EP1307396A1 - Method for automatically loading and unloading transport units, especially units for transporting goods - Google Patents
Method for automatically loading and unloading transport units, especially units for transporting goodsInfo
- Publication number
- EP1307396A1 EP1307396A1 EP01974134A EP01974134A EP1307396A1 EP 1307396 A1 EP1307396 A1 EP 1307396A1 EP 01974134 A EP01974134 A EP 01974134A EP 01974134 A EP01974134 A EP 01974134A EP 1307396 A1 EP1307396 A1 EP 1307396A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- goods
- unit
- transport unit
- transport
- transported
- 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.)
- Granted
Links
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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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 method for the automatic loading and unloading of transport units, in particular units for transporting goods, preferably metal products in a wound sheet form, so-called coils or package goods, even on pallets.
- AGVs laser-based driverless transport systems
- This technology is used to automate internal product and material flows in defined sectors.
- the functional areas of high-bay warehouse / interim storage and shipping level can be linked with one another in such a way that the computer-assisted provision of transport goods on the
- a device for the lateral loading and unloading of vehicles consisting of a movable carriage with a load handling device and a fork-chain conveyor combination, the position of the automatic loading and unloading of the vehicle
- 35 vehicle and / or the loading unit is determined by means of a measuring device, the loading and unloading of the vehicle by means of a parallel to the vehicle on at least two rails on one side of the vehicle with movable transfer carriage with lifting table, the lifting table consists of a further linear guide system with a fork carriage with fork, which can be moved transversely to the longitudinal axis of the vehicle, and the carriage of the transfer carriage has counter-pressure rollers and side guide rollers on both rails and the fork drive and the chain conveyor drive are switched on simultaneously during loading and unloading and the load is transferred from the chain conveyor to the fork or the fork to the chain conveyor, the conveying level of the chain conveyor being higher than that of the fork (DE 195 03 198 Cl).
- a device for the lateral loading and unloading of vehicles preferably trucks
- the loading and unloading of the vehicle by means of a sliding carriage undercarriage that can be moved parallel to the vehicle on at least two rails, with a ball slewing ring, a linear guide system with slide and a lifting system with a fork, whereby the linear guide system with slide and lifting system with fork can be rotated around the ball slewing ring, the rails are only on one side of the vehicle and the carriage of the transfer carriage has counter rollers and side guide rollers on at least two rails (DE 195 03 199 Cl ).
- the invention is based on the object of developing a method for the automatic loading and unloading of transport units in which the disadvantages of the prior art are to be eliminated by claims 1-11, in particular the shipping level which was previously necessary and necessary in each case being eliminated should.
- the goods to be transported and the transport unit independently of their respective location by means of a known, movably arranged laser scanner, preferably from above, three-dimensionally cartographically records the position, dimensions and structure of the data obtained central control unit, where it is compared and compared with the specific data of the transport unit obtained via a transponder and a reading unit, and forwarded to a removal unit through which the goods are removed and transported directly to the transport unit without the need to switch on an additional shipping level, and there exactly be predetermined place, the unloading process being carried out in the same way at the destination.
- a rail-bound rail vehicle preferably a freight wagon or a road-bound vehicle, preferably a truck, can be used as the transport unit.
- metal products in wound sheet form preferably so-called coils for recording, loading and / or unloading and for transporting, come as goods.
- the goods can also be recorded, loaded and / or unloaded and transported in palletized or parcel-like form.
- the laser scanner used is preferably a non-contact laser with a high power level, which has a rotating head for the application described and which is preferably used in the area of the crane runway / bridge from above.
- the laser scanner sweeps an angle of 0-180 ° and is used one or more times over the goods to be transported and via the transport unit for precise three-dimensional detection of the position of the goods in the warehouse on the one hand and the free spaces on the transport unit on the other.
- the information obtained is processed as follows:
- the individual goods are stored in the warehouse or on the transport unit with their coordinates and spatial dimensions. In the case of coils, the center point is also added. This is important for the positioning of the crane tongs.
- This data is then compared and compared with the data of a transponder which is attached to the transport unit via a reader which is arranged in the track or road area in the central control unit in such a way that a list of those on the transport unit is now provided lying goods, with all relevant data such as dimensions and location as well as the unique identification number of the transport unit is generated.
- This information is the Warehouse management system made available and allow the corresponding driving orders for the crane to be generated fully automatically. A completely automatic sequence of loading and unloading processes is thus carried out, which does not require any intervention by personnel.
- the implementation of the invention depends largely on the technical reliability of the laser-based data processing systems and the logistical advantages, which are part of a holistically defined logistics chain as a business result for both the sender and the recipient.
