EP1116684A1 - Load transporting system, especially for containers - Google Patents

Load transporting system, especially for containers Download PDF

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Publication number
EP1116684A1
EP1116684A1 EP01100745A EP01100745A EP1116684A1 EP 1116684 A1 EP1116684 A1 EP 1116684A1 EP 01100745 A EP01100745 A EP 01100745A EP 01100745 A EP01100745 A EP 01100745A EP 1116684 A1 EP1116684 A1 EP 1116684A1
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Prior art keywords
crane
ship
load
containers
target
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EP01100745A
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German (de)
French (fr)
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EP1116684B1 (en
Inventor
Wolfgang Wichner
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Siemens AG
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Siemens AG
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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
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the object of the invention is to provide a load transport system (see FIG 1) which is semi-automatic or fully automatic Allows transportation of crane loads and how it works, for example is presented in the utility model 299 21 246.7, so to add that it is for the operator of the crane (hereinafter referred to as Called crane operator) easy and to operate in an optimal meadow is.
  • the function is based on the example of the container quay crane (Ship to shore crane) is shown, but is in something modified form also applicable for other types of cranes.
  • the load transport system (1) allows crane loads in semi and fully automatic, safe, free of commuting and in time-optimized way to a freely selectable target in the room transport.
  • the selection of this destination is for the crane operator by the proposed target device essential relieved and more flexible. The danger of wrong destination selection is significantly reduced.
  • the crane operator has the purpose the selection of target positions, e.g. on the ship, just over rows of buttons in a console of the crane operator's chair or in the wall console of the crane cabin.
  • the assignment between the console buttons and the corresponding positions he has to mentally manufacture the ship himself. this will difficult because the fixed number of console buttons and the actual container positions on the ship usually does not match.
  • the so-called "self-learners Automatic the crane operator makes his destination selection by pressing makes the first trip to the ship by hand.
  • the container pick-up the crane control as a future, fixed target for the following automatic drives given.
  • the solution is a target device (5) [see FIG. 1], which Crane (6), ship (7) and ship loading profile (8) in one Touchscreen (9) [see FIG 2] represents.
  • the current one Ship loading profile (8) the target device (5) from the load profile memory (10) freshly updated after each trip given.
  • the load profile storage is in the Rule (but not necessary) part of the crane control (2).
  • the positions of the touch areas (12) for the ship targets (13) adapt to the current load profile (8).
  • the Positions do not drop below the hatch height, however Automatic driving down into the ship does not take place.
  • the height of the ship's railing is the ship's hatch height (37). The crane operator can also reach this height Adjust the touch area.
  • the touch areas contain e.g. "Advance towards the country” (20) and "Advance towards water” (21). If the crane operator after pressing a target touch area (14) another the lead areas (20) or (21) touches, then the Horizontal component of the selected target advantageous by an adjustable distance (e.g. 0.5 m) towards the country or shifted towards the water.
  • the crane operators need this function, for example, when you get one on the ship Containers to be loaded for easier placement on the neighboring container want to lean.
  • a loading profile detection device (4) delivers after each Katzfahrt the current horizontal and vertical positions the top container on the ship positions (13) as well obstacles such as the ship's rail (37) to the Load profile store (10). This transfers the data the target device (5) for the purpose of representation on the Touchscreen (11) and to the load transport system (1) as Obstacle coordinates.
  • the load profile detection is "Stowage Profile Scanner” from Telerob, Kiel, Germany (see Appendix 3).
  • This device evaluates the data a distance measuring laser (34), which on the water side Front of the crane trolley (17) is attached by this with being moved across the ship, and down vertically permanent distance measurements to the surfaces (Container [35], ship's floor [36] or ship's rail [37]), which the laser beam hits.
  • the load profile acquisition device has an image evaluation, which from the laser distance measurement data container (35) and others Objects, e.g. the ship's rail (37) is detected and as such in the data record.

Abstract

The system includes a crane, a personal computer with a target guidance program and a sensor system for load position detection. The system comprises a target setting device, which includes a touch screen that works indirectly, without switches. The sensor system includes an optical load detector in the form of a laser scanner.

