EP3606860B1 - Mehod for the position ally accurate receiving and depositing of a container using a gantry stacker and gantry stacker for this purpose - Google Patents

Description

The invention relates to a straddle carrier, in particular in the form of a straddle carrier, with a spreader for containers and with a positioning system arranged on the straddle carrier that determines a position of the straddle carrier that differs from the position of the spreader, a container to be picked up or a storage space for containers is. The invention also relates to a method for a straddle carrier for determining the position of a spreader, a container to be picked up or a storage space for containers for positioning containers with a straddle carrier, in which position data of the straddle carrier are determined via a positioning system arranged on the straddle carrier.

From the utility model DE 20 2007 016 156 U1 a straddle carrier for containers is known which has steerable wheels in the usual way. In order to relieve a driver of the concentration-demanding steering along and over containers or between rows of containers and to enable higher travel speeds of the straddle carrier, automatic steering is used as soon as the straddle carrier drives into a parked container, in particular the first container in a row of containers. For this purpose, a laser scanner is arranged at the front of one of the two carrier girders of the straddle carrier and thus laterally offset from the respective container to be driven over, from whose measurement signals a distance between the carrier and a side wall of the container is determined. These distances are used for the automatic steering and, based on this, the target steering angle for turning the wheels is calculated and transmitted to a steering computer that controls the turning of the wheels. The use of laser scanners reduces the structural effort compared to complete navigation systems such as radar navigation, transponders or DGPS.

In the patent specification EP 2 096 074 B1 a fully automatic, driverless straddle carrier is described, which is equipped with different sensor systems for vehicle location and navigation. One of the sensor systems consists of a local radio location system (LPR), for each of which a mobile radio base station is attached to the straddle carrier and for which a large number of Radio transponders are arranged in a fixed manner distributed over the operating area to be driven on. In addition, a satellite-based differential global positioning system (DGPS) can be used, for which a mobile DGPS receiver is mounted on the straddle carrier. Signals from these sensor systems are brought together in an electronic sensor fusion system, which precisely determines the coordinates of the current location of the straddle carrier. Together with an electronic path control, which has stored a large number of predetermined routes for the straddle carrier, a fully automatic and driverless steering, movement and positioning of the straddle carrier is possible. In addition, several laser scanners are attached to the straddle carrier, which enable automatic steering along and over a row of containers. When a row of containers is reached, a control based on LPR and also DGPS is automatically switched to a control based on laser scanners and the straddle carrier is automatically guided over the row of containers.

The US 2014 / 0046587A1 also discloses straddle carriers and, in relation to this, a positioning system comprising two stationary landmarks with a known position, the positioning system being designed to measure the distance of the straddle carrier from the landmarks.

The EP 2 128 074 A1 discloses a straddle carrier, the spreader of which is guided on the portal supports.

In contrast to, for example, off US 2005/242052 A1 , US 7,344,037 B1 or EP 2 910 512 A1 known gantry cranes that have trolleys with a lifting device for lifting and lowering the spreader for containers along their horizontal girders and between their gantry supports, the lifting device of corresponding straddle carriers or straddle carriers is stationary with respect to a gantry frame of the gantry stacker and in particular cannot be moved horizontally on the gantry frame. Moving the spreader in the horizontal direction takes place in the case of gantry lift trucks by moving the entire gantry lift truck, whereas in gantry cranes only the crane trolley and thus also the spreader on the otherwise stationary gantry crane can be moved in the horizontal direction.

The invention is based on the object of a straddle carrier with a spreader for containers and with a positioning system arranged on the straddle carrier and a method for a straddle carrier for determining the position of a spreader, a container to be picked up or a storage space for containers for positioning containers with a straddle carrier to enable a more precise picking up or placing of containers at a predetermined position in a container terminal.

This invention is achieved by a straddle carrier in the form of a straddle carrier according to claim 1 and a method for such a straddle carrier according to claim 13. Advantageous refinements of the invention are given in the dependent claims 2 to 12 and 14 and in the description below.

