EP0822158A1 - System for automatically positioning a movable object in relation to another movable object - Google Patents

System for automatically positioning a movable object in relation to another movable object Download PDF

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Publication number
EP0822158A1
EP0822158A1 EP97112698A EP97112698A EP0822158A1 EP 0822158 A1 EP0822158 A1 EP 0822158A1 EP 97112698 A EP97112698 A EP 97112698A EP 97112698 A EP97112698 A EP 97112698A EP 0822158 A1 EP0822158 A1 EP 0822158A1
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EP
European Patent Office
Prior art keywords
master
slave
load
crane
transport
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Granted
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EP97112698A
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German (de)
French (fr)
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EP0822158B1 (en
Inventor
Stefan Klement
Gerhard Häffner
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Noell Mobile Systems GmbH
Original Assignee
NOELL STAHL- und MASCHINENBAU GmbH
PREUSSAG NOELL GES MIT BESCHRA
Preussag Noell Wassertechnik GmbH
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    • 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 device for automatically positioning one of two objects movable against each other, in particular with a crane system Load suspension device in relation to a load bearing the goods to be handled Mode of Transport.
  • a container crane system is known from EP 0342 655, which containers between different locations or means of transport.
  • the at sensors used in this system in the spreader aim directly from above Loading unit and its upper corner beats. If there are no upper corner blows or does the shaky tarpaulin structure of the loading unit allow precise edge detection not, this applies in particular to swap bodies for combined transport, the exact position from above cannot be determined, and so can the described one System cannot be used universally.
  • DE 43 15 005 A1 describes a device for the measurement of Angular positions of a moving object in relation to its starting position.
  • the sensor system used in the system described there only looks at the cat Spreader.
  • the generic DE 36 06 363 C 2 contains a device for determination the position of a vehicle relative to a container lifting device.
  • the Lifting device preferably on its moving beam with at least two on the Basis of ultrasound sensors with parallel axes and the vehicle is equipped at least on one side with reflectors, the Distance between the reflectors corresponds to that of the sensors among themselves and wherein the number of reflectors on the or each side of the vehicle and the the sensors total is six.
  • the sensors are via an evaluation unit connected to a detection device and / or a data processing system.
  • the system only determines the position of the vehicle in relation to the crane side member, but not to the load handler. Dynamic Deformations in the crane construction are not taken into account. So it can it can not always be ensured that the load suspension device always determines the determined Position hits.
  • the object of the present invention is therefore to provide a device for automatic positioning of one of two moving objects, in particular a crane system with load handler compared to one to convey goods to be handled with which the Disadvantages of the solutions known from the prior art can be avoided can, in particular, that the load handling device is reliable and in a short time securely in the required position to pick up or set down the goods is proceeded.
  • a crane system Load suspension device in relation to a load bearing the goods to be handled
  • the crane has at least one in means of transport for measuring a destination in its longitudinal direction freely movable master measuring system with at least one laterally target located on the means of transport and is used to position the Load suspension device with at least one, appropriately arranged target marks capturing, slave system on the load suspension device or on the trolley or provided together with the master measuring system on the measuring slide, by its Signal the load handler to the required position for lifting or Settling of the goods is proceeded.
  • the device according to the solution is in contrast to that from the prior art Solutions known from technology assume that the goods to be loaded or Loading units are not recognizable from above.
  • the master system is on the side Load unit or aimed at the target position (marking on the means of transport) and thus determines the target position for the load handler.
  • the slave system is determined the purchase of load handler and master system.
  • the master can be moved freely according to the proposed method. For one, can the master uses a controlled procedure to search for the means of transport and himself place directly in front of the corner fittings or drop-off position and the ones present there Data (pictures, etc.) for further verification to another computer system to ship. On the other hand, the process of determining the position of the loading goods or the vehicle parallel to the journey one to
  • the master and slave naturally have the necessary intelligence to Arithmetic. It is also possible for the slave and master to be connected in one unit and the slave is aiming for a mark on the load handler. While of lowering the load, the master looks at the means of transport and thus determines a virtual target point for the slave system. The slave measures the distance of this virtual target point to the lead mark on the load handler. This will Measure the position offset between the load handler and the means of transport.
  • the crane has on its longitudinal beam at least one guide rail on which at least one measuring slide with a Target mark and a master is arranged movable in at least one axis.
  • At least one slave is installed on the load handler or on the trolley. It So two different variants of the arrangement of the slave are possible. If the slave is installed on the trolley above the load handler, then must the load handler also has at least one target for the slave exhibit. If the slave is installed directly on the load handler, there is none additional target required.
  • the number of master systems depends on the Number of envelope positions to be handled. The number of slave systems is depending on the number of load suspension devices and the possible number of different ones Sizes of loading units.
  • the position of the target of the measuring slide is detected by the slave, with the slave Signal the load handler to the required position for lifting or The loading unit is moved.
  • the slave therefore has the task of reference to determine the load handling device to the master system, the master system a reference point defined on at least one side of the means of transport as Marked. This can be a specially arranged marking act. But just as well any suitable and anyway on Characters or components located in the means of transport can be determined.
  • Masters and Slaves have a common computer system, through which the necessary Positions for picking up or setting down the goods can be calculated.
  • Master arranged an image capture device and / or a distance sensor.
  • Image acquisition devices are used to measure the target mark by the slave and / or laser sensors used. These must also depend on the respective application and environmental conditions can be selected or combined.
  • the master system is still a additional, redundant first recognition system supports to at the high Relative speed between master and brand the recognition reliability of the Masters raise.
  • the first detection system is then integrated in each master. During the passage of the means of transport past the master or the The first recognition system recognizes the profile of the master on the means of transport Means of transport. Since the position of the first detection system is known, the Size, type and location of the means of transport are measured. Depending on the Local weather conditions are measuring systems on magnetic sensor, microwave or or use laser technology.
  • Figures 1 and 2 show a schematic representation of a positioning system for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension device 14.
  • Target marks 3 are defined on the side of the means of transport 1.
  • the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable.
  • the target marks 7 are each attached to a holder 8.
  • the master 5, 6 searches for the corresponding target 3 on Means of transport 1. As soon as the master has recognized this target, it calculates the current crane position and the position of the measuring slide 4 the position of the means of transport 1 and passes this position to the crane control as a new one Target position. While the crane is now approaching this new target position, it is tracking Master 5, 6 by controlled movement of the measuring slide 4 the target 3 on Means of transport so that the master is now always in the middle of this. Of the
  • Master now additionally measures the distance from master 5, 6 to means of transport 1 and transmits this to slave 10.
  • the slave 10 measures the target mark 7 on the measuring slide 4 and uses this to calculate and with the known distance "master to means of transport” the current one Deviation of the load-carrying means 14 from the means of transport 1. This measured value becomes continuously transferred to the crane control and this is used for precise Positioning the crane and trolley or the load handling device 14 relative to the Means of transport 1.
  • FIGS. 3 and 4 show a positioning system in a schematic representation for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension means 14, above the load suspension means 14 on the trolley 15 several slaves 10 are arranged.
  • the load suspension device 14 has several Targets 13 on.
  • the target marks 3 are in turn defined on the means of transport 1.
  • Of the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable.
  • the measuring slide 4 is in this case below the Longitudinal bar 9 is pivotally arranged.
  • FIG. 5 shows how slave 10 and master 5, 6 are connected in one unit and the slave aims upwards at a mark on the load handler 2.
  • the master While lowering the load, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system. The slave misses that Distance of this virtual target point to the leading mark 13 on the load suspension device. As a result, the position offset between the load handler and the means of transport measured.
  • FIG. 6 shows how the master system can be redundant first detection system 18 is supported to at high Relative speed between master 5, 6 and mark 3 the detection reliability of the master.
  • the first detection system 18 is integrated in each master. While driving past the means of transport on the master or the master on the means of transport the first recognition system recognizes the profile of the means of transport. Because the position the first detection system is known, the size, type and location of the Means of transport are measured. Depending on the local Weather conditions are measuring systems on magnetic sensor, microwave or Use laser technology.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The method involves surveying a destination location using at least one master measuring system e.g. a camera (5) which travels freely at least one axis, and at least one mark located at one side of a transport facility (1). The camera respectively delivers object position to a slave (10) e.g. a laser scanner. The camera is either itself an object mark for the slave or positions a corresponding object mark for the slave. The slave determines the position of the object mark and positions the load reception facility e.g. a spreader (14) with or without goods opposite the object mark set by the master. The load reception facility travels in to the required position, for the reception or the discharge of goods.