Description

Aufgabe der Erfindung ist es, ein Lasttransportsystem (siehe FIG 1) welches semiautomatischen oder auch vollautomatischen Transport von Kranlasten ermöglicht und wie es beispielsweise im Gebrauchesmuster 299 21 246.7 vorgestellt ist, so zu ergänzen, dass es für den Bediener des Kranes (im Folgenden als Kranführer bezeichnet) leicht und in optimaler Wiese zu bedienen ist. Die Funktion wird am Beispiel des Containerkaikranes (Ship to Shore Kran) dargestellt, ist aber in etwas abgewandelter Form auch für andere Arten von Kranen anwendbar.The object of the invention is to provide a load transport system (see FIG 1) which is semi-automatic or fully automatic Allows transportation of crane loads and how it works, for example is presented in the utility model 299 21 246.7, so to add that it is for the operator of the crane (hereinafter referred to as Called crane operator) easy and to operate in an optimal meadow is. The function is based on the example of the container quay crane (Ship to shore crane) is shown, but is in something modified form also applicable for other types of cranes.

Das bisherige Kransteuerungssystem, bestehend aus der eigentlichen Kransteuerung (2) - in der Regel eine PLC-Steuerung - und dem Lasttransportsystem (1) wird um eine, besser aber um zwei Komponenten erweitert:

  • 1) Das Zielvorgabegerät (3)
  • 2) Die Beladungsprofilerfassung (4) [Optional]
    • The previous crane control system, consisting of the actual crane control (2) - usually a PLC control - and the load transport system (1) is expanded by one, but better by two components:
  • 1) The target device (3)
  • 2) The loading profile acquisition (4) [optional]

    • 1. Das Zielvorgabegerät1. The target device

    Das Lasttransportsystem (1) erlaubt es, Kranlasten in semi-und vollautomatischer Weise sicher, pendelungsfrei und in zeitoptimaler Weise zu einem frei wählbaren Ziel im Raum zu transportieren. Die Anwahl dieses Zieles wird für den Kranführer durch das vorgeschlagene Zielvorgabegerät wesentlich erleichtert und flexibler. Die Gefahr falscher Zielanwahl wird deutlich reduziert.The load transport system (1) allows crane loads in semi and fully automatic, safe, free of commuting and in time-optimized way to a freely selectable target in the room transport. The selection of this destination is for the crane operator by the proposed target device essential relieved and more flexible. The danger of wrong destination selection is significantly reduced.

    1.1 Stand der Technik1.1 State of the art

    Bei herkömmlichen Verfahren verfügt der Kranführer zum Zwecke der Anwahl von Zielpositionen, z.B. auf dem Schiff, lediglich über Reihen von Knöpfen in einer Konsole des Kranführersessels oder in der Wandkonsole der Krankabine. Die Zuordnung zwischen den Konsolknöpfen und den zugehörigen Positionen auf dem Schiff muss er gedanklich selbst herstellen. Dies wird dadurch erschwert, dass die feste Anzahl der Konsolknöpfe und der tatsächlich auf dem Schiff vorhandenen Containerpositionen in der Regel nicht übereinstimmt. Bei einem weiteren bisher eingesetzten Verfahren, der sogenannten "Selbstlernenden Automatik" trifft der Kranführer seine Zielanwahl, indem er die erste Fahrt auf das Schiff von Hand durchführt. Die Containeraufnahme- oder -absetzposition wird von der Kransteuerung als zukünftiges, festes Ziel für die folgenden Automatikfahrten vorgegeben.In conventional methods, the crane operator has the purpose the selection of target positions, e.g. on the ship, just over rows of buttons in a console of the crane operator's chair or in the wall console of the crane cabin. The assignment between the console buttons and the corresponding positions he has to mentally manufacture the ship himself. this will difficult because the fixed number of console buttons and the actual container positions on the ship usually does not match. Another so far used methods, the so-called "self-learners Automatic "the crane operator makes his destination selection by pressing makes the first trip to the ship by hand. The container pick-up the crane control as a future, fixed target for the following automatic drives given.