- the advantages of the invention lie both in the physical area and in the area of information logistics, since the material and product flow is significantly simplified and expanded. This results in interesting rationalization potential, since in any case the interface shipping level is completely eliminated for the first time.
- the data flow of information logistics is considerably simplified with the invention.
- the direct inclusion of the transport unit in the data handling creates a continuous flow of data up to and including the transport container. This data can be passed on to the recipient in such a way that not only the individual goods to be transported in an order, but also the respective assignment to the transport unit is known. This enables unloading on the receiving side according to company-specific criteria, which creates the conditions for optimization there.
- FIG. 1 shows a section of a warehouse with a crane runway and laser scanner.
- the transport unit 1 with its special receptacles for the transport goods 2 is located in the storage area 3 in the catchment area of the laser scanner 6 attached to the cat 4 of the crane runway / bridge 5, which can likewise detect the transport goods 7 located in the hall 3 with its rays 8.
- the transponder 9, which communicates with the reading device 10 in the track bed, is fastened under the transport unit 1.
- a punctiform laser 11 for measuring the crane travel x-axis is fastened on the crane track / bridge 5. All data acquisition devices are connected to a control unit, not shown. The following coordination takes place:
- control unit In the control unit (PC), which is not shown, after the scanning process, all transport goods with dimensions and spatial position are stored. If a movement order is generated by the warehouse management system, the crane uses its laser distance meter to guide it to the coordinates stored in the control unit. If the goods are coils, the control unit knows the center point coordinate and the crane tongs are positioned accordingly. After picking up the cargo, the crane moves to the target coordinates and unloads the cargo. The motion task is completed and a corresponding message is sent to the warehouse management system.
- PC control unit
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a method for automatically loading and unloading transport units (1), especially units for transporting goods, and preferably metallic products in the form of rolled sheet metal known as coils. According to the invention, the positions, dimensions and structure of the goods to be transported (7) and the transport unit are three-dimensionally cartographically detected, independently of the respective location thereof and preferably from above, by means of a known, mobile laser scanner (6); the data obtained is transmitted to a central control unit; said data is compared and aligned with the specific data pertaining to the transport unit and obtained by means of a transponder (9) and a reading unit (10); and is sent to a removal unit, by means of which the goods are removed and transported directly to the transport unit without having to implement an additional dispatch level. The goods are placed in a precisely predetermined area, the unloading process being carried out in the same way in said predetermined area.
Description
Titel : Verfahren zur automatischen Be- und Entladung von Trans¬ porteinheiten , insbesondere von Einheiten zum Trans¬ portieren von GüternTitle: Method for the automatic loading and unloading of Trans ¬ port units, in particular units for transforming ¬ port of goods
BeschreibunεBeschreibunε
Die Erfindung betrifft ein Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren 5 von Gütern, vorzugsweise von Metallerzeugnissen in gewickelter Blechform, sogenannten Coils bzw. Paketware auch auf Paletten.The invention relates to a method for the automatic loading and unloading of transport units, in particular units for transporting goods, preferably metal products in a wound sheet form, so-called coils or package goods, even on pallets.
Der Einsatz lasergestützter fahrerloser Transportsysteme (FTS) repräsentiert zwar eine junge, aber doch eingeführte Technik. Ein wichtigerThe use of laser-based driverless transport systems (AGVs) represents a young, but still established technology. An important
10 Anwendungsbereich dieser Technik ist die Automatisierung innerbetrieblicher Produkt- und Materialflüsse in definierten Sektoren. So können beispielsweise die Funktionsbereiche Hochregallager / Zwischenlager und Versandebene so miteinander verknüpft werden, daß durch FTS die rechnergestützte Bereitstellung von Transportgütern auf der10 This technology is used to automate internal product and material flows in defined sectors. For example, the functional areas of high-bay warehouse / interim storage and shipping level can be linked with one another in such a way that the computer-assisted provision of transport goods on the
15 Versandebene erfolgt. Von der Versandebene werden die Transportgüter bislang mit Hilfe konventioneller Verfahren in Güterwagen oder LKW verladen. Konventionell heißt an dieser Stelle, daß die Beladung durch fahrergesteuerte Kräne und/oder Gabelstapler erfolgt. Bekannt ist eine Vorrichtung zum seitlichen Be- und Entladen von15 shipping level. Up to now, the goods to be transported have been loaded into freight wagons or trucks using conventional methods from the shipping level. Conventional means at this point that the loading is done by driver-controlled cranes and / or forklifts. A device for the lateral loading and unloading of is known
20 Fahrzeugen, bei der gabelartige Tragarme eines Hubelementes in die Paletten der Ladeeinheiten eingeschoben werden, diese anheben, das Ladegut ausfahren und an anderen Orten absetzen, wobei an einer Be- und Entladestation ein Erkennungs- und Meßsystem installiert ist und ein auf einer Gleisanlage fahrbarer Verschiebewagen mit einer mit absenkbaren20 vehicles in which fork-like support arms of a lifting element are inserted into the pallets of the loading units, lift them, extend the load and set it down at other locations, whereby a detection and measurement system is installed at a loading and unloading station and a sliding carriage that can be moved on a track system with one with lowerable
25 Gabeln mit verlängerbaren Gabelzinken und beiderseitig zu diesen verlaufenden Linearförderern versehene Be- und Entladevorrichtung bestückt ist (DE 196 35 858 AI).25 forks with extendable fork tines and loading and unloading device provided on both sides to these linear conveyors (DE 196 35 858 AI).