In order to enable a more precise picking up or setting down of containers at a predetermined position in a container terminal in a straddle carrier with a spreader for containers and with a positioning system arranged on the straddle carrier that determines a position of the straddle carrier, it is proposed according to the invention that on sensors are arranged on the straddle carrier. The sensors and the positioning system are connected to a control unit which is designed to determine the position of the spreader and thus a container picked up by the spreader, a container to be picked up or a parking space from the position of the straddle carrier using the signals from the sensors.

The straddle carrier according to the invention is a straddle carrier with a lifting device for the spreader in the sense of the above definition, which is fixedly attached to its portal frame. The portal frame of the straddle carrier comprises a front, first portal frame part and a rear, second portal frame part, each of which has two vertical portal supports that extend with their respective longitudinal axes parallel to the lifting and lowering direction, the spreader being guided on the portal supports of the gantry forklift truck during lifting and lowering .

The position of the straddle carrier that can be determined by means of the positioning system includes in particular at least two-dimensional position data, that is to say a corresponding degree of longitude and latitude or x and y coordinates in a local Cartesian coordinate system. The control unit is preferably part of the gantry lift truck and is alternatively integrated into its vehicle control or designed as a separate unit and optionally operatively connected to the vehicle control.

For this purpose, the sensors arranged on the straddle carrier include at least one sensor for determining an inclination of the straddle carrier, the inclination being able to be represented in particular by a roll angle and / or a pitch angle of the straddle carrier. Accordingly, a separate inclination sensor can be provided for determining an inclination for each inclination angle, that is to say both for the roll angle and for the pitch angle. An inclination sensor that can determine both inclination angles is also conceivable.

Furthermore, the sensors arranged on the straddle carrier include at least one sensor for determining a relative position of the spreader on the straddle carrier. This means, in particular, a relative position of the spreader in relation to the portal frame of the straddle carrier and preferably in relation to the relevant point defined for determining the position of the straddle carrier on the portal frame. The relevant point is defined in particular by the location system and preferably on the machine platform. The relative position of the spreader can be a lifting height in the sense of a distance of the spreader, measured in particular in the lifting and lowering direction, relative to the straddle carrier or relative to the point which is decisive for determining the position of the straddle carrier. The lifting height or the distance can also be part or the basis of a calculation of the relative position. Alternatively or additionally, the relative position can also include a three-dimensional position of the spreader relative to the relevant point in the form of corresponding position data. With knowledge of the dimensions of containers received in the spreader, in particular container heights, widths and lengths, corresponding absolute positions of the spreader and thus also relative or absolute positions of the containers received by the spreader can be derived from the relative positions or position data of the spreader and in particular also determine the storage location, for example if the container picked up by the spreader is already parked there or is parked with the portal lift truck in the same position. The same applies to the placing or taking up of containers on or from a container stack. The relative position of the spreader is preferably measured from the machine platform.

The invention enables a more precise arrangement of containers within a row of containers or within the container terminal, and the use of space within a container terminal is improved by the smaller deviations from a designated parking space. As a result, a shift or inclination of the gantry lift truck, in particular a longitudinal axis of one of its gantry supports, out of the perpendicular, but also constructive flexibilities of the gantry lift truck, in particular the gantry supports or deviations in the position of the spreader that occur due to existing tolerances, which also occur in an advantageous manner Depending on the load status of the straddle carrier, it must be compensated. The position of the spreader or the container is thus determined with maximized or maximum accuracy and the position of the straddle carrier known via the positioning system is converted accordingly, in particular to the height of the position of the spreader in terms of the relative position and in particular the lifting height of the spreader, of the container to be picked up or the parking space for containers. The sensors provide the necessary measured values for this. Essentially, according to one possible embodiment, this is the relative height difference or distance between the height of the position of the spreader, the container to be picked up or the storage area for containers and the position of the straddle carrier known via the positioning system and corresponding relative lateral displacements caused by deviations of the straddle carrier from the vertical in terms of the mentioned inclinations and angles of inclination.

The position data is converted in particular when the position, in particular the horizontal position, of the spreader, the container to be picked up or the storage area for containers differs from the position of the straddle carrier known from the positioning system. This can be the case especially with the described inclinations of the straddle carrier.