Description

Die Erfindung betrifft eine Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten, insbesondere einer Krananlage mit Lastaufnahmemittel gegenüber einem die umzuschlagenden Güter tragenden Transportmittel.The invention relates to a device for automatically positioning one of two objects movable against each other, in particular with a crane system Load suspension device in relation to a load bearing the goods to be handled Mode of Transport.

Es ist bekannt, daß sich Krane mit verschiedensten Techniken positionieren lassen, wobei neuere Verfahren die Anwendung von Laser-Entfernungsmessern beinhalten, die die Entfernung auf Reflektoren messen und an die Kransteuerung weitergeben. Ein bekanntes System geht dabei davon aus, daß die Ladeeinheit bzw. die Zielposition von oben sicher erkannt werden kann. Dies ist aber im Fall von Tragwagen und Wechselbehältern mit typischem Planenaufbau nicht sicher möglich. Das System wird deshalb vorwiegend für formstabile Container eingesetzt werden. Weiterhin ist es mit dem beschriebenen System nicht vorgesehen, noch während der Kranfahrt, d. h. bei hoher Krangeschwindigkeit, die Position eines Transportfahrzeuges zu bestimmen ("Laser-Sensoren für die Kranautomatisierung" in F + H, Fördern und Heben, 42 (1992) Nr. 11, S. 890-892).It is known that cranes can be positioned using a variety of techniques, newer methods involve the use of laser rangefinders, which measure the distance on reflectors and pass it on to the crane control. A known system assumes that the loading unit or Target position can be reliably recognized from above. But this is the case with Carriages and swap bodies with a typical tarpaulin structure are not safe. The system will therefore mainly be used for dimensionally stable containers. Furthermore, it is not provided with the system described, nor during the Crane travel, d. H. at high crane speed, the position of a To determine the transport vehicle ("Laser sensors for crane automation" in F + H, Förder und Heben, 42 (1992) No. 11, pp. 890-892).