30 Ebenfalls bekannt ist eine Vorrichtung für das seitliche Be- und Entladen von Fahrzeugen, vorzugsweise von Lastkraftwagen mit palettierten Ladeinheiten, bestehend aus einem verfahrbaren Wagen mit einem Lastaufnahmemittel und einer Gabel-Kettenförderkombination, wobei zur automatischen Be- und Entladung des Fahrzeuges die Position des30 Also known is a device for the lateral loading and unloading of vehicles, preferably trucks with palletized loading units, consisting of a movable carriage with a load handling device and a fork-chain conveyor combination, the position of the automatic loading and unloading of the vehicle
35 Fahrzeuges und/oder der Ladeeinheit mittels einer Meßvorrichtung ermittelt wird, das Be- und Entladen des Fahrzeuges mittels einem parallel zum Fahrzeug auf mindestens zwei Schienen auf einer Seite des Fahrzeuges mit verfahrbaren Verschiebewagen mit Hubtisch erfolgt, wobei der Hubtisch
aus einem weiteren Linearfuhrungssystem mit einem Gabelschlitten mit Gabel besteht, der quer zur Längsachse des Fahrzeuges verfahrbar ist, und das Fahrwerk des Verschiebewagens über Gegendrückrollen und seitlichen Führungsrollen an beide Schienen verfügt und der Gabelantrieb sowie der Kettenförderantrieb gleichzeitig bei einer Be- bzw. Entladung eingeschaltet werden und die Last von dem Kettenförderer an die Gabel bzw. der Gabel an den Kettenförderer übergeben wird, wobei das Förderniveau des Kettenförderers höher als das der Gabel liegt (DE 195 03 198 Cl). Weiterhin ist eine Vorrichtung für das seitliche Be- und Entladen von Fahrzeugen, vorzugsweise Lastkraftwagen, bekannt, bei der das Be- und Entladen des Fahrzeuges mittels eines parallel zum Fahrzeug auf mindestens zwei Schienen verfahrbaren Verschiebewagenfahrwerkes mit einem Kugeldrehkranz, einem Linearfuhrungssystem mit Schlitten und einem Hubsystem mit Gabel erfolgt, wobei das Linearfuhrungssystem mit Schlitten und Hubsystem mit Gabel um den Kugeldrehkranz drehbar ist, die Schienen sich nur auf einer Seite des Fahrzeuges befinden und das Fahrwerk des Verschiebewagens über Gegendmckrollen und seitliche Führungsrollen an mindestens zwei Schienen verfugt (DE 195 03 199 Cl).35 vehicle and / or the loading unit is determined by means of a measuring device, the loading and unloading of the vehicle by means of a parallel to the vehicle on at least two rails on one side of the vehicle with movable transfer carriage with lifting table, the lifting table consists of a further linear guide system with a fork carriage with fork, which can be moved transversely to the longitudinal axis of the vehicle, and the carriage of the transfer carriage has counter-pressure rollers and side guide rollers on both rails and the fork drive and the chain conveyor drive are switched on simultaneously during loading and unloading and the load is transferred from the chain conveyor to the fork or the fork to the chain conveyor, the conveying level of the chain conveyor being higher than that of the fork (DE 195 03 198 Cl). Furthermore, a device for the lateral loading and unloading of vehicles, preferably trucks, is known in which the loading and unloading of the vehicle by means of a sliding carriage undercarriage that can be moved parallel to the vehicle on at least two rails, with a ball slewing ring, a linear guide system with slide and a lifting system with a fork, whereby the linear guide system with slide and lifting system with fork can be rotated around the ball slewing ring, the rails are only on one side of the vehicle and the carriage of the transfer carriage has counter rollers and side guide rollers on at least two rails (DE 195 03 199 Cl ).