The position of the straddle carrier in the area of a machine platform of the straddle carrier is preferably determined by the positioning system. In other words, the position of the straddle carrier that can be determined by means of the positioning system relates to its portal frame and in particular the machine platform there or in particular to a relevant point defined there.

It is structurally provided that the positioning system comprises a receiver and at least this receiver is arranged on the machine platform. The position of the receiver is usually decisive for the position data received and evaluated by the positioning system.

In a known manner, the positioning system is based on radio, radar, GNSS, GPS or laser technology.

A sensor for determining a relative position of the spreader on the straddle carrier is preferably arranged on the straddle carrier in addition or as one of the sensors, via which in particular a lifting height of the spreader relative to the position of the straddle carrier can be determined and is determined. The lifting height corresponds in particular to a position of the spreader relative to the machine platform and measured along the lifting and lowering direction. In other words, the sensor can be used to determine, for example, the distance between the machine platform, in particular the location system there, and the spreader.

In one embodiment it is provided that the sensor for determining a relative position of the spreader on the straddle carrier is attached to the lower side of the machine platform facing the spreader. In this case, this sensor then preferably comprises at least one camera and / or at least one laser scanner, which is directed at a target that is placed, for example, in the center of the spreader.

In a preferred embodiment, the straddle carrier is one of the Sensors, a sensor for determining an inclination of the portal lift truck, in particular an inclination sensor for determining a roll angle of the portal lift truck, is arranged. This is preferably combined with a sensor for determining an inclination of the straddle carrier, in particular an inclination sensor for determining a pitch angle of the straddle carrier, being arranged on the straddle carrier as one of the sensors.

In one embodiment it is provided that the control unit is in an electrical and data-exchanging connection with the named sensors and the location system.

To process the data, in particular position data, or corresponding signals, it is provided that the signals from the sensors and the positioning system are processed in the control unit to determine the position of the spreader, a container to be picked up or a storage area for containers, and the position is sent to the travel drives, the lifting drives and / or a driver of the straddle carrier are forwarded as navigation data.

The invention is particularly suitable for use in an arrangement of a storage area with a floor and a straddle carrier according to the invention.

According to the invention in a method for a straddle carrier for determining the position of a spreader, a container to be picked up or a storage space for containers for positioning containers with a straddle carrier in the form of a straddle carrier according to one of claims 1 to 11, in which the on the straddle carrier arranged positioning system position data of the gantry lift truck are determined in order to enable a more precise picking up or placing of containers at a predetermined position in a container terminal, proposed that from the position data of the gantry lift truck with the help of the control unit and using data, in particular position data, respectively corresponding signals from the sensors arranged on the straddle carrier, the position of the spreader, the container to be picked up or the parking space is determined. With regard to the advantages associated with this, reference is made to the statements made above on the straddle carrier.

It is particularly advantageous here that by means of a sensor additionally arranged on the straddle carrier or by means of one of the sensors which is arranged in the above sense to determine a relative position of the spreader on the straddle carrier, in particular a lifting height of the spreader relative to the position of the straddle carrier is determined and is processed by the control unit, in particular to determine the position of the spreader. The lifting height corresponds in particular to a position of the spreader relative to the machine platform and measured along the lifting and lowering direction. In other words, the sensor can be used to determine, for example, the distance between the machine platform, in particular the location system there, and the spreader.

Both the straddle carrier according to the invention and the method according to the invention can be used particularly advantageously to pick up and set down containers fully automatically by means of such a straddle carrier.

In connection with the invention, containers are understood to mean ISO containers. ISO containers weigh up to around 38 t and are generally understood as standardized large containers with standardized pick-up points or corners for load handling equipment. ISO containers are typically 20, 40 or 45 feet long. There are also ISO containers with a length of 53 feet. In the area of ISO containers, in addition to closed containers, so-called reefers and a large number of other container types are also known.