Aus der EP 0342 655 ist eine Containerkrananlage bekannt, welche Container zwischen verschiedenen Standplätzen oder Transportmitteln umsetzen soll. Die bei diesem System eingesetzte Sensorik im Spreader zielt direkt von oben auf die Ladeeinheit und deren obere Eckschläge. Sind obere Eckschläge nicht vorhanden oder läßt der wackelige Planenaufbau der Ladeeinheit eine genaue Kantenerkennung nicht zu, dies trifft insbesondere auf Wechselbehälter des kombinierten Verkehrs zu, so läßt sich die genaue Position von oben nicht bestimmen und das beschriebene System ist nicht universell einsetzbar. A container crane system is known from EP 0342 655, which containers between different locations or means of transport. The at sensors used in this system in the spreader aim directly from above Loading unit and its upper corner beats. If there are no upper corner blows or does the shaky tarpaulin structure of the loading unit allow precise edge detection not, this applies in particular to swap bodies for combined transport, the exact position from above cannot be determined, and so can the described one System cannot be used universally.

Die DE 43 15 005 A 1 beschreibt eine Vorrichtung zur meßtechnischen Erfassung von Winkellagen eines bewegten Gegenstandes gegenüber seiner Ausgangsstellung. Die im dort beschriebenen System eingesetzte Sensorik blickt von der Katze nur auf den Spreader. Die Position der aufzunehmenden Ladeeinheit bzw. deren Zielposition wird aber nicht gemessen.DE 43 15 005 A1 describes a device for the measurement of Angular positions of a moving object in relation to its starting position. The The sensor system used in the system described there only looks at the cat Spreader. The position of the loading unit to be picked up or its target position but not measured.

Die gattungsbildende DE 36 06 363 C 2 beinhaltet eine Einrichtung zur Bestimmung der Lage eines Fahrzeuges relativ zu einer Container-Hebevorrichtung. Dabei ist die Hebevorrichtung vorzugsweise an ihrem Fahrbalken mit mindestens zwei auf der Basis von Ultraschall arbeitenden Sensoren mit parallel ausgerichteten Achsen und das Fahrzeug zumindest an einer Seite mit Reflektoren ausgerüstet, wobei der Abstand der Reflektoren untereinander dem der Sensoren untereinander entspricht und wobei die Anzahl der Reflektoren der bzw. jeder Seite des Fahrzeuges und die der Sensoren insgesamt sechs beträgt. Die Sensoren sind über eine Auswerteeinheit mit einem Erkennungsgerät und/oder einer Datenverarbeitungsanlage verbunden. Neben der oft unzureichenden Genauigkeit der beschriebenen Ultraschallsensorik ist das dargestellte System durch die ortsfeste Montage am Kranlängsträger in seiner Wirkung beschränkt. Das System ermittelt weiterhin nur die Position des Fahrzeuges in bezug auf den Kranlängsträger, nicht aber zum Lastaufnahmemittel. Dynamische Verformungen in der Krankonstruktion werden nicht berücksichtigt. Es kann somit nicht immer sichergestellt werden, daß das Lastaufnahmemittel stets die ermittelte Position trifft.The generic DE 36 06 363 C 2 contains a device for determination the position of a vehicle relative to a container lifting device. Here is the Lifting device preferably on its moving beam with at least two on the Basis of ultrasound sensors with parallel axes and the vehicle is equipped at least on one side with reflectors, the Distance between the reflectors corresponds to that of the sensors among themselves and wherein the number of reflectors on the or each side of the vehicle and the the sensors total is six. The sensors are via an evaluation unit connected to a detection device and / or a data processing system. In addition to the often inadequate accuracy of the ultrasonic sensors described the system shown by the fixed mounting on the crane side member in his Limited effect. The system only determines the position of the vehicle in relation to the crane side member, but not to the load handler. Dynamic Deformations in the crane construction are not taken into account. So it can it can not always be ensured that the load suspension device always determines the determined Position hits.

Die Aufgabe der vorliegenden Erfindung besteht deshalb darin, eine Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten, insbesondere einer Krananlage mit Lastaufnahmemittel gegenüber einem die umzuschlagenden Güter tragenden Transportmittel vorzustellen, mit welchem die Nachteile der aus dem Stand der Technik bekannten Lösungen vermieden werden können, insbesondere, daß das Lastaufnahmemittel in kurzer Zeit zuverlässig und sicher in die erforderliche Position zum Aufnehmen oder Absetzen des Gutes verfahren wird.The object of the present invention is therefore to provide a device for automatic positioning of one of two moving objects, in particular a crane system with load handler compared to one to convey goods to be handled with which the Disadvantages of the solutions known from the prior art can be avoided can, in particular, that the load handling device is reliable and in a short time securely in the required position to pick up or set down the goods is proceeded.