Allen bekannten Lösungen ist gemeinsam, daß eine schienengebundene seitliche Be- und Entladung von Güterwagen oder LKW erfolgen soll. Die Verwendung von herkömmlichen Laserscannern zu Erfassung der Ladung und die Verwendung einer zusätzlichen Versand- und Verladeebene bei derartigen Einrichtungen bedeuten ein zusätzliches System, das spezifische Investitionen, eine Unterbrechung des Material- und Produktflusses und damit eine weitere Schnittstelle sowohl bei der physischen, als auch bei der Informationslogistik verursacht.All known solutions have in common that rail-bound lateral loading and unloading of freight wagons or trucks should take place. The use of conventional laser scanners for the detection of the load and the use of an additional shipping and loading level in such facilities mean an additional system, the specific investments, an interruption of the material and product flow and thus a further interface both in the physical as well as in of information logistics.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur automatischen Be- und Entladung von Transporteinheiten zu entwickeln, bei dem die Nachteile des Standes der Technik durch die Patentansprüche 1-11 beseitigt werden sollen, wobei insbesondere die bislang in jedem Falle vorhandene und notwendige Versandebene entfallen soll.The invention is based on the object of developing a method for the automatic loading and unloading of transport units in which the disadvantages of the prior art are to be eliminated by claims 1-11, in particular the shipping level which was previously necessary and necessary in each case being eliminated should.
Dies wird erfindungsgemäß dadurch gelöst, daß die zu transportierenden Güter und die Transporteinheit unabhängig von ihrem jeweiligen Standort mittels eines an sich bekannten, beweglich angeordneten Laserscanners, vorzugsweise von oben, in ihrer Lage, ihren Abmessungen und ihrem Aufbau dreidimensional kartografisch erfasst, die gewonnenen Daten einer
zentralen Steuereinheit übermittelt, dort mit den über einen Transponder und eine Leseeinheit gewonnenen spezifischen Daten der Transporteinheit verglichen und abgeglichen sowie an eine Entnahmeeinheit weitergeleitet werden, durch welche die Güter entnommen und ohne die Notwendigkeit des Einschaltens einer zusätzlichen Versandebene direkt zur Transporteinheit befördert sowie dort an exakt vorbestimmter Stelle abgesetzt werden, wobei am Bestimmungsort der Entladeprozess in gleicher Art und Weise realisiert wird. Als Transporteinheit kann ein gleisgebundenes Schienenfahrzeug, vorzugsweise ein Güterwaggon oder ein straßengebundenes Fahrzeug, vorzugsweise ein LKW verwendet werden.This is achieved according to the invention in that the goods to be transported and the transport unit independently of their respective location by means of a known, movably arranged laser scanner, preferably from above, three-dimensionally cartographically records the position, dimensions and structure of the data obtained central control unit, where it is compared and compared with the specific data of the transport unit obtained via a transponder and a reading unit, and forwarded to a removal unit through which the goods are removed and transported directly to the transport unit without the need to switch on an additional shipping level, and there exactly be predetermined place, the unloading process being carried out in the same way at the destination. A rail-bound rail vehicle, preferably a freight wagon or a road-bound vehicle, preferably a truck, can be used as the transport unit.
Als Güter kommen insbesondere Metallerzeugnisse in gewickelter Blechform, vorzugsweise sogenannte Coils zur Erfassung, Ver- und/oder Entladung sowie zum Transportieren. Die Güter können auch in palettierter oder paketähnlicher Form erfasst, ver- und/oder entladen sowie transportiert werden.In particular, metal products in wound sheet form, preferably so-called coils for recording, loading and / or unloading and for transporting, come as goods. The goods can also be recorded, loaded and / or unloaded and transported in palletized or parcel-like form.
Als Laserscanner kommt vorzugsweise ein berührungslos auf natürlichen Oberflächen messender Laser mit großem Leistungsniveau zum Einsatz, der für den geschilderten Anwendungsfall einen rotierenden Kopf aufweist und der vorzugsweise im Bereich der Kranbahn/ -brücke von oben zum Einsatz kommt. Der Laserscanner bestreicht einen Winkel von 0-180° und wird ein- oder mehrfach über das zu transportierende Gut und über die Transporteinheit zur genauen dreidimensionalen Erfassung der Lage des Gutes im Lager einerseits und der Freiräume auf der Transporteinheit andererseits eingesetzt.The laser scanner used is preferably a non-contact laser with a high power level, which has a rotating head for the application described and which is preferably used in the area of the crane runway / bridge from above. The laser scanner sweeps an angle of 0-180 ° and is used one or more times over the goods to be transported and via the transport unit for precise three-dimensional detection of the position of the goods in the warehouse on the one hand and the free spaces on the transport unit on the other.
