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This application example describes a solution for automatic loading and unloading a load on and off a terminal vehicle using the SIMOCRANEВ technology.

Application example

The positioning system must assist the truck driver when parking with the aid of a simple "traffic light" control. A traffic light visible to the truck driver is mounted at each corner of the crane. The crane driver operates the system and specifies the lanes for loading and the direction of travel of the truck. The working area between the lanes is 32В m in total and has seven lanes. On the basis of the presets for lane and direction of travel, the system must be able to position different trucks and trailers independently.

A positioning system must assist the crane driver when setting down and picking up the containers. The journey from the ship to the selected working lane and vice versa must be completed automatically and in the shortest possible time. For safety reasons, the spreader must always stop at a safe height. Automatic travel should be possible without a teach-in journey. The crane driver is responsible for lowering the load from the safe height and making the correct system settings, for example, for stacking type or working lane. The crane driver must be able at any time to interrupt automatic travel of the trolley and hoisting gear. The transitions from automatic to manual travel and vice versa should be performed smoothly.

Solution

The application example formulated above can be implemented using SIMOCRANEВ products in combination with a crane application. For this application example, the products and their functions described below are put to use.

Basic function:

• STS crane basic functions
  SIMOCRANEВ BasicВ Technology forms the basis for this application and controls the standard motion control functions of hoist and trolley.
• Crane Management System – SIMOCRANEВ CMS
  SIMOCRANEВ CMS records faults and operating data and allows parameters to be set for crane operation.
  
  There is a touch panelВ PC in the driver's cab that allows the crane driver to activate commands or display operating data and operating states.

Procedure

1. Controlled parking of a truck

SIMOCRANEВ TPS is used to detect an approaching truck and to determine the exact target position. The driver is guided to the target position using a signaling system (e.g. traffic light).

TPS – Parking procedure

2. Precise target position measurement for the parking truck

Parking is still performed manually by means of the parking attendant. For this reason, after parking, precise measurement of the truck is necessary. This is also performed by SIMOCRANEВ TPS. The precise target coordinates determined (X,В Y,В Z and angle of rotation) are transferred to the crane controller.

TPS – Position determination / target measurement

Note:

The determined coordinates must be converted to a crane coordinate system on the application side in the crane controller!

3. Fetching or bringing a container from the ship

This procedure can be performed in parallel with stepВ 1 and stepВ 2.

The SIMOCRANE Sway Control System covers the following functions here:

• Time-optimized, reliable and automatic motion control of the trolley and hoisting gear.
• Closed-loop control of load swaying.
• Closed-loop control of the angle of rotation of the load (skewВ control). The skew controller sends the setpoints for the trim, list and skew cylinders to the crane controller.

Note:

The control solution for the individual cylinders must be implemented in an application in accordance with the type of mechanical system installed.

When this is combined with acquisition of the height and hindrance profiles by means of an appropriate distance sensor system, performance and collision avoidance can also be improved.

TPS – Scenario on-board ship

4. Putting a container down on the truck

The decisive factor in this step is accurate interplay of the SIMOCRANE components used.

• The load position is determined by the SIMOCRANE Sway Control System and it is output at the interface for the crane controller.
• The target position is determined by SIMOCRANEВ TPS and it is output at the interface for the crane controller.
• The crane application can determine the setpoints for the final positioning operation from this. With this information, SIMOCRANEВ BasicВ Technology controls the relevant axes to complete the positioning operation.
• If skew control is implemented, this is also controlled by the crane application. The corresponding setpoints are determined here on the basis of the load and target position data.

TPS – Setting down a container