• Figur 1 einen Portalhubstapler in Vorderansicht,
• Figur 2 einen Portalhubstapler in Seitenansicht,
• Figur 3 einen Portalhubstapler gemäß Figur 1 auf einem geneigten Boden,
• Figur 4 einen Portalhubstapler gemäß Figur 2 auf einem geneigten Boden und
• Figur 5 ein Blockschaltbild mit einer Steuerungseinheit des Portalhubstaplers.

The invention is explained in more detail below using an exemplary embodiment shown in a drawing. Show it:

• Figure 1 a straddle carrier in front view,
• Figure 2 a straddle carrier in side view,
• Figure 3 a straddle carrier according to Figure 1 on a sloping floor,
• Figure 4 a straddle carrier according to Figure 2 on a sloping floor and
• Figure 5 a block diagram with a control unit of the straddle carrier.

In the Figure 1 is a straddle carrier designated 1, also known as the Straddle Carrier is shown in a front view. The straddle carrier 1 essentially comprises a downwardly open U-shaped portal frame 2, a load handling device in the form of a so-called spreader 3 and two travel girders 4. The portal frame 2 can be seen in a direction of travel F of the straddle carrier 1 in a front, first portal frame part and a rear second portal frame part are divided. Each portal frame part has two vertical portal supports 2a with their respective longitudinal axis extending parallel to the lifting and lowering direction S. Vertical refers to the in Figure 1 The situation shown, in which the straddle carrier 1 is standing on an ideally plan and horizontally extending floor 11. The two portal frame parts are connected to one another at their upper ends via a horizontal and frame-shaped machine platform 2b. At their lower ends, the two left and right portal supports 2 a, seen in the direction of travel, are supported on the two travel girders 4. In the usual way, the straddle carrier 1 with this design can drive over one or, depending on the overall height, several stacked containers 9, pick up this or the top container 9 with its spreader 3, move the picked up container 9 to a destination and there on the floor 11, deposit an already parked container 9 or a stack thereof. Here, the containers 9 are usually arranged in rows and each aligned with their longitudinal direction in the longitudinal direction of the row within the respective row. The four corners of the spreader 3 are each provided in the usual way with a rotary lock 3a - so-called twist locks - in order to connect the container 9 to the spreader 3 for the transport process with a low tolerance. In the case of so-called twin-lift spreaders, eight rotary locks 3a are provided in a corresponding manner in order to be able to collect two short 20-foot containers 9 one after the other from a spreader 3, viewed in the direction of travel F. The spreader 3 can be raised and lowered vertically along the vertical portal supports 2 a of the portal frame 2 in a lifting / lowering direction S. When lifting and lowering, the spreader 3 is guided on the portal supports 2a, so that in particular oscillation of the spreader 3 relative to the longitudinal axis of the portal supports 2a is minimized. The lifting device provided for lifting and lowering the spreader 3 is arranged in a stationary manner on the straddle carrier 1 in the sense of the above definition.

In order to be able to determine a current position of the straddle carrier 1, for example on the site of a port terminal, is located on the machine platform 2b for locating the gantry lift truck 1, a locating system 5, which is also known under the designation Position Detection System (PDS), which comprises at least one locating system, alternatively also two independent locating systems. The positioning system can for example be based on radio, radar, GNSS, GPS or laser technology. The specific position of the straddle carrier 1 in the sense of an indication of longitude and latitude or of x and y coordinates in a local Cartesian coordinate system is set in relation to the known installation location on the machine platform 2b, so as to determine the exact position of the straddle carrier 1 or the boundaries of the straddle carrier 1 seen in plan view. The boundaries are formed in particular by the outer contours of the portal supports 2a. Since the location of the location system 5 is at the level of the machine platform 2b, the position data are also based on this height and not on the height of the girders 4, the respective height of a storage or pick-up location for a container 9 or a floor 11 on which the straddle carrier 1 moves. The positioning system 5 is usually also used in parallel for navigating the portal lift truck 1. In connection with the present invention, the positioning system 5 in the sense of the receiver part of the positioning system 5 receiving the position data is, for example, an antenna of the positioning system 5, since this establishes the relative reference of the position data to the straddle carrier 1. The position data received from the positioning system 5 can then also be processed locally separately from the receiver of the positioning system 5.