Die Verarbeitung der gewonnenen Informationen erfolgt dabei wie folgt: Es werden die einzelnen Güter im Lager bzw. auf der Transporteinheit mit ihren Koordinaten und räumlichen Abmaßen abgespeichert. Bei Coils wird dazu noch der Mittelpunkt gerechnet. Dieses ist wichtig für die Kranzangenpositionierung.The information obtained is processed as follows: The individual goods are stored in the warehouse or on the transport unit with their coordinates and spatial dimensions. In the case of coils, the center point is also added. This is important for the positioning of the crane tongs.
Anschließend erfolgt der Ver- und Abgleich dieser Daten mit den Daten eines Transponders, der an der Transporteinheit befestigt ist über ein Lesegerät, welches im Gleis- oder Straßenbereich angeordnet ist, in der zentralen Steuereinheit in der Weise, daß jetzt eine Liste der auf der Transporteinheit liegenden Güter, mit allen relevanten Daten, wie Abmessung und Lage sowie die eindeutige Identifikationsnummer der Transporteinheit erzeugt wird. Diese Informationen werden dem
Lagerverwaltungssystem zur Verfügung gestellt und erlauben es die entsprechenden Fahraufträge für den Kran vollautomatisch zu generieren. Es wird somit eine vollkommen automatische Abfolge von Be- und Entladevorgängen durchgeführt, die keinen Eingriff von Personal erfordert. Die Umsetzung der Erfindung hängt maßgeblich von der technischen Zuverlässigkeit der lasergestützten Datenverarbeitungssysteme und den logistischen Vorteilen, die sich im Rahmen einer ganzheitlich definierten Logistikette als betriebswirtschaftliches Ergebnis sowohl beim Versender als auch beim Empfanger ab. Die Vorteile der Erfindung liegen sowohl im physischen Bereich, wie auch im Bereich der Informationslogistik, da der Material- und Produktfluss deutlich vereinfacht und ausgeweitet wird. Daraus erwachsen interessante Rationalisierungspotentiale, da in jedem Fall erstmals die Schnittstelle Versandebene vollständig entfallt. Der Datenfluß der Informationslogistik wird mit der Erfindung erheblich vereinfacht. Durch das direkte Einbeziehen der Transporteinheit in das Datenhandling entsteht ein durchgehender Datenfluß bis einschließlich des Transportgefasses. Diese Daten können so zum Empfänger weitergegeben werden, daß dort nicht nur die einzelnen Transportgüter eines Auftrages, sondern auch die jeweilige Zuordnung zur Transporteinheit bekannt ist. Das ermöglicht auf der Empfangsseite eine Entladung nach unternehmensspezifischen Kriterien, womit Voraussetzungen für eine dortige Optimierung geschaffen werden.This data is then compared and compared with the data of a transponder which is attached to the transport unit via a reader which is arranged in the track or road area in the central control unit in such a way that a list of those on the transport unit is now provided lying goods, with all relevant data such as dimensions and location as well as the unique identification number of the transport unit is generated. This information is the Warehouse management system made available and allow the corresponding driving orders for the crane to be generated fully automatically. A completely automatic sequence of loading and unloading processes is thus carried out, which does not require any intervention by personnel. The implementation of the invention depends largely on the technical reliability of the laser-based data processing systems and the logistical advantages, which are part of a holistically defined logistics chain as a business result for both the sender and the recipient. The advantages of the invention lie both in the physical area and in the area of information logistics, since the material and product flow is significantly simplified and expanded. This results in interesting rationalization potential, since in any case the interface shipping level is completely eliminated for the first time. The data flow of information logistics is considerably simplified with the invention. The direct inclusion of the transport unit in the data handling creates a continuous flow of data up to and including the transport container. This data can be passed on to the recipient in such a way that not only the individual goods to be transported in an order, but also the respective assignment to the transport unit is known. This enables unloading on the receiving side according to company-specific criteria, which creates the conditions for optimization there.
Anhand eines Ausfuhrungsbeispieles soll nachstehend die Erfindung näher erläutert werden. Dabei zeigt : - Fig. 1 - eine Lagerhalle mit Kranbahn und Laserscanner im Schnitt.The invention will be explained in more detail below using an exemplary embodiment. 1 shows a section of a warehouse with a crane runway and laser scanner.
Die Transporteinheit 1 mit ihre speziellen Aufnahmen für das Transportgut 2 steht innerhalb der Lagerhalle 3 im Einzugsbereich des an der Katze 4 der Kranbahn/-brücke 5 befestigten Laserscanners 6, der ebenso das in der Halle 3 befindliche Transportgut 7 seinen Strahlen 8 erfassen kann. Unter der Transporteinheit 1 ist der Transponder 9 gefestigt, der mit dem Lesegerät 10 im Gleisbett kommuniziert. Auf der Kτanbahn/-brücke 5 ist ein punktueller Laser 11 zur Vermessung der Kranfahrt- x- Achse befestigt. Alle Datenerfassungsgeräte sind mit einer nicht dargestellten Steuereinheit verbunden.