Erfindungsgemäß wird die Aufgabe durch die Merkmale des Anspruchs 1 gelöst. Vorteilhafte Ausbildungen der Erfindung sind in den Ansprüchen 2 bis 7 enthalten.According to the invention the object is achieved by the features of claim 1. Advantageous developments of the invention are contained in claims 2 to 7.

Bei der lösungsgemäßen Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten, insbesondere einer Krananlage mit Lastaufnahmemittel gegenüber einem die umzuschlagenden Güter tragenden Transportmittel weist der Kran zur Vermessung eines Zielortes mindestens ein in seiner Längsrichtung frei verfahrbares Mastermeßsystem mit mindestens einer seitlich dazu am Transportmittel befindlichen Zielmarke auf und ist zur Positionierung des Lastaufnahmemittels mit mindestens einem, entsprechend angeordnete Zielmarken erfassenden, Slavesystem am Lastaufnahmemittel oder an der Laufkatze oder zusammen mit dem Mastermeßsystem am Meßschlitten versehen, durch dessen Signal das Lastaufnahmemittel in die erforderliche Position zum Aufnehmen oder Absetzen des Gutes verfahren wird.In the device according to the solution for automatically positioning one of two objects moving against each other, especially a crane system Load suspension device in relation to a load bearing the goods to be handled The crane has at least one in means of transport for measuring a destination in its longitudinal direction freely movable master measuring system with at least one laterally target located on the means of transport and is used to position the Load suspension device with at least one, appropriately arranged target marks capturing, slave system on the load suspension device or on the trolley or provided together with the master measuring system on the measuring slide, by its Signal the load handler to the required position for lifting or Settling of the goods is proceeded.

Die lösungsgemäße Einrichtung geht im Gegensatz zu den aus dem Stand der Technik bekannten Lösungen davon aus, daß die zu verladenden Güter bzw. Ladeeinheiten von oben nicht erkennbar sind. Das Mastersystem ist seitlich auf die Ladeeinheit bzw. auf die Zielposition (Markierung am Transportmittel) gerichtet und bestimmt somit die Sollposition für das Lastaufnahmemittel. Das Slavesystem ermittelt hierzu den Bezug von Lastaufnahmemittel und Mastersystem.The device according to the solution is in contrast to that from the prior art Solutions known from technology assume that the goods to be loaded or Loading units are not recognizable from above. The master system is on the side Load unit or aimed at the target position (marking on the means of transport) and thus determines the target position for the load handler. The slave system is determined the purchase of load handler and master system.

Nach dem vorgeschlagenen Verfahren ist der Master frei verfahrbar. Zum einen kann der Master damit durch gesteuertes Verfahren das Transportmittel suchen und sich direkt vor die Eckbeschläge bzw. Absetzposition stellen und die dort vorliegenden Daten (Bilder etc.) zur weiteren Überprüfung an ein anderes Rechnersystem versenden. Zum anderen kann der Vorgang der Positionsbestimmung des zu verladenden Gutes bzw. des Fahrzeuges schon parallel zur Fahrt eines zurThe master can be moved freely according to the proposed method. For one, can the master uses a controlled procedure to search for the means of transport and himself place directly in front of the corner fittings or drop-off position and the ones present there Data (pictures, etc.) for further verification to another computer system to ship. On the other hand, the process of determining the position of the loading goods or the vehicle parallel to the journey one to

Umschlaganlage gehörenden Kranes, und zwar auch bei hoher Krangeschwindigkeit, erfolgen.Transshipment system belonging to the crane, even at high crane speeds, respectively.

Dadurch wird in vorteilhafter Weise ein zeitoptimaler Positioniervorgang möglich. Master und Slave verfügen selbstverständlich über die erforderliche Intelligenz zum Rechnen. Es ist weiterhin möglich, daß Slave und Master in einer Einheit verbunden sind und der Slave nach oben auf eine Marke am Lastaufnahmemittel zielt. Während des Senkens der Last blickt der Master auf das Transportmittel und bestimmt somit einen virtuellen Zielpunkt für das Slavesystem. Der Slave vermißt den Abstand dieses virtuellen Zielpunktes zur Leitmarke am Lastaufnahmemittel. Hierdurch wird der Positionsversatz zwischen Lastaufnahmemittel und Transportmittel vermessen.As a result, a time-optimal positioning process is advantageously possible. The master and slave naturally have the necessary intelligence to Arithmetic. It is also possible for the slave and master to be connected in one unit and the slave is aiming for a mark on the load handler. While of lowering the load, the master looks at the means of transport and thus determines a virtual target point for the slave system. The slave measures the distance of this virtual target point to the lead mark on the load handler. This will Measure the position offset between the load handler and the means of transport.

