area for containers and the position of the straddle carrier known via the positioning system and corresponding relative lateral displacements caused by deviations of the straddle carrier from the vertical in terms of the mentioned inclinations and angles of inclination.
  • the position data is converted in particular when the position, in particular the horizontal position, of the spreader, the container to be picked up or the storage area for containers differs from the position of the straddle carrier known from the positioning system. This can be the case especially with the described inclinations of the straddle carrier.
  • the position of the straddle carrier in the area of a machine platform of the straddle carrier is preferably determined by the positioning system.
  • the position of the straddle carrier that can be determined by means of the positioning system relates to its portal frame and in particular the machine platform there or in particular to a relevant point defined there.
  • the positioning system comprises a receiver and at least this receiver is arranged on the machine platform.
  • the position of the receiver is usually decisive for the position data received and evaluated by the positioning system.
  • the positioning system is based on radio, radar, GNSS, GPS or laser technology.
  • a sensor for determining a relative position of the spreader on the straddle carrier is preferably arranged on the straddle carrier in addition or as one of the sensors, via which in particular a lifting height of the spreader relative to the position of the straddle carrier can be determined and is determined.
  • the lifting height corresponds in particular to a position of the spreader relative to the machine platform and measured along the lifting and lowering direction.
  • the sensor can be used to determine, for example, the distance between the machine platform, in particular the location system there, and the spreader.
  • the senor for determining a relative position of the spreader on the straddle carrier is attached to the lower side of the machine platform facing the spreader.
  • this sensor then preferably comprises at least one camera and / or at least one laser scanner, which is directed at a target that is placed, for example, in the center of the spreader.
  • the straddle carrier is one of the Sensors, a sensor for determining an inclination of the portal lift truck, in particular an inclination sensor for determining a roll angle of the portal lift truck, is arranged. This is preferably combined with a sensor for determining an inclination of the straddle carrier, in particular an inclination sensor for determining a pitch angle of the straddle carrier, being arranged on the straddle carrier as one of the sensors.
  • control unit is in an electrical and data-exchanging connection with the named sensors and the location system.
  • the signals from the sensors and the positioning system are processed in the control unit to determine the position of the spreader, a container to be picked up or a storage area for containers, and the position is sent to the travel drives, the lifting drives and / or a driver of the straddle carrier are forwarded as navigation data.
  • the invention is particularly suitable for use in an arrangement of a storage area with a floor and a straddle carrier according to the invention.
  • a container to be picked up or a storage space for containers for positioning containers with a straddle carrier in the form of a straddle carrier according to one of claims 1 to 11, in which the on the straddle carrier arranged positioning system position data of the gantry lift truck are determined in order to enable a more precise picking up or placing of containers at a predetermined position in a container terminal, proposed that from the position data of the gantry lift truck with the help of the control unit and using data, in particular position data, respectively corresponding signals from the sensors arranged on the straddle carrier, the position of the spreader, the container to be picked up or the parking space is determined.
  • the advantages associated with this reference is made to the statements made above on the straddle carrier.
  • a sensor additionally arranged on the straddle carrier or by means of one of the sensors which is arranged in the above sense to determine a relative position of the spreader on the straddle carrier, in particular a lifting height of the spreader relative to the position of the straddle carrier is determined and is processed by the control unit, in particular to determine the position of the spreader.
  • the lifting height corresponds in particular to a position of the spreader relative to the machine platform and measured along the lifting and lowering direction.
  • the sensor can be used to determine, for example, the distance between the machine platform, in particular the location system there, and the spreader.
  • Both the straddle carrier according to the invention and the method according to the invention can be used particularly advantageously to pick up and set down containers fully automatically by means of such a straddle carrier.
  • containers are understood to mean ISO containers.
  • ISO containers weigh up to around 38 t and are generally understood as standardized large containers with standardized pick-up points or corners for load handling equipment.
  • ISO containers are typically 20, 40 or 45 feet long.
  • reefers and a large number of other container types are also known.
  • a straddle carrier designated 1, also known as the Straddle Carrier is shown in a front view.
  • the straddle carrier 1 essentially comprises a downwardly open U-shaped portal frame 2, a load handling device in the form of a so-called spreader 3 and two travel girders 4.
  • the portal frame 2 can be seen in a direction of travel F of the straddle carrier 1 in a front, first portal frame part and a rear second portal frame part are divided.
  • Each portal frame part has two vertical portal supports 2a with their respective longitudinal axis extending parallel to the lifting and lowering direction S.