    Dieses Verfahren eignet sich natürlich nur, wenn immer die gleiche Zelle im Schiff angefahren werden soll, also im sogenannten vertikalen Umschlagbetrieb. In einer weiteren Betriebsart kann die "Selbstlernende Automatik" noch eine zweite relativ häufig vorkommende Umschlagsart ausführen, den sogenannten "Horizontale Umschlagsbetrieb", also das lagenweise Abräumen oder Auflegen von Containern auf dem Schiff. Dabei gibt die Kransteuerung das nächste Ziel für die Automatikfahrt immer eine Containerbreite weiter Richtung Wasserseite oder Richtung Landseite vor als bei der vorherigen Automatikfahrt, je nachdem ob das Schiff entladen oder beladen wird.Of course, this procedure is only suitable if ever same cell in the ship is to be approached, i.e. in the so-called vertical handling operations. In another mode can the "self-learning automatic" a second Carry out a relatively common type of envelope so-called "horizontal handling operations", that is, layer by layer Clearing or placing containers on the ship. The crane control system gives the next destination for automatic driving always a container width further towards the water side or towards the land side than the previous one Automatic travel, depending on whether the ship is unloaded or loaded becomes.

    Das Verfahren versagt, wenn die Positionen auf dem Schiff in unregelmäßiger Weise angefahren werden müssen. Zusätzliche Positionswechseltester sind hier zwar hilfreich, falsche Zielvorgaben durch die Kranführer erfolgen aber erfahrungsgemäß recht häufig.The procedure fails if the positions on the ship are in have to be started irregularly. Additional Change of position testers are helpful here, wrong ones Experience has shown that the crane operator sets targets quite often.

    1.2 Die Erfindung1.2 The invention

    Die Lösung ist ein Zielvorgabegerät (5) [siehe FIG 1], welche Kran (6), Schiff (7) und Schiffsbeladungsprofil (8) auf einem Touchscreen (9) [siehe FIG 2] darstellt. Dabei wird das aktuelle Schiffsbeladungsprofil (8) dem Zielvorgabegerät (5) von dem Beladungsprofilspeicher (10) nach jeder Fahrt frisch aktualisiert vorgegeben. Der Beladungsprofilspeicher ist in der Regel (aber nicht notwendig) Teil der Kransteuerung (2).The solution is a target device (5) [see FIG. 1], which Crane (6), ship (7) and ship loading profile (8) in one Touchscreen (9) [see FIG 2] represents. The current one Ship loading profile (8) the target device (5) from the load profile memory (10) freshly updated after each trip given. The load profile storage is in the Rule (but not necessary) part of the crane control (2).

    Die Touchscreen-Bedieneroberfläche (11) besitzt z.B. folgende Funktionen:

  • a) Die Darstellung des Kranes (6) und des Kais (19).
  • b) Die graphische Darstellung der aktuellen Position von Krankatze (17) und Last (18).
  • c) Die "Touch-Bereiche" (12) für die üblicherweise benötigten Ziele
    • Schiffpositionen (13)
    • Fahrspuren an Land (14)
    • Absetzposition für die Schiffslukendeckel (15)
    • Parkposition der Krankatze (16)
    • The touchscreen user interface (11) has the following functions, for example:
  • a) The representation of the crane (6) and the quay (19).
  • b) The graphical representation of the current position of crane trolley (17) and load (18).
  • c) The "touch areas" (12) for the commonly required destinations
    • Ship positions (13)
    • Lane on land (14)
    • Lowering position for the hatch covers (15)
    • Parking position of the crane cat (16)

    • Die Positionen der Touch-Bereiche (12) für die Schiffsziele (13) passen sich dem aktuellen Beladungsprofil (8) an. Die Positionen sinken aber nicht unter die Schiffslukenhöhe, da Automatikfahrten unten in das Schiff hinein nicht stattfinden. Als Schiffslukenhöhe wird die Höhe der Schiffsreling (37) festgesetzt. Der Kranführer kann auch diese Höhe über Touch-Bereich verstellen.The positions of the touch areas (12) for the ship targets (13) adapt to the current load profile (8). The Positions do not drop below the hatch height, however Automatic driving down into the ship does not take place. The height of the ship's railing is the ship's hatch height (37). The crane operator can also reach this height Adjust the touch area.