Nach einem Merkmal der Erfindung weist der Kran an seinem Längsbalken mindestens eine Führungsschiene auf, auf der mindestens ein Meßschlitten mit einer Zielmarke und einem Master in wenigstens einer Achse verfahrbar angeordnet ist. Mindestens ein Slave ist am Lastaufnahmemittel oder an der Laufkatze installiert. Es sind also zwei unterschiedliche Varianten der Anordnung des Slave möglich. Wenn der Slave oberhalb des Lastaufnahmemittels an der Laufkatze installiert ist, dann muß das Lastaufnahmemittel ebenfalls mindestens eine Zielmarke für den Slave aufweisen. Wenn der Slave direkt am Lastaufnahmemittel installiert wird, ist keine weitere Zielmarke erforderlich. Die Anzahl der Mastersysteme ist abhängig von der Anzahl der zu bewältigenden Umschlagpositionen. Die Anzahl Slavesysteme ist abhängig von der Anzahl der Lastaufnahmemittel und der möglichen Anzahl verschiedener Größen von Ladeeinheiten.According to a feature of the invention, the crane has on its longitudinal beam at least one guide rail on which at least one measuring slide with a Target mark and a master is arranged movable in at least one axis. At least one slave is installed on the load handler or on the trolley. It So two different variants of the arrangement of the slave are possible. If the slave is installed on the trolley above the load handler, then must the load handler also has at least one target for the slave exhibit. If the slave is installed directly on the load handler, there is none additional target required. The number of master systems depends on the Number of envelope positions to be handled. The number of slave systems is depending on the number of load suspension devices and the possible number of different ones Sizes of loading units.

Die Position der Zielmarke des Meßschlittens wird vom Slave erfaßt, wobei mit dessen Signal das Lastaufnahmemittel in die erforderliche Position zum Aufnehmen oder Absetzen der Ladeeinheit verfahren wird. Der Slave hat also die Aufgabe, den Bezug von Lastaufnahmemittel zum Mastersystem zu bestimmen, wobei das Mastersystem einen an mindestens einer Seite des Transportmittels definierten Bezugspunkt als Markierung erfaßt. Dabei kann es sich um eine extra dafür angeordnete Markierung handeln. Ebensogut kann aber auch jedes dafür geeignete und sowieso am Transportmittel befindliche Zeichen oder Bauteil dazu bestimmt werden. Master und Slave verfügen über ein gemeinsames Rechnersystem, über welches die erforderlichen Positionen zum Aufnehmen oder Absetzen des Gutes errechnet werden.The position of the target of the measuring slide is detected by the slave, with the slave Signal the load handler to the required position for lifting or The loading unit is moved. The slave therefore has the task of reference to determine the load handling device to the master system, the master system a reference point defined on at least one side of the means of transport as Marked. This can be a specially arranged marking act. But just as well any suitable and anyway on Characters or components located in the means of transport can be determined. Masters and Slaves have a common computer system, through which the necessary Positions for picking up or setting down the goods can be calculated.

Zur Vermessung des Zielortes sind nach einem weiteren Merkmal der Erfindung als Master eine Bilderfassungseinrichtung und/oder ein Entfernungssensor angeordnet.To measure the destination are according to another feature of the invention as Master arranged an image capture device and / or a distance sensor.

Diese müssen den jeweiligen Einsatz- und Umweltbedingungen entsprechend ausgewählt bzw. kombiniert werden.These must correspond to the respective application and environmental conditions selected or combined.

Zur Vermessung der Zielmarke durch den Slave werden Bilderfassungseinrichtungen und/oder Lasersensoren eingesetzt. Diese müssen ebenfalls in Abhängigkeit von den jeweiligen Einsatz- und Umweltbedingungen ausgewählt bzw. kombiniert werden.Image acquisition devices are used to measure the target mark by the slave and / or laser sensors used. These must also depend on the respective application and environmental conditions can be selected or combined.

Nach einem weiteren Merkmal der Erfindung wird das Mastersystem noch durch ein zusätzliches, redundantes Ersterkennungssystem unterstützt, um bei der hohen Relativgeschwindigkeit zwischen Master und Marke die Erkennungssicherheit des Masters zu erhöhen. Das Ersterkennungssystem ist dann in jedem Master integriert. Während der Vorbeifahrt des Transportmittels am Master beziehungsweise des Masters am Transportmittel erkennt das Ersterkennungssystem das Profil des Transportmittels. Da die Position des Ersterkennungssystems bekannt ist, kann so die Größe, Typ und Lage des Transportmittels vermessen werden. Abhängig von den örtlichen Witterungsbedingungen sind Meßsysteme auf Magnetsensor-, Mikrowelle- oder oder Lasertechnologie einzusetzen.According to a further feature of the invention, the master system is still a additional, redundant first recognition system supports to at the high Relative speed between master and brand the recognition reliability of the Masters raise. The first detection system is then integrated in each master. During the passage of the means of transport past the master or the The first recognition system recognizes the profile of the master on the means of transport Means of transport. Since the position of the first detection system is known, the Size, type and location of the means of transport are measured. Depending on the Local weather conditions are measuring systems on magnetic sensor, microwave or or use laser technology.

