EP0820957A1 - Verfahren und Vorrichtung zum Fördern von Kontainer - Google Patents
Verfahren und Vorrichtung zum Fördern von Kontainer Download PDFInfo
- Publication number
- EP0820957A1 EP0820957A1 EP97401778A EP97401778A EP0820957A1 EP 0820957 A1 EP0820957 A1 EP 0820957A1 EP 97401778 A EP97401778 A EP 97401778A EP 97401778 A EP97401778 A EP 97401778A EP 0820957 A1 EP0820957 A1 EP 0820957A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- uti
- platform
- laser
- sensor
- handling
- 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.)
- Withdrawn
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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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- the present invention relates to methods and a device for handling transport units intermodal (UTI) such as containers, swap bodies.
- UMI transport units intermodal
- each of the lower holes is designed to receive a dowel of a locking bolt secured to a surface on which the UTI must be fixed, for example the platform of a trailer road vehicle or railway car.
- the upper holes are designed to receive the gripping devices of a lifting beam supported by a handling equipment.
- This machine can be a mounted winch on a trolley carried by a handling gantry.
- This gantry is movable in a longitudinal direction and supports a carriage movable in one direction transverse.
- the movements and maneuvers of the handling and spreader are controlled by a operator, via a control unit or a desk.
- a control unit or a desk it would be desirable to obtain a automated solution, which would allow operation permanent of the device, including at night, without intervention a specialized operator, under the sole possible control of the user, for example of the trucker bringing or coming look for the UTI to handle.
- Such an installation could in addition to complement traditional devices during normal working hours, possibly in a mode controlled by an operator.
- the present invention aims to provide such installations automated.
- the invention firstly relates to a method of loading of a UTI on the platform of a carrier vehicle, characterized by the fact that it comprises the stages consisting in bringing said UTI using a handling machine near the location where it is to be loaded on the platform, to be detected at using at least one laser telemetry sensor, corner pieces UTI and platform locking pins, and order the removal of the UTI by the handling equipment on the platform based on the information provided by the sensor, so as to engage the orifices of the corner pieces of the UTI on the platform pegs.
- the present invention also relates to a method of unloading of a UTI from the platform of a carrier vehicle, characterized by the fact that it comprises the stages consisting in bringing a handling machine near the UTI, to be detected using at least one laser telemetry sensor, corner pieces of the UTI, to order the gripping of the UTI by the handling according to the information provided by the sensor, to measure the height of the UTI, and place the UTI in a location predetermined using the measured height information, and that, in order to measure the height of the UTI, it is measured using a sensor, including laser telemetry, the height of its wall and the height of the platform, and we perform the difference of these heights.
- lateral vision is understood a detection which is carried out on the one hand substantially horizontally at the level of the platform and from the bottom of the UTI, and on the other hand transversely to the longitudinal axis of this platform.
- This type of detection has the particular advantage of being operational, in the case of a load, until the moment of removal, while a vision high only works until the UTI hides the platform and the ankles it supports.
- the invention automates the operations of loading and unloading of a UTI on or from the vehicle platform, especially road. These operations of automated loading and unloading is accomplished using laser telemetry sensors, for the detection of UTI by its corner pieces and for that of the locking pegs. The information collected by these sensors is then used to order a handling machine and control its movements to the measurements made.
- the invention also relates to a device for the handling of ITUs, including a handling machine, characterized in that it comprises at least one sensor for laser telemetry, to detect at least corner pieces of ITUs, and means for controlling the handling equipment as a function information provided by the sensor.
- the spacecraft handling is a gantry fitted with a lifting beam and the telemetry sensors are mounted on said spreader.
- the sensors telemetry are mounted on at least one of the uprights of the gantry.
- the senor comprises means for horizontal and vertical optical or mechanical scanning.
- the means of vertical scanning are mechanical means and the means horizontal scanning are optical means.
- FIG. 1 shows a container 1 of standard type, 20 'or 40', with its eight corner pieces. These corner pieces are themselves standardized and include in particular elongated orifices 3 on their lower and upper faces respectively.
- the holes 3 at the bottom of the UTI are intended for receive the anchors 4 locking platforms transport, and those at the top are intended to receive the organs gripping of the handling spreaders which it will be question further.
- the corner pieces also have holes side forming sight marks.
- FIG. 2 An example of a locking pin is shown in Figures 2 and 3.
- This pin 4 has a base 5 on which is pivotally mounted an elongated head 6.
- the head 6 is provided for engaging in the orifices 3 and, after pivoting 90 °, block the UTI.
- a handling area 7 is provided, shown at Figure 4, including, for example, a traffic queue 8, and two rows of container storage 9.
- a gantry handling station 10 spans handling area 7.
- a cockpit 11 includes a reserved area 12, in which are notably the IT resources necessary and the power cabinet, and a operation 13.