In order to be able to relate the position data determined by means of the positioning system 5 and related to the height of the machine platform 2b with a high degree of accuracy to other components of the straddle carrier 1, in particular below the machine platform 2b, the knowledge of a possible inclination of the straddle carrier 1 in and against the direction of travel F in the sense of a pitch angle N and transverse to this in the sense of a roll angle W is required. To determine a current inclination of the straddle carrier 1 based on a vertical and thus on an uneven or non-horizontal floor 11, there is at least one front or rear first inclination sensor 6a on a front or rear side of the machine platform 2b pointing in or against the direction of travel F and at least a lateral second inclination sensor 6b on a lateral side of the which points transversely with respect to the direction of travel F Machine stage 2b in order to be able to detect the pitch angle N and the roll angle W with a high degree of accuracy (see also Figure 2 ). In this context, an uneven or non-horizontal floor 11 is understood to mean a floor 11 on which the straddle carrier 1, in particular with the longitudinal axes of its portal supports 2a, does not stand or move perpendicular, but rather inclined in this regard. In principle, other mounting locations for the front first inclination sensor 6a and the lateral second inclination sensor 6b on the straddle carrier 1 and also combined inclination sensors for pitch angle N and roll angle W or their measurement as well as redundant designs thereof are conceivable. Knowledge of the pitch angle N and the roll angle W is important for precise positioning of the container 9 and precise approach to parked containers 9 or an empty parking space 15 on the floor 11 and is becoming more and more important in connection with straddle carriers 1 that are getting higher and higher.

In addition to the position data of the positioning system 5, the roll angle W and the pitch angle N, a current relative position of the spreader 3 on and thus in relation to determine the straddle carrier 1. From the respective position of the spreader 3, as described below, the corresponding position of a container 9 that has been transported and picked up by the spreader 3 can then also easily be determined.

The relative position of the spreader 3 in the above sense relates in particular to the portal frame 2 or the point which is decisive for determining the position of the portal lift truck 1 and which is defined, for example, by the positioning system 5 on the machine platform 2b. Such a current relative position of the spreader 3 can be, in the sense of a distance, the current lifting height of the spreader 3 relative to the straddle carrier 1 or relative to the locating system 5 on the machine platform 2b of the portal frame 2 and / or contain or be based on this height. The spreader 3 is firmly connected to the container 9 in the usual way via rotary locks 3a. Depending on whether the position of the container 9 is to be related to its top or bottom, the height h of the container 9 is also known required, which is either standardized or made available via a warehouse management computer. Another sensor not described can also be used for this purpose.

To determine the height and thus the current lifting height H of the spreader 3 as its relative position on the straddle carrier 1 or as part or basis of the position calculation, there is a sensor 7 on the lower side of the machine platform 2b facing the spreader 3, via which the distance between the Machine stage 2b, in particular the local location system 5, and the spreader 3 can be determined. The distance relates to the lifting and lowering direction S parallel to the longitudinal axes of the portal supports 2a. The sensor 7 can also be used to determine the relative position of the spreader 3 in more detail and in particular three-dimensional relative to the portal frame 2 or the machine platform 2b. The sensor 7 can be designed, for example, as a camera or as a laser scanner, which is aimed at a target mark 7a. Correspondingly, the target 7a is located in the center on the upper side of the spreader 3 facing the sensor 7.

This makes it possible overall, when the spreader 3 is raised or lowered vertically or inclined along the vertical or inclined portal supports 2a of the portal frame 2 in the lifting / lowering direction S, which is essentially parallel to the longitudinal axis of the portal supports 2a, in addition to the current position of the portal lift truck 1, which relates to a height of the machine platform 2b and the local positioning system 5, including this position data about the now known roll angle W, pitch angle N and lifting height H or the distance of the spreader 3 and the height h of the container 9 for the container 9 to be approached and picked up, Correct accordingly and thus optimize the empty parking space 15 to be approached or a container 9 picked up by the spreader 3. Thus, the current position of the spreader 3 and any received container 9 or an empty parking space 15 to be approached or an already parked container 9 to be approached and picked up can be determined with maximized or maximum accuracy and the container 9 can be lowered or picked up with high accuracy, in particular fully automatically will.