Mit dem Einsatz des erfindungsgemäßen am Kran verfahrbaren Meßsystems werden zusammenfassend folgende Vorteile im Vergleich zum Stand der Technik erzielt:

  • ein zeitoptimaler Meßvorgang, schon während der Kranfahrt,
  • die Flexibilität, Ladeeinheiten und Transportmittel beliebiger Längen zu vermessen,
  • das Loslösen von Kranbautoleranzen,
  • die Möglichkeit, einen zuerst unbekannten Referenzpunkt (Marke an Transportmittel) zu finden und sich auf diesen einzumessen,
  • die Möglichkeit, Ladeeinheiten zu vermessen, die keine oberen Eckbeschläge aufweisen.
The use of the measuring system according to the invention, which can be moved on the crane, summarizes the following advantages compared to the prior art:
  • a time-optimized measuring process, already during crane travel,
  • the flexibility to measure loading units and means of transport of any length,
  • the loosening of crane construction tolerances,
  • the possibility of finding a reference point (brand of means of transport) that was initially unknown and measuring it,
  • the possibility to measure loading units that have no upper corner fittings.

Die Erfindung soll durch die nachfolgenden Ausführungsbeispiele näher erläutert werden, wobei die erfindungsgemäße Einrichtung nur beispielhaft für die beschriebenen Anlagen erläutert wird.The invention will be explained in more detail by the following exemplary embodiments be, the device according to the invention is only an example of the described systems is explained.

In der Zeichnung zeigen die

Figur 1:
Schematische Darstellung eines Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln mit Slaves am Lastaufnahmemittel in der Vorderansicht,
Figur 2:
Schematische Darstellung des Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln nach Figur 1 in der Draufsicht,
Figur 3:
Schematische Darstellung eines Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln mit Slaves oberhalb des Lastaufnahmemittels in der Vorderansicht,
Figur 4:
Schematische Darstellung des Positioniersystems für Krananlagen zum Umschlagen von Ladeeinheiten von und/oder auf Transportmitteln nach Figur 2 in der Draufsicht.
Figur 5:
Slave und Master sind in einer Einheit verbunden.
Figur 6:
Positioniersystem mit zusätzlichem Erkennungssystem.
In the drawing they show
Figure 1:
Schematic representation of a positioning system for crane systems for handling cargo units from and / or on means of transport with slaves on the load suspension device in the front view,
Figure 2:
Schematic representation of the positioning system for crane systems for handling cargo units from and / or on means of transport according to FIG. 1 in a top view,
Figure 3:
Schematic representation of a positioning system for crane systems for handling cargo units from and / or on means of transport with slaves above the load suspension device in the front view,
Figure 4:
Schematic representation of the positioning system for crane systems for handling cargo units from and / or on means of transport according to Figure 2 in plan view.
Figure 5:
Slave and master are connected in one unit.
Figure 6:
Positioning system with additional detection system.

Die Figuren 1 und 2 zeigen in einer schematischen Darstellung ein Positioniersystem für Krananlagen zum Umschlagen von Ladeeinheiten 2 von und/oder auf Transportmitteln 1, bestehend aus einem Kran mit dem Krangerüst 17 und einem Lastaufnahmemittel 14. Seitlich am Transportmittel 1 sind Zielmarken 3 definiert. Der untere Längsbalken 9 des Krangerüstes 17 weist eine Führungsschiene 11 auf, auf der zwei Meßschlitten 4 mit jeweils einer Zielmarke 7 und einem Master 5, 6 verfahrbar angeordnet sind. Die Zielmarken 7 sind jeweils an einer Halterung 8 angebracht. Am Lastaufnahmemittel 14 sind zwei Slaves 10 an jeweils einem Befestigungsprofil 12 angeordnet.Figures 1 and 2 show a schematic representation of a positioning system for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension device 14. Target marks 3 are defined on the side of the means of transport 1. Of the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable. The target marks 7 are each attached to a holder 8. There are two slaves 10 each on the load suspension device 14 Fastening profile 12 arranged.

Die Funktionsweise des Systems wird wie folgt beschrieben:The functioning of the system is described as follows:

Noch während der Kranfahrt sucht der Master 5, 6 die entsprechende Zielmarke 3 am Transportmittel 1. Sobald der Master diese Zielmarke erkannt hat, errechnet er aus der augenblicklichen Kranposition und der Position des Meßschlittens 4 die Position des Transportmittels 1 und übergibt diese Position der Kransteuerung als neue Zielposition. Während der Kran nun diese neue Zielposition anfährt, verfolgt der Master 5, 6 durch gesteuertes Verfahren des Meßschlittens 4 die Zielmarke 3 am Transportmittel, so daß sich der Master nun immer mittig vor dieser befindet. DerWhile the crane is moving, the master 5, 6 searches for the corresponding target 3 on Means of transport 1. As soon as the master has recognized this target, it calculates the current crane position and the position of the measuring slide 4 the position of the means of transport 1 and passes this position to the crane control as a new one Target position. While the crane is now approaching this new target position, it is tracking Master 5, 6 by controlled movement of the measuring slide 4 the target 3 on Means of transport so that the master is now always in the middle of this. Of the

Master mißt nun zusätzlich den Abstand vom Master 5, 6 zum Transportmittel 1 und überträgt diesen zum Slave 10.Master now additionally measures the distance from master 5, 6 to means of transport 1 and transmits this to slave 10.