- Such a device comprises, as shown in FIG. 5, a laser telemetry sensor 15 comprising in known manner a laser source and optical means, for example a mirror or rotating prism, horizontal scanning.
- This sensor is mounted to pivot about a horizontal axis 16 to do a vertical scan, so the whole is able to form an image like the one shown in the figure 6.
- the device further includes another sensor, laser or other, 21 located above the traffic queue 8.
- This sensor is arranged to detect the rear of the platform of a vehicle presenting for an operation of handling. To this end, it scans an oblique plane 22 intersecting the traffic lane 8.
- the sensor 21 is also arranged so that its plane scan 22 intersects the top wall 23 with a container carried by a vehicle. It is thus possible, by subtraction, to know the height of the container and so place it on storage area 9. In fact, when the taking of a container on a vehicle platform, measure the height of the container and that of the platform.
- FIGS 8 and 9 illustrate in more detail the gantry 10.
- the lifter 34 is provided with means capable of grasping, in a known manner, a container.
- the lifter 34 carries the two laser sensors 15. These sensors could however be carried by the uprights 30.
- FIGS 10 and 11 illustrate the operation of the device according to the invention.
- the sensors 15 detect the relative position of the lower corner pieces of the container and locking pegs.
- the system of command 40 deduces therefrom the orders to be supplied to gantry 10.
- the sensors 15 detect the position of the upper corner pieces of the container.
- the control system 40 deduces therefrom the orders to supply to gantry 10.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control And Safety Of Cranes (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9609292A FR2751628A1 (fr) | 1996-07-24 | 1996-07-24 | Procedes et dispositif pour la manutention d'unites de transport intermodal |
FR9609292 | 1996-07-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0820957A1 true EP0820957A1 (de) | 1998-01-28 |
Family
ID=9494409
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97401778A Withdrawn EP0820957A1 (de) | 1996-07-24 | 1997-07-24 | Verfahren und Vorrichtung zum Fördern von Kontainer |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0820957A1 (de) |
FR (1) | FR2751628A1 (de) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000018671A1 (en) * | 1998-09-30 | 2000-04-06 | Abb Ab | Horizontal reference marker |
EP1043262A1 (de) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Verfahren zum Laden eines Containers auf die Plattform eines Transportmittels und Einrichtung zum Lagern und Fördern von Containern |
GR990100238A (el) * | 1999-07-09 | 2001-03-30 | Συστημα ευθυγραμμισης οχηματων στοιβαξης και μεταφορας εμπορευματοκιβωτιων με την γερανογεφυρα | |
US6648156B1 (en) * | 1998-10-22 | 2003-11-18 | Abb Ab | Method for handling containers and a means to carry out a method for selecting a desired position on a stacking target |
EP2707749A1 (de) * | 2011-05-10 | 2014-03-19 | Cargotec Finland Oy | System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern |
CN109835815A (zh) * | 2019-03-15 | 2019-06-04 | 上海振华重工(集团)股份有限公司 | 集装箱起重机自动标定方法和*** |
CN114040887A (zh) * | 2019-07-05 | 2022-02-11 | 凯姆科技术股份有限公司 | 带有清洗站的集装箱扫描*** |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI129963B (fi) * | 2017-03-16 | 2022-11-30 | Konecranes Global Oy | Kontin siirtolaitteen valvominen konttia laskettaessa kuljetusalustalle tai nostettaessa pois kuljetusalustalta ja optinen tunnistuslaitteisto kontin siirtolaitteen valvomiseksi |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2746794A1 (de) * | 1976-10-20 | 1978-05-03 | Hitachi Ltd | Vorrichtuung zur positionierung eines spreizgeruestes zum automatischen erfassen und handhaben eines stueckgutes |
GB1557640A (en) * | 1976-10-22 | 1979-12-12 | Hitachi Ltd | Method and apparatus for automatic operation of container crane |
DE2947955A1 (de) * | 1979-07-26 | 1981-07-23 | Fördertechnische Forschungsgesellschaft mbH | Laserstrahl-positionierungseinrichtung zur positionierung von in einer richtung sich bewegenden objekten, insbesondere eisenbahnfahrzeugen zum umsetzen von behaeltern, wie containern, auf seitlich des fahrzeuges befindliche abstellflaechen, insbesondere unterhalb der oberleitungen fuer elektrische triebfahrzeuge, in bezug auf feststehende objekte und mit der laserstrahl-positionierungseinrichtung ausgeruestetes behaelterumsetzfahrzeug |
DE3606363A1 (de) * | 1986-02-27 | 1987-09-03 | Krupp Gmbh | Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung |
EP0342655A2 (de) * | 1988-05-18 | 1989-11-23 | Tax Ingenieurgesellschaft Mbh | Containerkrananlage |
US5142658A (en) * | 1991-10-18 | 1992-08-25 | Daniel H. Wagner Associates, Inc. | Container chassis positioning system |
GB2276507A (en) * | 1993-03-25 | 1994-09-28 | Port Of Singapore Authority | Vehicle positioning |
EP0668236A1 (de) * | 1994-02-18 | 1995-08-23 | Siemens Aktiengesellschaft | Anordnung zur Lastpositionierung bei Kranen |
-
1996
- 1996-07-24 FR FR9609292A patent/FR2751628A1/fr active Pending
-
1997
- 1997-07-24 EP EP97401778A patent/EP0820957A1/de not_active Withdrawn
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2746794A1 (de) * | 1976-10-20 | 1978-05-03 | Hitachi Ltd | Vorrichtuung zur positionierung eines spreizgeruestes zum automatischen erfassen und handhaben eines stueckgutes |
GB1557640A (en) * | 1976-10-22 | 1979-12-12 | Hitachi Ltd | Method and apparatus for automatic operation of container crane |
DE2947955A1 (de) * | 1979-07-26 | 1981-07-23 | Fördertechnische Forschungsgesellschaft mbH | Laserstrahl-positionierungseinrichtung zur positionierung von in einer richtung sich bewegenden objekten, insbesondere eisenbahnfahrzeugen zum umsetzen von behaeltern, wie containern, auf seitlich des fahrzeuges befindliche abstellflaechen, insbesondere unterhalb der oberleitungen fuer elektrische triebfahrzeuge, in bezug auf feststehende objekte und mit der laserstrahl-positionierungseinrichtung ausgeruestetes behaelterumsetzfahrzeug |
DE3606363A1 (de) * | 1986-02-27 | 1987-09-03 | Krupp Gmbh | Einrichtung zur bestimmung der lage eines fahrzeugs relativ zu einer container-hebevorrichtung |
EP0342655A2 (de) * | 1988-05-18 | 1989-11-23 | Tax Ingenieurgesellschaft Mbh | Containerkrananlage |
US5142658A (en) * | 1991-10-18 | 1992-08-25 | Daniel H. Wagner Associates, Inc. | Container chassis positioning system |
GB2276507A (en) * | 1993-03-25 | 1994-09-28 | Port Of Singapore Authority | Vehicle positioning |
EP0668236A1 (de) * | 1994-02-18 | 1995-08-23 | Siemens Aktiengesellschaft | Anordnung zur Lastpositionierung bei Kranen |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000018671A1 (en) * | 1998-09-30 | 2000-04-06 | Abb Ab | Horizontal reference marker |
US6535834B1 (en) | 1998-09-30 | 2003-03-18 | Abb Ab | Horizontal reference marker |
US6648156B1 (en) * | 1998-10-22 | 2003-11-18 | Abb Ab | Method for handling containers and a means to carry out a method for selecting a desired position on a stacking target |
EP1043262A1 (de) * | 1999-04-09 | 2000-10-11 | NFM Technologies | Verfahren zum Laden eines Containers auf die Plattform eines Transportmittels und Einrichtung zum Lagern und Fördern von Containern |
FR2791963A1 (fr) * | 1999-04-09 | 2000-10-13 | Nfm Tech | Procede de chargement d'un conteneur sur une plate-forme d'un moyen de transport et installation de stockage et de manutention de conteneurs |
GR990100238A (el) * | 1999-07-09 | 2001-03-30 | Συστημα ευθυγραμμισης οχηματων στοιβαξης και μεταφορας εμπορευματοκιβωτιων με την γερανογεφυρα | |
EP2707749A1 (de) * | 2011-05-10 | 2014-03-19 | Cargotec Finland Oy | System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern |
EP2707749A4 (de) * | 2011-05-10 | 2015-02-18 | Cargotec Finland Oy | System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern |
EP2707749B1 (de) | 2011-05-10 | 2016-06-08 | Cargotec Finland Oy | System zur bestimmung der position eines behälters in einem fahrzeug und/oder in einem fahrzeuganhänger zur beladung mit behältern |
CN109835815A (zh) * | 2019-03-15 | 2019-06-04 | 上海振华重工(集团)股份有限公司 | 集装箱起重机自动标定方法和*** |
CN109835815B (zh) * | 2019-03-15 | 2020-08-21 | 上海振华重工(集团)股份有限公司 | 集装箱起重机自动标定方法和*** |
CN114040887A (zh) * | 2019-07-05 | 2022-02-11 | 凯姆科技术股份有限公司 | 带有清洗站的集装箱扫描*** |
Also Published As
Publication number | Publication date |
---|---|
FR2751628A1 (fr) | 1998-01-30 |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): BE DE NL |
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Effective date: 19980723 |
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RBV | Designated contracting states (corrected) |
Designated state(s): AT BE CH LI |
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REG | Reference to a national code |
Ref country code: DE Ref legal event code: 8566 |
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RBV | Designated contracting states (corrected) |
Designated state(s): BE DE NL |
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17Q | First examination report despatched |
Effective date: 20010814 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20020226 |