The Figure 2 shows a side view of the straddle carrier 1 from Figure 1 . The positioning system 5 is arranged in the middle on an upper side of the machine platform 2b of the straddle carrier 1. The sensor 7 can be seen on the lower side of the machine platform 2b and the target mark 7a can be seen on the upper side of the spreader 3. The traveling girders 4, on which the in Figure 5 The travel drives 10 shown schematically with rubber-tyred and air-filled wheels are located at the lower ends of the portal supports 2a. In the usual way, the straddle carrier 1 with this design can drive over one or, depending on the overall height, several stacked containers 9, pick it up with its spreader 3 via rotary locks 3a in its four corners, move the picked container to a destination and there on a floor 11 , deposit an already parked container 9 or a stack thereof. It goes without saying that instead of the combination of sensor 7 and target mark 7a, other sensors can also be used in order to determine the relative position and, in this context, the lifting height H of the spreader 3 as the distance.

In the Figure 3 is the straddle carrier 1 according to Figure 1 shown standing on the floor 11 in a front view. The floor 11 rises, seen in the direction of travel F, starting from an imaginary horizontal plane 12 transversely to the direction of travel F, so that a straddle carrier 1 standing or moving on the floor 11 is inclined by a roll angle W from a vertical position to the right. The roll angle W is enclosed between a perpendicular 13 and the lateral boundary of a portal support 2a, the boundary being formed in particular by an outer contour of the portal support 2a extending parallel to the longitudinal axis of the portal support 2a. As a result, inclinations or inclinations of the straddle carrier 1 to the right and left can be detected. A corresponding alignment of the straddle carrier 1 can of course also be present on an uneven floor 11 in the sense of a wavy or angled surface that is not generally planar. In Figure 3 the floor 11 is ideally drawn as a plane and inclined surface, that is to say inclined in relation to the imaginary ideally planar and horizontal plane 12.

The Figure 4 shows the straddle carrier 1 according to Figure 2 standing in a side view on the floor 11. The floor 11 is seen in the direction of travel F, starting from an imaginary horizontal plane 12 sloping in the direction of travel, so that a on the Floor 11 standing or moving straddle carrier 1 is inclined forward in the direction of travel F by a pitch angle N from a vertical position. Here, the pitch angle N is enclosed between a perpendicular 13 and the rear delimitation of a portal support 2a, the delimitation being formed in particular by an outer contour of the portal support 2a extending parallel to the longitudinal axis of the portal support 2a. As a result, inclinations or inclinations of the straddle carrier 1 to the front and back can be detected. A corresponding alignment of the straddle carrier 1 can of course also be present on an uneven floor 11 in the sense of a wavy or angled surface that is not generally planar. Also in Figure 4 the floor 11 is ideally drawn as a plane and inclined surface, that is to say inclined in relation to the imaginary ideally planar and horizontal plane 12.

In the following, the functioning of the invention is based on the Figure 5 explained in more detail. In the Figure 5 a block diagram is shown which shows the individual sensors 6a, 6b, 7 used to determine the exact position of the spreader 3 or the container 9 picked up by the spreader 3 and the location system 5 in electrical and data-exchanging connection with a central control unit 8. This control unit 8 processes the location coordinates obtained from the positioning system 5, which are usually specified in degrees, minutes and seconds - °, ', "- the relative position of the spreader obtained from the sensor 7 and the target 7a with the distance determined for this purpose Lift height H, the pitch angle N, which is determined and transmitted by the corresponding inclination sensor 6a, and the roll angle W, which is determined and transmitted by the corresponding inclination sensor 6b, around the position of the straddle carrier 1 known from the positioning system 5 in the area of the machine platform 2b To convert the absolute position of the spreader 3. On the basis of the absolute position of the spreader 3 thus obtained, the travel drives 10 and lifting drives 14 of the straddle carrier 1 are then controlled via the control unit 8 or a driver of the straddle carrier 1 is supplied with corresponding navigation data Record a Co ntainers 9 to or from the predetermined target position by the straddle carrier 1 possible.