Während des Senkens des Lastaufnahmemittels 14 mit oder ohne Last betrachtet und vermißt der Slave 10 die Zielmarke 7 am Meßschlitten 4 und errechnet hieraus und mit dem bekannten Abstand "Master zu Transportmittel" die augenblickliche Abweichung des Lastaufnahmemittels 14 zum Transportmittel 1. Dieser Meßwert wird kontinuierlich an die Kransteuerung übertragen und dient dieser zur genauen Positionierung von Kran und Katze bzw. des Lastaufnahmemittels 14 gegenüber dem Transportmittel 1.Viewed with or without a load during the lowering of the load suspension device 14 and the slave 10 measures the target mark 7 on the measuring slide 4 and uses this to calculate and with the known distance "master to means of transport" the current one Deviation of the load-carrying means 14 from the means of transport 1. This measured value becomes continuously transferred to the crane control and this is used for precise Positioning the crane and trolley or the load handling device 14 relative to the Means of transport 1.

Die Figuren 3 und 4 zeigen in einer schematischen Darstellung ein Positioniersystem für Krananlagen zum Umschlagen von Ladeeinheiten 2 von und/oder auf Transportmitteln 1, bestehend aus einem Kran mit dem Krangerüst 17 und einem Lastaufnahmemittel 14, wobei oberhalb des Lastaufnahmemittels 14 an der Laufkatze 15 mehrere Slaves 10 angeordnet sind. Das Lastaufnahmemittel 14 weist mehrere Zielmarken 13 auf. Am Transportmittel 1 sind wiederum die Zielmarken 3 definiert. Der untere Längsbalken 9 des Krangerüstes 17 weist eine Führungsschiene 11 auf, auf der zwei Meßschlitten 4 mit jeweils einer Zielmarke 7 und einem Master 5, 6 verfahrbar angeordnet sind. Der Meßschlitten 4 ist in diesem Fall unterhalb des Längsbalkens 9 schwenkbar angeordnet.FIGS. 3 and 4 show a positioning system in a schematic representation for crane systems for handling cargo units 2 from and / or on Means of transport 1, consisting of a crane with the crane frame 17 and one Load suspension means 14, above the load suspension means 14 on the trolley 15 several slaves 10 are arranged. The load suspension device 14 has several Targets 13 on. The target marks 3 are in turn defined on the means of transport 1. Of the lower longitudinal beam 9 of the crane frame 17 has a guide rail 11 of the two measuring slides 4, each with a target mark 7 and a master 5, 6 are arranged movable. The measuring slide 4 is in this case below the Longitudinal bar 9 is pivotally arranged.

Die Figur 5 zeigt, wie Slave 10 und Master 5, 6 in einer Einheit verbunden sind und der Slave nach oben auf eine Marke am Lastaufnahmemittel 2 zielt.FIG. 5 shows how slave 10 and master 5, 6 are connected in one unit and the slave aims upwards at a mark on the load handler 2.

Während des Senkens der Last blickt der Master auf das Transportmittel 1 und bestimmt somit einen virtuellen Zielpunkt für das Slavesystem. Der Slave vermißt den Abstand dieses virtuellen Zielpunktes zur Leitmarke 13 am Lastaufnahmemittel. Hierdurch wird der Positionsversatz zwischen Lastaufnahmemittel und Transportmittel vermessen.While lowering the load, the master looks at the means of transport 1 and thus determines a virtual target point for the slave system. The slave misses that Distance of this virtual target point to the leading mark 13 on the load suspension device. As a result, the position offset between the load handler and the means of transport measured.

In Figur 6 ist dargestellt, wie das Mastersystem noch durch ein zusätzliches, redundantes Ersterkennungssystem 18 unterstützt wird, um bei der hohen Relativgeschwindigkeit zwischen Master 5, 6 und Marke 3 die Erkennungssicherheit des Masters zu erhöhen.FIG. 6 shows how the master system can be redundant first detection system 18 is supported to at high Relative speed between master 5, 6 and mark 3 the detection reliability of the master.

Das Ersterkennungssystem 18 ist in jedem Master integriert. Während der Vorbeifahrt des Transportmittels am Master beziehungsweise des Masters am Transportmittel erkennt das Ersterkennungssystem das Profil des Transportmittels. Da die Position des Ersterkennungssystems bekannt ist, kann so die Größe, Typ und Lage des Transportmittels vermessen werden. Abhängig von den örtlichen Witterungsbedingungen sind Meßsysteme auf Magnetsensor-, Mikrowelle- oder Lasertechnologie einzusetzen.The first detection system 18 is integrated in each master. While driving past the means of transport on the master or the master on the means of transport the first recognition system recognizes the profile of the means of transport. Because the position the first detection system is known, the size, type and location of the Means of transport are measured. Depending on the local Weather conditions are measuring systems on magnetic sensor, microwave or Use laser technology.