Im Einzelnen erfolgt dabei folgende Abstimmung:The transport unit 1 with its special receptacles for the transport goods 2 is located in the storage area 3 in the catchment area of the laser scanner 6 attached to the cat 4 of the crane runway / bridge 5, which can likewise detect the transport goods 7 located in the hall 3 with its rays 8. The transponder 9, which communicates with the reading device 10 in the track bed, is fastened under the transport unit 1. A punctiform laser 11 for measuring the crane travel x-axis is fastened on the crane track / bridge 5. All data acquisition devices are connected to a control unit, not shown. The following coordination takes place:
In der nicht dargestellten Steuereinheit (PC) sind nach dem Scannvorgang alle Transportgüter mit Abmessung und räumlicher Lage abgespeichert. Wird vom Lagerverwaltungssystem ein Fahrauftrag generiert, f hrt der Kran, mit Hilfe seiner Laserdistanzmesser, an die in der Steuereinheit gespeicherten Koordinaten. Handelt es sich bei dem Gut um Coils, ist der Steuereinheit die Mittelpunktkoordinate bekannt und die Kranzange wird entsprechend positioniert. Nach Aufnahme des Transportgutes fährt der Kran auf die Zielkoordinaten und entlädt das Transportgut. Der Fahrauftrag ist abgeschlossen, eine entsprechende Meldung wird an das Lagerverwaltungssystem abgesetzt.
In the control unit (PC), which is not shown, after the scanning process, all transport goods with dimensions and spatial position are stored. If a movement order is generated by the warehouse management system, the crane uses its laser distance meter to guide it to the coordinates stored in the control unit. If the goods are coils, the control unit knows the center point coordinate and the crane tongs are positioned accordingly. After picking up the cargo, the crane moves to the target coordinates and unloads the cargo. The motion task is completed and a corresponding message is sent to the warehouse management system.
Claims
1. Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern, wobei die Güter vollautomatisch aus einem Lager entnommen und auf der Transporteinheit verstaut sowie am Bestimmungsort wieder entladen und in einem anderen Lager deponiert werden, gekennzeichnet dadurch, daß die zu transportierenden Güter und die Transporteinheit unabhängig von ihrem jeweiligen Standort mittels eines an sich bekannten, beweglich angeordneten Laserscanners, vorzugsweise von oben, in ihrer Lage, ihren Abmessungen und ihrem Aufbau dreidimensional kartografisch erfasst, die gewonnenen Daten einer zentralen Steuereinheit übermittelt, dort mit den über einen Transponder und eine Leseeinheit gewonnenen spezifischen Daten der Transporteinheit verglichen und abgeglichen sowie an eine Entnahmeeinheit weitergeleitet werden, durch welche die Güter entnommen und ohne die Notwendigkeit des Einschaltens einer zusätzlichen Versandebene direkt zur Transporteinheit befördert sowie dort an exakt vorbestimmter Stelle abgesetzt werden, wobei am Bestimmungsort der Entladeprozess in gleicher Art und Weise realisiert wird.1. A method for the automatic loading and unloading of transport units, in particular units for transporting goods, the goods being removed fully automatically from a warehouse and stowed on the transport unit and unloaded again at the destination and deposited in another warehouse, characterized in that the goods to be transported and the transport unit, regardless of their respective location, are mapped three-dimensionally in their position, their dimensions and their structure by means of a known, movably arranged laser scanner, preferably from above, the data obtained is transmitted to a central control unit, there with the Specific data of the transport unit obtained via a transponder and a reading unit are compared and compared and forwarded to a removal unit, through which the goods are removed and directly to without the need to switch on an additional shipping level Transport unit transported and deposited there at a precisely predetermined location, the unloading process being carried out in the same way at the destination.
2. Verfahren nach Anspruch 1, gekennzeichnet dadurch, daß als Transporteinheit ein gleisgebundenes Schienenfahrzeug, vorzugsweise ein Güterwaggon, verwendet wird.2. The method according to claim 1, characterized in that a track-bound rail vehicle, preferably a freight car, is used as the transport unit.
3. Verfahren nach Anspruch 1, gekennzeichnet dadurch, daß als Transporteinheit ein straßengebundenes Fahrzeug verwendet wird.3. The method according to claim 1, characterized in that a road-bound vehicle is used as the transport unit.
4. Verfahren nach Anspruch 1-3, gekennzeichnet dadurch, daß als Güter, insbesondere Metallerzeugnisse in gewickelter Blechform, vorzugsweise sogenannte Coils, erfaßt, ver- und/oder entladen sowie transportiert werden.4. The method according to claim 1-3, characterized in that as goods, in particular metal products in a wound sheet form, preferably so-called coils, recorded, loaded and / or unloaded and transported.