The control unit 8 can, as in the exemplary embodiment in FIG Figure 5 A separate Form a unit or be integrated into a vehicle control of the portal lift truck 1.

To pick up a container 9, the straddle carrier 1 is driven with the aid of the travel drives 10 over a container 9 to be picked up. This is done, for example, by manual control of the travel drives 10, while the straddle carrier 1 is manually steered to the desired position by a driver and alternatively supported by a navigation system that accesses the position data of the spreader 3 of the control unit 8. The desired position here is the position of the spreader 3 at the lifting height H of the planned receptacle, that is, with a corresponding distance between the spreader 3 and the machine platform 2b and the relevant point defined there for determining the position of the straddle carrier 1. Alternatively or additionally, automatic control of the portal lift truck 1 and thus the travel drives 10 and the lifting drives 14 with the support of the position data of the spreader 3 of the control unit 8 is also conceivable. As a result, in addition to the displacement or inclination of the gantry lift truck 1 from the vertical, constructive flexibilities of the gantry lift truck 1, in particular the portal supports 2a, or deviations in the position of the spreader 3 that occur due to existing tolerances, which also depend on the load status of the gantry lift truck 1, can be advantageously achieved to be balanced. The position of the spreader 3 or the container 9 is thus determined with maximum accuracy. The container 9 is then picked up with the spreader 3 and connected to the spreader 3 by means of a conventional twist lock with a small tolerance. The position of the container 9 is thus defined with sufficient accuracy by the connection to the spreader 3. The container 9 is then raised with the spreader 3.

The straddle carrier 1 is then moved into a desired position, for example to the desired parking location or parking space 15 of the container 9, and the spreader 3 is lowered again to place the container 9. In the event that the container 9 is picked up, the position of the spreader 3 or the container 9 is determined by the control unit 8 in order to then park the container 9 at the intended storage location or storage space 15 with maximum accuracy.

This enables a more precise arrangement of containers 9 within a row of containers or within the container terminal and improves the use of space within a container terminal due to smaller deviations from a designated parking space 15.

List of reference symbols

1

Straddle carrier

2

Portal frame

2a

Portal supports

2 B

Machine platform

3

Spreader

3a

Twist lock

4th

Carrier

5

Location system

6a

first tilt sensor

6b

second tilt sensor

7th

sensor

7a

Target mark

8th

Control unit

9

Container

10

Travel drives

11

ground

12

imaginary horizontal plane

13th

Plumb lines

14th

Lifting drives

15th

Parking space

H

Height of the container

F.

Direction of travel

H

Lifting height

N

Pitch angle

S.

Lifting / lowering direction

W.

Roll angle

Claims (14)