    Die Touch-Bereiche enthalten z.B. "Vorhalt Richtung Land" (20) und "Vorhalt Richtung Wasser" (21). Falls der Kranführer nach dem Drücken eines Ziel-Touch-Bereichs (14) noch einen der Vorhalt-Bereiche (20) oder (21) berührt, so wird die Horizontalkomponente des jeweils angewählten Zieles vorteilhaft um eine einstellbare Strecke (z.B. 0,5 m) Richtung Land oder Richtung Wasser verschoben. Die Kranführer benötigen diese Funktion beispielsweise, wenn sie einen auf das Schiff zu ladenden Container zum leichteren Absetzen an den Nachbarcontainer anlehnen wollen. The touch areas contain e.g. "Advance towards the country" (20) and "Advance towards water" (21). If the crane operator after pressing a target touch area (14) another the lead areas (20) or (21) touches, then the Horizontal component of the selected target advantageous by an adjustable distance (e.g. 0.5 m) towards the country or shifted towards the water. The crane operators need this function, for example, when you get one on the ship Containers to be loaded for easier placement on the neighboring container want to lean.

    Meldeflächen (22) für aktuelle Daten, Zieldaten, Stör- und Warnmeldungen etc. sind weiterhin vorgesehen.Reporting areas (22) for current data, target data, fault and Warning messages etc. are still provided.

    Falls der Kranführer die Vorgabe des nächsten Zieles bereits von einem Host-Rechner (23) [siehe FIG 1] bekommt und nicht wie bisher meist üblich von Tallimann auf dem Schiff über Funk und Handzeichen, so kann der Touchscreen (11) des Zielvorgabegeräts (5) diese Zielvorgabe, welche über die Kransteuerung (2) zum Zielvorgabegerät (5) transferiert wurde, z.B. durch Blinken des entsprechenden Touch-Bereichs (12) anzeigen.If the crane operator already specifies the next destination from a host computer (23) [see FIG. 1] and not as usual up to now from Tallimann on the ship Radio and hand signals, so the touchscreen (11) of the target device (5) this target, which is via the crane control (2) has been transferred to the target device (5), e.g. by flashing the corresponding touch area (12) Show.

    Der Kranführerstand (24) besteht aus dem Kranführersessel (25) mit seiner linken Bedienerkonsole (26) und seiner rechten Bedienerkonsole (27). Der Kranführerstand (24) ist z.B. durch folgende Hauptfunktionen gekennzeichnet:

  • a) Den Meisterschalter Hubwerk (28) für manuellen Betrieb des Hubwerks.
  • b) Den Meisterschalter Katze "konventionell (29) für manuellen Betrieb des Katzfahrwerks und zwei im konventionellen Handbetrieb (ohne Pendelregelungsfunktion).
  • c) Den Meisterschalter Katze "Pendelgeregelt" (30) für pendelgeregelten Handbetrieb des Katzfahrwerks sowie ggf. zum Starten automatischer Bewegungsvorgänge.
  • d) Den Freigabetaster "Touchscreeneingabe" (31). Eingaben, z.B. Zielanwahlen, auf dem Touchscreen sind nur möglich, wenn gleichzeitig dieser Taster gedrückt wird, um unabsichtliche Eingaben zu vermeiden.
  • e) Den Schlüsselschalter "Trainingsbetrieb" (32). Mit ihm werden Funktionen, welche zur Ausbildung von Kranführern auf Automatikkranen erforderlich sind, freigeschaltet.
    • The crane driver's cab (24) consists of the crane operator's chair (25) with its left operator console (26) and its right operator console (27). The crane driver's cab (24) is characterized, for example, by the following main functions:
  • a) The master switch hoist (28) for manual operation of the hoist.
  • b) The master switch "conventional" (29) for manual operation of the trolley and two in conventional manual operation (without sway control function).
  • c) The master switch cat "Pendulum-controlled" (30) for pendulum-controlled manual operation of the trolley and, if necessary, for starting automatic movement processes.
  • d) The release button "touch screen input" (31). Entries, e.g. destination selections, are only possible on the touchscreen if this button is pressed at the same time to avoid unintentional entries.
  • e) The key switch "Training mode" (32). It enables functions that are required to train crane operators on automatic cranes to be activated.

    • Die Verwendung von Meisterschaltern und Freigabetastern anstelle auch möglicher Eingaben in den PC ist für die Sicherheit des Kranbetriebs besonders vorteilhaft, da dem Kranführer das Umlegen oder Drücken eines Schalters besser im Gedächtnis bleibt, als eine Eingabe in den PC.The use of master switches and release buttons instead of possible entries in the PC is for the Safety of crane operation is particularly advantageous because of the It is better for the crane operator to flip or press a switch Memory remains as an input to the PC.