5. Verfahren nach Anspruch 1-4, gekennzeichnet dadurch, daß die Güter auf Paletten oder in paketähnlicher Form erfaßt, ver- und/oder entladen sowie transportiert werden.5. The method according to claim 1-4, characterized in that the goods are recorded on pallets or in a package-like form, loaded and / or unloaded and transported.
6. Verfahren nach Anspruch 1, gekennzeichnet dadurch, daß als Laserscanner ein natürliche Ziele messender Laser mit rotierendem Kopf verwendet wird.6. The method according to claim 1, characterized in that a natural target-measuring laser with a rotating head is used as a laser scanner.
7. Verfahren nach Anspruch 1 und 6, gekennzeichnet dadurch, daß der Laserscanner an einer Kranbahn/-brücke oder an einer separat zu verfahrenden Lineareinheit befestigt wird.7. The method according to claim 1 and 6, characterized in that the laser scanner is attached to a crane runway / bridge or to a linear unit to be moved separately.
8. Verfahren nach Anspruch 1, 6 und 7, gekennzeichnet dadurch, daß durch den Laserscanner eine Fläche in einem Winkel von 0-180 ° ein- oder mehrfach bestrichen wird.8. The method according to claim 1, 6 and 7, characterized in that a surface is swept one or more times by the laser scanner at an angle of 0-180 °.
9. Verfahren nach Anspruch 1, gekennzeichnet dadurch, daß als Transponder vorzugsweise ein Microwellen-Transponder oder eine Telematik-Einheit oder eine Video-Einheit verwend et wird.9. The method according to claim 1, characterized in that a microwave transponder or a telematics unit or a video unit is preferably used as the transponder.
10. Verfahren nach Anspruch 1 und 9, gekennzeichnet dadurch, daß der Transponder unter der Tansporteinheit befestigt wird und mit der im10. The method according to claim 1 and 9, characterized in that the transponder is fastened under the transport unit and with the
Gleis- oder Straßenbereich angeordneten Leseeinheit kommuniziert.Track or street area arranged reading unit communicates.
11. Verfahren nach Anspruch 1 , 9 und 10, gekennzeichnet dadurch, daß die durch die Leseeinheit ermittelten spezifischen Daten der Transporteinheit in der Steuereinheit mit den eingescannten Daten verglichen und abgeglichen werden. 11. The method according to claim 1, 9 and 10, characterized in that the specific data determined by the reading unit of the transport unit in the control unit are compared and compared with the scanned data.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10039629 | 2000-08-09 | ||
| DE10039629A DE10039629B4 (en) | 2000-08-09 | 2000-08-09 | Method for the automatic loading and unloading of transport units, in particular units for transporting goods |
| PCT/EP2001/009148 WO2002014203A1 (en) | 2000-08-09 | 2001-08-08 | Method for automatically loading and unloading transport units, especially units for transporting goods |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1307396A1 true EP1307396A1 (en) | 2003-05-07 |
| EP1307396B1 EP1307396B1 (en) | 2004-11-17 |
Family
ID=7652347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP01974134A Expired - Lifetime EP1307396B1 (en) | 2000-08-09 | 2001-08-08 | Method for automatically loading and unloading transport units, especially units for transporting goods |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1307396B1 (en) |
| AT (1) | ATE282578T1 (en) |
| AU (1) | AU2001293738A1 (en) |
| DE (2) | DE10039629B4 (en) |
| WO (1) | WO2002014203A1 (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006054083A1 (en) * | 2006-11-16 | 2008-05-29 | Siemens Ag | Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods |
| DE202007016156U1 (en) | 2007-11-16 | 2008-03-20 | Noell Mobile Systems Gmbh | Portal forklift with automatic steering |
| DE102009037742A1 (en) | 2009-08-17 | 2011-02-24 | Harry Halfar | Sensor system i.e. laser scanner, for use in automatic article handling device for obtaining specific e.g. information of object in surrounding area, has processing unit establishing relation ship between data and data set in memory |
| EP2914515A4 (en) * | 2012-11-02 | 2016-10-26 | Carego Innovative Solutions Inc | Warehouse-related method and facility |