  • Vertical refers to the in Figure 1 The situation shown, in which the straddle carrier 1 is standing on an ideally plan and horizontally extending floor 11.
  • the two portal frame parts are connected to one another at their upper ends via a horizontal and frame-shaped machine platform 2b.
  • the two left and right portal supports 2 a seen in the direction of travel, are supported on the two travel girders 4.
  • the straddle carrier 1 with this design can drive over one or, depending on the overall height, several stacked containers 9, pick up this or the top container 9 with its spreader 3, move the picked up container 9 to a destination and there on the floor 11, deposit an already parked container 9 or a stack thereof.
  • the containers 9 are usually arranged in rows and each aligned with their longitudinal direction in the longitudinal direction of the row within the respective row.
  • the four corners of the spreader 3 are each provided in the usual way with a rotary lock 3a - so-called twist locks - in order to connect the container 9 to the spreader 3 for the transport process with a low tolerance.
  • a rotary lock 3a so-called twist locks - in order to connect the container 9 to the spreader 3 for the transport process with a low tolerance.
  • eight rotary locks 3a are provided in a corresponding manner in order to be able to collect two short 20-foot containers 9 one after the other from a spreader 3, viewed in the direction of travel F.
  • the spreader 3 can be raised and lowered vertically along the vertical portal supports 2 a of the portal frame 2 in a lifting / lowering direction S.
  • the spreader 3 When lifting and lowering, the spreader 3 is guided on the portal supports 2a, so that in particular oscillation of the spreader 3 relative to the longitudinal axis of the portal supports 2a is minimized.
  • the lifting device provided for lifting and lowering the spreader 3 is arranged in a stationary manner on the straddle carrier 1 in the sense of the above definition.
  • a locating system 5 which is also known under the designation Position Detection System (PDS), which comprises at least one locating system, alternatively also two independent locating systems.
  • PDS Position Detection System
  • the positioning system can for example be based on radio, radar, GNSS, GPS or laser technology.
  • the specific position of the straddle carrier 1 in the sense of an indication of longitude and latitude or of x and y coordinates in a local Cartesian coordinate system is set in relation to the known installation location on the machine platform 2b, so as to determine the exact position of the straddle carrier 1 or the boundaries of the straddle carrier 1 seen in plan view.
  • the boundaries are formed in particular by the outer contours of the portal supports 2a. Since the location of the location system 5 is at the level of the machine platform 2b, the position data are also based on this height and not on the height of the girders 4, the respective height of a storage or pick-up location for a container 9 or a floor 11 on which the straddle carrier 1 moves.
  • the positioning system 5 is usually also used in parallel for navigating the portal lift truck 1.
  • the positioning system 5 in the sense of the receiver part of the positioning system 5 receiving the position data is, for example, an antenna of the positioning system 5, since this establishes the relative reference of the position data to the straddle carrier 1.
  • the position data received from the positioning system 5 can then also be processed locally separately from the receiver of the positioning system 5.
  • the knowledge of a possible inclination of the straddle carrier 1 in and against the direction of travel F in the sense of a pitch angle N and transverse to this in the sense of a roll angle W is required.
  • an uneven or non-horizontal floor 11 is understood to mean a floor 11 on which the straddle carrier 1, in particular with the longitudinal axes of its portal supports 2a, does not stand or move perpendicular, but rather inclined in this regard.
  • other mounting locations for the front first inclination sensor 6a and the lateral second inclination sensor 6b on the straddle carrier 1 and also combined inclination sensors for pitch angle N and roll angle W or their measurement as well as redundant designs thereof are conceivable.
  • Knowledge of the pitch angle N and the roll angle W is important for precise positioning of the container 9 and precise approach to parked containers 9 or an empty parking space 15 on the floor 11 and is becoming more and more important in connection with straddle carriers 1 that are getting higher and higher.
  • the relative position of the spreader 3 in the above sense relates in particular to the portal frame 2 or the point which is decisive for determining the position of the portal lift truck 1 and which is defined, for example, by the positioning system 5 on the machine platform 2b.
  • a current relative position of the spreader 3 can be, in the sense of a distance, the current lifting height of the spreader 3 relative to the straddle carrier 1 or relative to the locating system 5 on the machine platform 2b of the portal frame 2 and / or contain or be based on this height.
  • the spreader 3 is firmly connected to the container 9 in the usual way via rotary locks 3a.
  • the height h of the container 9 is also known required, which is either standardized or made available via a warehouse management computer. Another sensor not described can also be used for this purpose.
  • the sensor 7 On the lower side of the machine platform 2b facing the spreader 3, via which the distance between the Machine stage 2b, in particular the local location system 5, and the spreader 3 can be determined.