    2. Die Beladungsprofilerfassung2. The loading profile acquisition

    Der Beladungsprofilspeicher (10) enthält das Beladungsprofil (8) der aktuell zu bearbeitenden Schiffsbay. Diese Daten dienen zwei Zwecken:

  • a) Das Profil (8) wird dem Lasttransportsystem (1) übergeben. Dieses berechnet dann aus den zwischen Startpunkt und Ziel einer Fahrt liegenden Hindernissen die optimale Raumkurve (33) der Bewegung der Last (18).
  • b) Das Profil (8) wird dem Zielvorgabegerät (5) übergeben und auf dessen Touchscreen (11) dargestellt.
    • The load profile memory (10) contains the load profile (8) of the ship bay currently being processed. This data serves two purposes:
  • a) The profile (8) is transferred to the load transport system (1). This then calculates the optimal space curve (33) of the movement of the load (18) from the obstacles lying between the starting point and the destination of a journey.
  • b) The profile (8) is transferred to the target device (5) and displayed on its touchscreen (11).

    • 2.1 Stand der Technik2.1 State of the art

    Bis heute kennt man zwei Versionen:

  • a) Die Selbstlernende Automatik" (siehe oben) Dabei wird darauf verzichtet, einzelne Containerpositionen auf dem Schiff zum Zwecke der Gestaltung der Raumkurve (33) zu speichern. Es wird lediglich die Kurve der ersten Fahrt, welche - wie oben erläutert - rein manuell erfolgen muss, gespeichert und bei den folgenden Automatikfahrten von der Automatik "nachgefahren". Eine Darstellung eines Beladungsprofils (8) auf der Touchscreen (11) ist hier natürlich unmöglich.
  • b) Die Containerposition - Lernmethode Hierbei wird bei jedem Containerverriegelungs- und/oder - -entriegelungsvorgang die Position der Last im Beladungsprofilspeicher (10) gespeichert. Erst nachdem alle Schiffspositionen (13) einmal zum Aufnehmen oder Absetzen eines Containers angefahren wurden, ergibt sich das komplette Beladungsprofil (8).
    • To date, two versions are known:
  • a) The self-learning automatic "(see above) It is not necessary to save individual container positions on the ship for the purpose of designing the space curve (33). It is only the curve of the first voyage, which - as explained above - is done purely manually must be saved and "followed up" by the automatic system during the following automatic runs. Of course, it is impossible to display a load profile (8) on the touchscreen (11) here.
  • b) The container position - learning method Here, the position of the load is stored in the load profile memory (10) for each container locking and / or unlocking process. The complete loading profile (8) is only obtained after all ship positions (13) have been approached once to pick up or set down a container.

    • 2.2 Die Erfindung2.2 The invention

    Ein Beladungsprofilerfassungsgerät (4) liefert nach jeder Katzfahrt die aktuellen Horizontal- und Vertikalpositionen der obersten Container auf den Schiffspositionen (13) sowie von Hindernissen, wie z.B. der Schiffsreling (37) an den Beladungsprofilspeicher (10). Dieser übergibt die Daten an das Zielvorgabegerät (5) zum Zwecke der Darstellung auf dem Touchscreen (11) sowie an das Lasttransportsystem (1) als Hinderniskoordinaten.A loading profile detection device (4) delivers after each Katzfahrt the current horizontal and vertical positions the top container on the ship positions (13) as well obstacles such as the ship's rail (37) to the Load profile store (10). This transfers the data the target device (5) for the purpose of representation on the Touchscreen (11) and to the load transport system (1) as Obstacle coordinates.