| CA2795624A1 (en) | 2012-11-02 | 2014-05-02 | Martin Boni | Warehouse-related method |
| WO2015172242A1 (en) | 2014-05-15 | 2015-11-19 | Carego Innovative Technologies Inc. | Method for stacking welded tube |
| EP3020675A1 (en) * | 2014-11-14 | 2016-05-18 | Giovanni De Carli | System and method for handling loads in form of coils or rolls, such as metal sheet coils |
| CN106608550A (en) * | 2016-05-05 | 2017-05-03 | 襄阳忠良工程机械有限责任公司 | Slipping trolley for moving belt type loading and unloading machine |
| JP6950127B2 (en) * | 2017-09-14 | 2021-10-13 | 株式会社日立プラントメカニクス | How to position the coil gripping position of an automatic coil transport crane |
| US11429916B2 (en) | 2018-02-27 | 2022-08-30 | Carego Tek Inc. | Facility for processing steel |
| EP3699136A1 (en) | 2019-02-25 | 2020-08-26 | ABB Schweiz AG | Container crane comprising reference marker |
| CN112390156A (en) * | 2020-11-09 | 2021-02-23 | 中国建筑土木建设有限公司 | Be used for large-scale precision equipment hoist device of no ramp basement |
| CN113636298B (en) * | 2021-07-30 | 2022-09-23 | 杭州电子科技大学 | Bag stacking state detection system and method of bagged material car loader |
| CN113844813B (en) * | 2021-09-30 | 2022-08-02 | 湖南天桥嘉成智能科技有限公司 | Slab identification, tracking, scheduling and management system based on machine vision |
| CN114180353B (en) * | 2021-12-28 | 2022-08-30 | 湖南天桥嘉成智能科技有限公司 | Multi-type material preparation unmanned overhead crane intelligent control system and method |
| CN116198898B (en) * | 2023-04-20 | 2023-07-25 | 巴斯夫一体化基地(广东)有限公司 | Warehouse for storing goods |
| CN116878538B (en) * | 2023-09-06 | 2023-11-21 | 南通明泰信息科技有限公司 | AGV trolley operation data acquisition system for WMS |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS5211826B2 (en) * | 1972-10-18 | 1977-04-02 | ||
| GB1540369A (en) * | 1976-10-20 | 1979-02-14 | Hitachi Ltd | Spreader positioning apparatus for automatically grasping a handling article |
| US4753357A (en) * | 1985-12-27 | 1988-06-28 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Container crane |
| US4796209A (en) * | 1986-06-26 | 1989-01-03 | Allegheny Ludlum Corporation | Random inventory system |
| DE3723794A1 (en) * | 1987-07-15 | 1989-01-26 | Ruediger Staege | LOADING STATION FOR AUTOMATIC REAR-SIDED LOADING AND UNLOADING OF TRUCKS OR TRAILERS AND CONTAINERS |
| WO1994005586A1 (en) * | 1992-08-28 | 1994-03-17 | Johann Hipp | Process and device for controlling a portainer |
| JP3271834B2 (en) * | 1993-08-26 | 2002-04-08 | 日新製鋼株式会社 | Metal strip coil conveyor |
| DE19503198C1 (en) * | 1995-02-02 | 1996-02-22 | Noell Gmbh | Sideways vehicle=loading system |
| DE19519741A1 (en) * | 1995-06-02 | 1996-12-05 | Siemens Ag | Stacker crane sensor system |
| JPH0912268A (en) * | 1995-06-27 | 1997-01-14 | Hitachi Kiden Kogyo Ltd | Position detecting method for cylindrical object |
| DE19630187C2 (en) * | 1996-07-26 | 2001-03-22 | Noell Stahl Und Maschb Gmbh | Device for the automatic positioning of one of two objects moving against each other |
| DE19635858A1 (en) * | 1996-09-04 | 1998-03-05 | Nhf Gmbh | Lateral loading and unloading device for commercial motor vehicles |
| DE19841570C2 (en) * | 1998-09-11 | 2001-04-12 | Telerob Ges Fuer Fernhantierun | Quay crane for loading and unloading containers |
-
2000
- 2000-08-09 DE DE10039629A patent/DE10039629B4/en not_active Expired - Lifetime
-
2001
- 2001-08-08 WO PCT/EP2001/009148 patent/WO2002014203A1/en active IP Right Grant
- 2001-08-08 AU AU2001293738A patent/AU2001293738A1/en not_active Abandoned
- 2001-08-08 AT AT01974134T patent/ATE282578T1/en not_active IP Right Cessation
- 2001-08-08 DE DE50104556T patent/DE50104556D1/en not_active Expired - Lifetime
- 2001-08-08 EP EP01974134A patent/EP1307396B1/en not_active Expired - Lifetime
Non-Patent Citations (1)
| Title |
|---|
| See references of WO0214203A1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| ATE282578T1 (en) | 2004-12-15 |
| AU2001293738A1 (en) | 2002-02-25 |
| WO2002014203A1 (en) | 2002-02-21 |
| DE10039629B4 (en) | 2007-01-11 |
| EP1307396B1 (en) | 2004-11-17 |
| DE50104556D1 (en) | 2004-12-23 |
| DE10039629A1 (en) | 2002-03-21 |
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