  • the distance relates to the lifting and lowering direction S parallel to the longitudinal axes of the portal supports 2a.
  • the sensor 7 can also be used to determine the relative position of the spreader 3 in more detail and in particular three-dimensional relative to the portal frame 2 or the machine platform 2b.
  • the sensor 7 can be designed, for example, as a camera or as a laser scanner, which is aimed at a target mark 7a.
  • the target 7a is located in the center on the upper side of the spreader 3 facing the sensor 7.
  • the current position of the spreader 3 and any received container 9 or an empty parking space 15 to be approached or an already parked container 9 to be approached and picked up can be determined with maximized or maximum accuracy and the container 9 can be lowered or picked up with high accuracy, in particular fully automatically will.
  • the Figure 2 shows a side view of the straddle carrier 1 from Figure 1 .
  • the positioning system 5 is arranged in the middle on an upper side of the machine platform 2b of the straddle carrier 1.
  • the sensor 7 can be seen on the lower side of the machine platform 2b and the target mark 7a can be seen on the upper side of the spreader 3.
  • the traveling girders 4, on which the in Figure 5 The travel drives 10 shown schematically with rubber-tyred and air-filled wheels are located at the lower ends of the portal supports 2a.
  • the straddle carrier 1 with this design can drive over one or, depending on the overall height, several stacked containers 9, pick it up with its spreader 3 via rotary locks 3a in its four corners, move the picked container to a destination and there on a floor 11 , deposit an already parked container 9 or a stack thereof.
  • sensor 7 and target mark 7a other sensors can also be used in order to determine the relative position and, in this context, the lifting height H of the spreader 3 as the distance.
  • FIG 3 is the straddle carrier 1 according to Figure 1 shown standing on the floor 11 in a front view.
  • the floor 11 rises, seen in the direction of travel F, starting from an imaginary horizontal plane 12 transversely to the direction of travel F, so that a straddle carrier 1 standing or moving on the floor 11 is inclined by a roll angle W from a vertical position to the right.
  • the roll angle W is enclosed between a perpendicular 13 and the lateral boundary of a portal support 2a, the boundary being formed in particular by an outer contour of the portal support 2a extending parallel to the longitudinal axis of the portal support 2a.
  • a corresponding alignment of the straddle carrier 1 can of course also be present on an uneven floor 11 in the sense of a wavy or angled surface that is not generally planar.
  • the floor 11 is ideally drawn as a plane and inclined surface, that is to say inclined in relation to the imaginary ideally planar and horizontal plane 12.
  • the Figure 4 shows the straddle carrier 1 according to Figure 2 standing in a side view on the floor 11.
  • the floor 11 is seen in the direction of travel F, starting from an imaginary horizontal plane 12 sloping in the direction of travel, so that a on the Floor 11 standing or moving straddle carrier 1 is inclined forward in the direction of travel F by a pitch angle N from a vertical position.
  • the pitch angle N is enclosed between a perpendicular 13 and the rear delimitation of a portal support 2a, the delimitation being formed in particular by an outer contour of the portal support 2a extending parallel to the longitudinal axis of the portal support 2a.
  • a corresponding alignment of the straddle carrier 1 can of course also be present on an uneven floor 11 in the sense of a wavy or angled surface that is not generally planar. Also in Figure 4 the floor 11 is ideally drawn as a plane and inclined surface, that is to say inclined in relation to the imaginary ideally planar and horizontal plane 12.
  • FIG. 5 a block diagram is shown which shows the individual sensors 6a, 6b, 7 used to determine the exact position of the spreader 3 or the container 9 picked up by the spreader 3 and the location system 5 in electrical and data-exchanging connection with a central control unit 8.
  • This control unit 8 processes the location coordinates obtained from the positioning system 5, which are usually specified in degrees, minutes and seconds - °, ', "- the relative position of the spreader obtained from the sensor 7 and the target 7a with the distance determined for this purpose Lift height H, the pitch angle N, which is determined and transmitted by the corresponding inclination sensor 6a, and the roll angle W, which is determined and transmitted by the corresponding inclination sensor 6b, around the position of the straddle carrier 1 known from the positioning system 5 in the area of the machine platform 2b To convert the absolute position of the spreader 3.
  • the travel drives 10 and lifting drives 14 of the straddle carrier 1 are then controlled via the control unit 8 or a driver of the straddle carrier 1 is supplied with corresponding navigation data Record a Co ntainers 9 to or from the predetermined target position by the straddle carrier 1 possible.