    Als Beladungsprofilerfassung kommt beispielsweise der "Stowage Profile Scanner" der Fa. Telerob, Kiel, Deutschland (siehe Anlage 3) in Betracht. Dieses Gerät wertet die Daten eines Distanzmesslasers (34) aus, welcher an der wasserseitigen Vorderseite der Krankatze (17) befestigt ist, von dieser mit über das Schiff bewegt wird, und senkrecht nach unten permanent Distanzmessungen bis zu den Oberflächen (Container [35], Schiffsboden [36] oder Schiffsreling [37]), auf welche der Laserstrahl trifft, durchführt. Das Beladungsprofilerfassungsgerät verfügt über eine Bildauswertung, welche aus den Laserdistanzmessdaten Container (35) und andere Objekte, z.B. die Schiffsreling (37) detektiert und als solche im Datensatz kennzeichnet.For example, the load profile detection is "Stowage Profile Scanner" from Telerob, Kiel, Germany (see Appendix 3). This device evaluates the data a distance measuring laser (34), which on the water side Front of the crane trolley (17) is attached by this with being moved across the ship, and down vertically permanent distance measurements to the surfaces (Container [35], ship's floor [36] or ship's rail [37]), which the laser beam hits. The load profile acquisition device has an image evaluation, which from the laser distance measurement data container (35) and others Objects, e.g. the ship's rail (37) is detected and as such in the data record.

    Die Verwendung anderer Profilerfassungsgeräte ist natürlich möglich, so z.B. von Zeilenkameras, wie sie für das Andocken von Flugzeugen an die Gates verwendet werden.The use of other profile acquisition devices is natural possible, e.g. from line scan cameras like those used for docking from aircraft to the gates.

    Claims (3)

    Lasttransportsystem, insbesondere für Container, mit einem Kran, einem PC mit Zielansteuerungsprogramm und einer Sensorik zur Lastpositionserfassung, dadurch gekennzeichnet, dass es ein Zielvorgabegerät aufweist.Load transport system, in particular for containers, with a crane, a PC with target control program and a sensor system for load position detection, characterized in that it has a target specification device. Lasttransportsystem, insbesondere für Container, mit einem Kran, einem PC mit Zielansteuerungsprogramm und einer Sensorik zur Lastpositionserfassung, dadurch gekennzeichnet, dass das Zielvorgabegerät einen Touchscreen, insbesondere einen indirekt (ohne Schalter) arbeitenden Touchscreen aufweist.Load transport system, in particular for containers, with a crane, a PC with target control program and a sensor system for load position detection, characterized in that the target specification device has a touchscreen, in particular an indirectly (without switch) touchscreen. Lasttransportsystem, insbesondere für Container, mit einem Kran, einem PC mit Zielansteuerungsprogramm und einer Sensorik zur Lastpositionserfassung, dadurch gekennzeichnet, dass die Sensorik einen optischen Lasterfassungssensor, insbesondere einen Laserscanner aufweist..Load transport system, in particular for containers, with a crane, a PC with target control program and a sensor system for load position detection, characterized in that the sensor system has an optical load detection sensor, in particular a laser scanner.
    EP01100745A 2000-01-13 2001-01-12 Load transporting system, especially for containers Expired - Lifetime EP1116684B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    DE10001023 2000-01-13
    DE10001023A DE10001023A1 (en) 2000-01-13 2000-01-13 Load transporting system for containers - has personal computer with target guidance program and sensor system for detecting position of load

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    EP1116684A1 true EP1116684A1 (en) 2001-07-18
    EP1116684B1 EP1116684B1 (en) 2006-08-02

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    AT (1) ATE334929T1 (en)
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    WO2002064486A1 (en) * 2001-02-13 2002-08-22 Siemens Aktiengesellschaft Operating method and device for operating automated container quay cranes
    WO2004016543A1 (en) * 2002-07-25 2004-02-26 Siemens Aktiengesellschaft Method for the operation of a container crane
    AT504557A3 (en) * 2006-11-16 2014-10-15 Siemens Ag METHOD FOR NAVIGATING A TRANSPORT FOR GOODS

    Families Citing this family (5)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    DE10224312A1 (en) * 2002-05-31 2004-12-02 Siemens Ag Process for automating the loading and unloading of container ships in container terminals and corresponding crane automation system
    DE102005002192B4 (en) * 2005-01-17 2008-08-14 Siemens Ag Method for operating a crane installation, in particular a container crane, and crane installation, in particular a container crane
    DE102007037878A1 (en) * 2007-08-10 2009-02-12 Siemens Ag Method for moving cable-guided load from starting point to target point involves determining obstacles on potential paths of load, forces acting upon load, and optimum trajectory with regard to time for moving load
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    ATE334929T1 (en) 2006-08-15
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