Procedure for securing a container loading facility

Abstract

A method for securing a container loading facility comprising a gantry crane spanning a work area with at least two loading areas and at least one access area extending between the loading areas, and designed to move containers from one loading area to another, wherein the access area is scanned by means of at least one LiDAR sensor and a safety signal is generated when a person is detected in the access area by the at least one LiDAR sensor, wherein a movable marker object is arranged in the access area when a person enters one of the loading areas from the access area, and a safety signal is also generated without the detection of a person in the access area if a marker object is detected in the access area by the at least one LiDAR sensor.

Description

[0001] The invention relates to a method for securing a container loading system comprising a gantry crane spanning a work area with at least two loading areas and at least one access area extending between the loading areas, and designed to move containers from one loading area to another, wherein (i) the access area is scanned using at least one LiDAR sensor and (ii) a security signal is generated when a person is detected in the access area by at least one LiDAR sensor.

[0002] Container loading facilities in container terminals must be reliably secured to prevent accidents. Intermodal cranes are used in such terminals to load and unload containers onto and from transport vehicles. An intermodal crane is a specialized type of crane that loads and unloads different modes of transport within a multi-stage transport or supply chain, for example, by maneuvering containers from one transport vehicle to another, such as from a truck to a container train. Such a container crane is operated by a crane control system, with the container pickup and movement to its destination preferably automated, or at least semi-automated. A container crane can be designed as a rail-mounted gantry crane (RMG) or a rubber-tired gantry crane (RTG).

[0003] For loading and unloading a transport vehicle, the container crane spans an area designated as a work platform. Transport vehicles drive along designated lanes into this platform to position themselves beneath the crane for loading and unloading. Tracks may be located within the loading areas, allowing freight trains to travel on them. Access areas are provided between these loading areas to facilitate personnel assistance during loading and unloading. These access areas are typically kept clear of transport vehicles and containers.

[0004] Since the movement of a container crane is preferably at least partially automated, and a container crane operator has only a limited field of vision due to the spatial extent of the work area, it is necessary to monitor the loading processes using sensors. For example, to ensure that no persons are in the access area when the container is being moved over the access area by the crane, especially not in the area below the container.

[0005] For automated monitoring, a LiDAR sensor can be centrally located above each access area, for example, on a support element of the gantry crane that extends across the work area. The sensor can be connected to a person detection unit that identifies the work area and transport vehicles from the measurement point cloud. If a measurement point within the data point cloud is located, for example, more than 0.3 m above the identified work area, the person detection unit outputs a "person likely" signal, causing a safety control system to slow down or stop the crane's movement.

[0006] One problem is that people in the access area often enter adjacent loading areas for maintenance purposes and are then obscured by vehicles and / or containers. For example, people often have to be on, under, or between railway wagons, where they cannot be reliably identified using LiDAR. To counteract this problem, maintenance personnel can be required to carry radio beacons that can be detected by a receiver in the crane control system. However, this is complex. Furthermore, detection in the loading areas is hampered by metallic shadows cast by the vehicles and / or containers.

[0007] In DE 10 2012 007 940 A1 a method for protecting dangerous objects in the movement area of ​​a crane system is disclosed, in which the danger area is monitored by means of a sensor device and the crane control is intervened in when objects are detected.

[0008] It is an object of the invention to provide a safeguarding method that is easy to implement yet exhibits high reliability.

[0009] The problem is solved by a method having the features of claim 1.

[0010] An inventive method for securing a container loading facility comprises the steps that (iii) a movable marker object is placed in the access area when a person enters one of the loading areas from the access area, and (iv) a security signal is generated even without the detection of a person in the access area if a marker object in the access area is detected by at least one LiDAR sensor.

[0011] It is therefore unnecessary to detect people in the loading areas, so no corresponding sensors need to be provided. The person can position the marker object themselves in the access area, which can be done quickly and easily. A marker object in the access area is particularly easy for the LiDAR sensor to detect because it is stationary and the access area is usually free of obstructing objects such as vehicles and / or containers.

[0012] Preferably, in step (iii), a portable marking object, in particular a pylon, is arranged in the access area. Such a marking object can be easily carried and set down by maintenance personnel. In principle, a mobile marking object could also be used, which does not necessarily have to be portable. For example, a marking object equipped with a set of wheels could be positioned by remote control.

[0013] According to one embodiment of the invention, in step (iii) a marker object is arranged in the access area, which has at least one reflector. This enables reliable detection of the marker object by the LiDAR sensor and, in particular, a distinction between the marker object and a person.

[0014] The movable marker can be positioned at the point in the access area where the person leaves. This allows, for example, the crane operator to know where to expect the person to return from the loading area. The crane can then potentially continue operating in a different section of the work area.

[0015] Preferably, the movable marker is removed from the access area once the person has left the loading area. This ensures that crane operations are not unnecessarily restricted.

[0016] It can be arranged that the safety signal is sent to a control unit of the gantry crane, and that the crane's operation is stopped when the safety signal is received. This step is particularly suitable for fully automated systems. It then eliminates the risk of a person returning from the loading area to the access area being endangered by crane movement.

[0017] According to a further embodiment of the invention, the safety signal is output to a control station of the gantry crane, and the crane operator is warned visually and / or audibly when the safety signal is present. In this configuration, the crane operator can decide whether to temporarily stop the crane or to continue working in a section of the work area away from the marked object.