Claims (8)

Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten, insbesondere einer Krananlage mit Laufkatze (15) und Lastaufnahmemittel (14) gegenüber einem die umzuschlagenden Güter (2) tragenden Transportmittel (1) mit einem Mastersystem zur Lageerkennung und Definierung der Zielposition,
dadurch gekennzeichnet, daß
zur Vermessung eines Zielortes der Kran mindestens ein in seiner Längsrichtung frei verfahrbares Mastermeßsystem (5, 6) mit mindestens einer seitlich dazu am Transportmittel (1) befindlichen Zielmarke (3) aufweist und daß zur Positionierung des Lastaufnahmemittels (14) mindestens ein, entsprechend angeordnete Zielmarken (7, 13) erfassendes Slavesystem (10) am Lastaufnahmemittel (14) oder an der Laufkatze (15) oder zusammen mit dem Mastermeßsystem (5,6) am Meßschlitten (4) installiert ist, durch dessen Signal das Lastaufnahmemittel (14) in die erforderliche Position zum Aufnehmen oder Absetzen des Gutes (2) verfahren wird.Device for automatically positioning one of two objects that can move against one another, in particular a crane system with a trolley (15) and load-carrying means (14) relative to a means of transport (1) carrying the goods to be handled (2) with a master system for position detection and definition of the target position,
characterized in that
for measuring a target location, the crane has at least one master measuring system (5, 6) which can be moved freely in its longitudinal direction with at least one target mark (3) located on the side of the means of transport (1) and that at least one correspondingly arranged target mark for positioning the load-carrying means (14) (7, 13) detecting slave system (10) on the load-carrying means (14) or on the trolley (15) or together with the master measuring system (5,6) on the measuring slide (4) is installed, through the signal of which the load-carrying means (14) into the required position for picking up or setting down the goods (2) is moved. Einrichtung nach Anspruch 1,
dadurch gekennzeichnet, daß
der Kran an seinem Längsbalken (9) mindestens eine Führungsschiene (11) aufweist, auf der mindestens ein Meßschlitten (4) mit einer Zielmarke (7) für das Slavesystem (10) und einem Master (5, 6) verfahrbar angeordnet ist.Device according to claim 1,
characterized in that
the crane has at least one guide rail (11) on its longitudinal beam (9), on which at least one measuring slide (4) with a target mark (7) for the slave system (10) and a master (5, 6) is arranged to be movable. Einrichtung nach den Ansprüchen 1 und 2,
dadurch gekennzeichnet, daß
der Meßschlitten (14) mit dem Master (5, 6) und der Zielmarke (7) schwenkbar gelagert ist. Device according to claims 1 and 2,
characterized in that
the measuring slide (14) with the master (5, 6) and the target (7) is pivotally mounted. Einrichtung nach den Ansprüchen 1 bis 3,
dadurch gekennzeichnet, daß
mindestens ein Slave (10) an der Laufkatze installiert ist, wobei das Lastaufnahmemittel (14) mindestens eine Zielmarke (13) für den Slave (10) aufweist.Device according to claims 1 to 3,
characterized in that
at least one slave (10) is installed on the trolley, the load suspension means (14) having at least one target mark (13) for the slave (10). Einrichtung nach den Ansprüchen 1 bis 4,
dadurch gekennzeichnet, daß
das Mastermeßsystem (5, 6) eine Bilderfassungseinrichtung und/oder Entfernungssensor und eine Zielmarke (3) umfaßt.Device according to claims 1 to 4,
characterized in that
the master measuring system (5, 6) comprises an image capturing device and / or distance sensor and a target mark (3). Einrichtung nach den Ansprüchen 1 bis 5,
dadurch gekennzeichnet, daß
der Slave (10) eine Bildverarbeitungskamera und/oder einen Laserscanner umfaßt.Device according to claims 1 to 5,
characterized in that
the slave (10) comprises an image processing camera and / or a laser scanner. Einrichtung nach den Ansprüchen 1 bis 6,
dadurch gekennzeichnet, daß
das Mastermeßsystem (5, 6) und der Slave (10) über ein gemeinsames Rechnersystem verfügen, über welches die erforderlichen Positionen zum Aufnehmen oder Absetzen des Gutes errechnet werden.Device according to claims 1 to 6,
characterized in that
the master measuring system (5, 6) and the slave (10) have a common computer system, by means of which the positions required for picking up or setting down the goods are calculated. Einrichtung nach einem der obigen Ansprüche,
dadurch gekennzeichnet, daß
das Mastermeßsystem (5,6) ein redundantes Ersterkennungssystem (18) enthält.Device according to one of the above claims,
characterized in that
the master measuring system (5, 6) contains a redundant first detection system (18).
EP97112698A 1996-07-26 1997-07-24 System for automatically positioning a movable object in relation to another movable object Expired - Lifetime EP0822158B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19630187 1996-07-26
DE19630187A DE19630187C2 (en) 1996-07-26 1996-07-26 Device for the automatic positioning of one of two objects moving against each other

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EP0822158A1 true EP0822158A1 (en) 1998-02-04
EP0822158B1 EP0822158B1 (en) 2004-12-29

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Also Published As

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DE19630187C2 (en) 2001-03-22
DE19630187A1 (en) 1998-01-29
DE59712144D1 (en) 2005-02-03
EP0822158B1 (en) 2004-12-29

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