  • the control unit 8 can, as in the exemplary embodiment in FIG Figure 5 A separate Form a unit or be integrated into a vehicle control of the portal lift truck 1.
  • the straddle carrier 1 is driven with the aid of the travel drives 10 over a container 9 to be picked up. This is done, for example, by manual control of the travel drives 10, while the straddle carrier 1 is manually steered to the desired position by a driver and alternatively supported by a navigation system that accesses the position data of the spreader 3 of the control unit 8.
  • the desired position here is the position of the spreader 3 at the lifting height H of the planned receptacle, that is, with a corresponding distance between the spreader 3 and the machine platform 2b and the relevant point defined there for determining the position of the straddle carrier 1.
  • the straddle carrier 1 is then moved into a desired position, for example to the desired parking location or parking space 15 of the container 9, and the spreader 3 is lowered again to place the container 9.
  • the position of the spreader 3 or the container 9 is determined by the control unit 8 in order to then park the container 9 at the intended storage location or storage space 15 with maximum accuracy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (14)

  1. Chariot cavalier (1) se présentant sous la forme d'un chariot cavalier équipé d'un palonnier-agrippeur (3) destiné à des conteneurs (9) et d'une première partie de cadre de portique avant et d'une deuxième partie de cadre de portique arrière qui comportent chacune deux montants de portique verticaux (2a) dont l'axe longitudinal respectif s'étend parallèlement à la direction de levage et d'abaissement (S), le palonnier-agrippeur (3) étant guidé pendant le levage et l'abaissement sur les montants de portique (2a) du chariot cavalier (1) et un dispositif de levage destiné au palonnier-agrippeur (3) étant monté de manière fixe sur un cadre de portique (2) du chariot cavalier (1), et d'un système de localisation (5) qui est disposé sur le chariot cavalier (1) et qui détermine une position du chariot cavalier (1), caractérisé en ce que le système de localisation (5) détermine la position du chariot cavalier (1) par rapport à un point défini sur une plate-forme de machine (2b) du chariot cavalier (1), des capteurs (6a, 6b, 7) étant disposés sur le chariot cavalier (1), les capteurs (6a, 6b, 7) et le système de positionnement (5) étant reliés à une unité de commande (8), et l'unité de commande (8) déterminant, à partir de la position du chariot cavalier (1), en utilisant les signaux des capteurs (6a, 6b, 7), une position du palonnier-agrippeur (3), d'un conteneur (9) à réceptionner ou d'une aire de stockage (15) et les capteurs (6a, 6b, 7) disposés sur le chariot cavalier (1) comprenant au moins un capteur (6a, 6b) destiné à déterminer une inclinaison du chariot cavalier (1) et au moins un capteur (7) destiné à déterminer une position relative du palonnier-agrippeur (3) sur le chariot cavalier (1), la position relative concernant le point défini sur la plate-forme de machine (2b) pour déterminer la position du chariot cavalier (1) et se trouvant à une distance du palonnier-agrippeur (3), mesurée dans la direction de levage et d'abaissement, par rapport au point défini pour déterminer la position du chariot cavalier (1) sur la plate-forme de machine (2b).
  2. Chariot cavalier selon la revendication 1, caractérisé en ce que la position du chariot cavalier (1) est différente de la position du palonnier-agrippeur (3), d'un conteneur (9) à réceptionner ou d'une aire de stockage (15) pour conteneurs (9).
  3. Chariot cavalier selon l'une des revendications 1 ou 2, caractérisé en ce que le système de localisation (5) comprend un récepteur et au moins ce récepteur est disposé sur la plate-forme de machine (2b).
  4. Chariot cavalier selon l'une des revendications 1 à 3, caractérisé en ce que le système de localisation (5) est basé sur une technologie radio, radar, GNSS, GPS ou laser.
  5. Chariot cavalier selon l'une des revendications 1 à 4, caractérisé en ce que l'un des capteurs (6a, 6b, 7) disposés sur le chariot cavalier (1) est un capteur (7) qui est destiné à déterminer une position relative du palonnier-agrippeur (3) sur le chariot cavalier (1) et par le biais du en particulier une hauteur de levage (H) du palonnier-agrippeur (3) par rapport à la position du chariot cavalier (1) est déterminable et déterminé.
  6. Chariot cavalier selon la revendication 5, caractérisé en ce que le capteur (7) destiné à déterminer une position relative du palonnier-agrippeur (3) sur le chariot cavalier (1) est monté du côté inférieur de la plate-forme de machine (2b) qui est dirigé vers le palonnier-agrippeur (3).