[0018] Further developments of the invention can also be found in the dependent claims, the description and the accompanying drawings.

[0019] The invention is described below by way of example with reference to the drawings. Fig. Figure 1 shows a container loading facility which is secured using a method according to the invention. Fig. Figure 2 schematically shows a control device for controlling the in Fig. 1 container loading facility shown.

[0020] The in Fig. 1. The simplified container loading facility 11, shown from above, comprises a container crane 13 designed as a gantry crane, which has a support system 14 and extends over a work area 15. The work area 15 includes two elongated loading areas 16 arranged parallel to each other, which are separated by an access area 21 that is also elongated and runs parallel to the loading areas 16. From the access area 21, personnel can inspect the adjacent loading areas 16. The loading areas 16 contain... Fig. 1. Not shown, track layout for freight trains for loading and unloading. The access area 21 has a center line or longitudinal axis 17. The container crane 13 also has, in a manner known per se, a Fig. Figure 1 shows a trolley (not shown) that is mounted transversely to the longitudinal axis 17 on the support system 14. A container 19 for loading and unloading railway wagons can be attached to the trolley by means of a lifting device (not shown). For this purpose, the support system 14 can move parallel to the longitudinal axis 17.

[0021] To secure the access area 21, the container loading system 11 is equipped with a LiDAR sensor 27, which is arranged above the access area 21 on the support system 14, preferably centrally as shown. The LiDAR sensor 27 is oriented downwards and is preferably designed for three-dimensional detection. In particular, the LiDAR sensor 27 can be a multi-layer sensor. It is understood that, in principle, several LiDAR sensors 27 can also be arranged on the support system 14.

[0022] To safeguard the container loading facility 11, the access area 21 is scanned by the LiDAR sensor 27 during the operation of the container crane 13. A safety signal is generated if a person 23 is detected in the access area 21.

[0023] According to the invention, each time a person enters one of the loading areas 16 from the access area 21, as shown in Figure 23', a movable marker object 25, similar to a buoy, is positioned in the access area 21. The marker object 25 is portable and can therefore be placed by the person 23' themselves at the point 29 of the access area 21 where they exit the access area 21. The marker object 25 can be a simple traffic cone or pylon. Preferably, the marker object 25 has one or more reflectors, which in Fig. However, 1 is not shown.

[0024] The LiDAR sensor 27 makes it easy to detect whether and, if so, at which position 29 a marker object 25 is located in the access area 21. If the LiDAR sensor 27 detects one or more marker objects 25 in the access area 21, a safety signal is generated, even if no persons 23 are detected in the access area 21.

[0025] In a method according to the invention, the access area 21 is scanned by means of the LiDAR sensor 27, preferably continuously. Each time a person 23, particularly at a hazard point, is detected in the access area 21, a safety signal is generated. Furthermore, each time a person 23 enters one of the loading areas 16 from the access area 21 (e.g., when they go under a vehicle to be loaded for repair or maintenance purposes) and thus leaves the access area 21, a previously carried or specially provided or retrieved marker object 25 is placed in the access area 21. If such a marker object 25 is detected in the access area 21 by the at least one LiDAR sensor, a safety signal is also generated, even if no person 23 is currently detected in the access area 21.The safety signal is sent to a control unit of the container crane 13 and / or to a driver's cab of the container crane 13. When person 23 has left the loading area 16, the marker object 25 is removed from the access area 21.

[0026] Fig. Figure 2 schematically shows a control unit 65 which is in signal communication with the LiDAR sensor 27 and is used to control the in Fig.The container loading system 11 shown in Figure 1 is provided for. The control unit 65 has a receiver unit 66 and a processing unit 67. The LiDAR sensor 27 sends a safety signal (not shown) to the receiver unit 66 of the control unit 65 when a person 23 or a marker object 25 is detected in the access area 21. The control unit 65 transmits the safety signal to the processing unit 67 for evaluation. Upon receiving the safety signal, the processing unit 67 sends, for example, a stop signal to the container crane control unit 68. Alternatively and / or additionally, a warning signal can be issued to the container crane control unit 68. Alternatively, the LiDAR sensor 27 can transmit the relative position of a person 23 detected in the access area to the control unit 65.The control unit 65 evaluates the relative position of person 23 with respect to a predetermined minimum distance and, if this minimum distance is breached, outputs a warning signal and / or a stop signal to the container crane control unit 68. The control unit 65 can take the trajectory of the crane movement into account and only output the warning signal and / or the stop signal if the trajectory passes through the access area 21.

[0027] Since the LiDAR sensor 27 can easily distinguish between a person 23 and a marker object 25, different safety signals can be generated depending on whether a person 23 or a marker object 25 is in the access area 21. In principle, however, the same safety signal can be generated in both cases.

[0028] Due to the invention, it is not necessary to detect persons 23' in the loading areas 16, where sensor detection is difficult because of the containers 19 and the associated transport vehicles. Providing suitable marking objects 25 and placing them in the access area 21 requires little effort. Reference symbol list: 11 Container loading facility 13 container cranes 14 Carrier system 15 work surface 16 loading area 17 Longitudinal axis 19 containers 21 Access area 23 people in the entrance area 23' Person in the loading area 25 marker object 27 LiDAR sensors 29th place of the transfer 65 Control unit 66 receiver unit 67 processing units 68 Container crane control

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