1. Gantry lift stacker (1) in the form of a straddle carrier having a spreader (3) for containers (9) and having a front first gantry frame part and a rear second gantry frame part which each have two vertical gantry supports (2a) extending with their respective longitudinal axis in parallel with the lifting and lowering direction (S), wherein the spreader (3) is guided on the gantry supports (2a) of the gantry lift stacker (1) during lifting and lowering and a lifting device for the spreader (3) is attached to a gantry frame (2) of the gantry lift stacker (1) in a stationary manner, and having a locating system (5) arranged on the gantry lift stacker (1), said system determining a position of the gantry lift stacker (1), characterised in that the locating system (5) determines the position of the gantry lift stacker (1) in relation to a point defined on a machine platform (2b) of the gantry lift stacker (1), sensors (6a, 6b, 7) are arranged on the gantry lift stacker (1), wherein the sensors (6a, 6b, 7) and the locating system (5) are connected to a control unit (8), and the control unit (8) determines, from the position of the gantry lift stacker (1), using the signals from the sensors (6a, 6b, 7), a position of the spreader (3), of a container (9) to be picked up or of a set-down location (15), and wherein the sensors (6a, 6b, 7) arranged on the gantry lift stacker (1) comprise at least one sensor (6a, 6b) for determining an inclination of the gantry lift stacker (1) and at least one sensor (7) for determining a relative position of the spreader (3) on the gantry lift stacker (1), wherein the relative position relates to the point defined on the machine platform (2b) for determining the position of the gantry lift stacker (1) and includes a distance, measured in the lifting and lowering direction, of the spreader (3) relative to the point defined on the machine platform (2b) for determining the position of the gantry lift stacker (1).
2. Gantry lift stacker as claimed in claim 1, characterised in that the position of the gantry lift stacker (1) differs from the position of the spreader (3), of a container (9) to be picked up or of a set-down location (15) for containers (9).
3. Gantry lift stacker as claimed in any one of claims 1 or 2, characterised in that the locating system (5) comprises a receiver and at least this receiver is arranged on the machine platform (2b).
4. Gantry lift stacker as claimed in any one of claims 1 to 3, characterised in that the locating system (5) is based on radio, radar, GNSS, GPS or laser technology.
5. Gantry lift stacker as claimed in any one of claims 1 to 4, characterised in that arranged on the gantry lift stacker (1) as one of the sensors (6a, 6b, 7) is a sensor (7) for determining a relative position of the spreader (3) on the gantry lift stacker (1), via which in particular a lifting height (H) of the spreader (3) relative to the position of the gantry lift stacker (1) can be determined and is determined.
6. Gantry lift stacker as claimed in claim 5, characterised in that the sensor (7) for determining a relative position of the spreader (3) on the gantry lift stacker (1) is attached to the lower side of the machine platform (2b) facing the spreader (3).
7. Gantry lift stacker as claimed in claim 6, characterised in that the sensor (7) for determining a relative position of the spreader (3) on the gantry lift stacker (1) comprises at least one camera and/or at least one laser scanner which is directed towards a target mark (7a) applied to the centre of the spreader (3).
8. Gantry lift stacker as claimed in any one of claims 1 to 7, characterised in that the sensor (6a) for determining an inclination of the gantry lift stacker (1) is an inclination sensor (6a) for determining a roll angle (W) of the gantry lift stacker (1).
9. Gantry lift stacker as claimed in any one of claims 1 to 8, characterised in that the sensor (6b) for determining an inclination of the gantry lift stacker (1) is an inclination sensor (6b) for determining a pitch angle (N) of the gantry lift stacker (1).
10. Gantry lift stacker as claimed in any one of claims 1 to 9, characterised in that the control unit (8) is electrically connected to the sensors (6a, 6b, 7) and the locating system (5) and exchanges data therewith.
11. Gantry lift stacker as claimed in any one of claims 1 to 10, characterised in that the signals from the sensors (6a, 6b, 7) and from the locating system (5) are processed in the control unit (8) for determining the position of the spreader (3), of a container (9) to be picked up or of a set-down location (15) for containers (9), and the position is forwarded to the travel drives (10), the lifting drives (14) and/or a driver of the gantry lift stacker (1) as navigational data.
12. Arrangement consisting of a storage area on a ground surface (11) and of a gantry lift stacker (1) as claimed in any one of claims 1 to 11.
13. Method for a gantry lift stacker (1) for determining the position of a spreader (3), of a container (9) to be picked up or of a set-down location (15) for containers (9) for positioning containers (9) by means of a gantry lift stacker (1) in the form of a straddle carrier as claimed in any one of claims 1 to 11, in which positional data of the gantry lift stacker (1) are determined via the locating system (5) arranged on the gantry lift stacker (1), characterised in that a position of the spreader (3), of the container (9) to be picked up or of the set-down location (15) is determined from the positional data of the gantry lift stacker (1) with the aid of the control unit (8) and using data from the sensors (6a, 6b, 7) arranged on the gantry lift stacker (1).
14. Method as claimed in claim 13, characterised in that in order to determine a relative position of the spreader (3) on the gantry lift stacker (1) by means of a sensor (7) arranged on the gantry lift stacker (1), a lifting height (H) of the spreader (3) relative to the position of the gantry lift stacker (1) is determined and is processed by the control unit (8).

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