  7. Chariot cavalier selon la revendication 6, caractérisé en ce que le capteur (7) destiné à déterminer une position relative du palonnier-agrippeur (3) sur le chariot cavalier (1) comprend au moins une caméra et/ou au moins un scanner laser, lesquels sont dirigés sur un repère cible (7a) appliqué sur le palonnier-agrippeur (3).
  8. Chariot cavalier selon l'une des revendications 1 à 7, caractérisé en ce que le capteur (6a) destiné à déterminer une inclinaison du chariot cavalier (1) est un capteur d'inclinaison (6a) destiné à déterminer un angle de roulis (W) du chariot cavalier (1).
  9. Chariot cavalier selon l'une des revendications 1 à 8, caractérisé en ce que le capteur (6b) destiné à déterminer une inclinaison du chariot cavalier (1) est un capteur d'inclinaison (6b) destiné à déterminer un angle de tangage (N) du chariot cavalier (1).
  10. Chariot cavalier selon l'une des revendications 1 à 9, caractérisé en ce que l'unité de commande (8) est en liaison électrique et d'échange de données avec les capteurs (6a, 6b, 7) et le système de localisation (5).
  11. Chariot cavalier selon l'une des revendications 1 à 10, caractérisé en ce que les signaux des capteurs (6a, 6b, 7) et du système de positionnement (5) sont traités dans l'unité de commande (8) pour déterminer la position du palonnier-agrippeur (3), d'un conteneur (9) à réceptionner ou d'une aire de stockage (15) pour conteneurs (9) et la position est transmise aux entraînements de roulement (10), aux entraînements de levage (14) et/ou à un conducteur du chariot cavalier (1) en tant que données de navigation.
  12. Ensemble formé d'une zone de stockage comportant un sol (11) et d'un chariot cavalier (1) selon l'une des revendications 1 à 11.
  13. Procédé destiné à un chariot cavalier (1) pour déterminer la position d'un palonnier-agrippeur (3), d'un conteneur (9) à réceptionner ou d'une aire de stockage (15) pour conteneurs (9) afin de positionner des conteneurs (9) à l'aide d'un chariot cavalier (1) se présentant sous la forme d'un chariot cavalier selon l'une des revendications 1 à 11, procédé dans lequel des données de position du chariot cavalier (1) sont déterminées par le biais du système de localisation (5) disposé sur le chariot cavalier (1), caractérisé en ce qu'une position du palonnier-agrippeur (3), du conteneur (9) à réceptionner ou de l'aire de stockage (15) est déterminée à partir des données de position du chariot cavalier (1) à l'aide de l'unité de commande (8) et à l'aide de données provenant des capteurs (6a, 6b, 7) disposés sur le chariot cavalier (1).
  14. Procédé selon la revendication 13, caractérisé en ce qu'une hauteur de levage (H) du palonnier-agrippeur (3) par rapport à la position du chariot cavalier (1) est déterminée et traitée par l'unité de commande (8) pour déterminer la position relative du palonnier-agrippeur (3) sur le chariot cavalier (1) au moyen d'un capteur (7) disposé sur le chariot cavalier (1).
EP18715660.9A 2017-04-03 2018-04-03 Procédé d'enlèvement et de pose, de manière précise en position, d'un conteneur par le biais d'un chariot gerbeur cavalier et chariot gerbeur cavalier associé Active EP3606860B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017107141.5A DE102017107141A1 (de) 2017-04-03 2017-04-03 Verfahren zum positionsgenauen Aufnehmen und Abstellen eines Containers durch einen Portalhubstapler und Portalhubstapler dafür
PCT/EP2018/058465 WO2018185088A1 (fr) 2017-04-03 2018-04-03 Procédé d'enlèvement et de pose, de manière précise en position, d'un conteneur par le biais d'un chariot gerbeur cavalier et chariot gerbeur cavalier associé

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EP (1) EP3606860B1 (fr)
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CN112499479A (zh) * 2020-11-23 2021-03-16 北京机械设备研究所 一种辅助装配机器人
CN114137491A (zh) * 2021-12-01 2022-03-04 中国航空工业集团公司西安飞机设计研究所 一种机载火控雷达故障检测装置

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WO2018185088A1 (fr) 2018-10-11
US11299376B2 (en) 2022-04-12
US20210101787A1 (en) 2021-04-08
DE102017107141A1 (de) 2018-10-04
CN110546101A (zh) 2019-12-06
EP3606860A1 (fr) 2020-02-12
CN110546101B (zh) 2021-06-18

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