Gantry Stacker Positioning via Sensor Fusion
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Solution Overview
Problem
Gantry lift stackers face challenges in precisely positioning containers for pick-up and set-down due to limitations in determining the exact position of the spreader relative to the gantry frame, leading to potential deviations and inefficient use of space in container terminals.
Innovation Solution
The implementation of a locating system on the gantry lift stacker, combined with sensors for inclination and relative position measurement, allows for precise determination of the spreader's position using control units that process positional data from these systems to ensure accurate container placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a locating system is arranged on the gantry lift stacker to determine its position, then the position of the gantry lift stacker can be determined, but the position of the spreader remains uncertain leading to positioning deviations
Solution Approach 1:
The system segments the positioning task into two independent measurement components: (1) locating system measures gantry lift stacker position, and (2) sensors measure spreader position relative to the gantry frame. This segmentation allows each component to be optimized independently and their measurements combined for comprehensive positioning accuracy.
Solution Approach 2:
The control unit acts as an intermediary that receives positional data from both the locating system and sensors, processes this information, and calculates the corrected spreader position. This intermediary processes the relationship between the two measurement systems to achieve accurate container placement.
2Manufacturing precision
If sensors are added to measure spreader position relative to the gantry frame, then positioning accuracy improves, but device complexity increases
Solution Approach 1:
The sensors serve multiple functions: they measure both the position and inclination of the spreader relative to the gantry frame. This multi-functionality reduces the need for separate measurement systems and justifies the added complexity by providing comprehensive data for precise positioning control.
Solution Approach 2:
The system uses its own sensors to measure and compensate for its positional deviations and inclinations. By self-measuring and self-correcting, the system eliminates the need for external reference systems or manual positioning adjustments, making the complexity worthwhile.
3Ease of manufacture
If the spreader position is not accurately determined, then the system structure remains simple, but space utilization in container terminals decreases
Solution Approach 1:
The system replaces manual positioning methods with automated sensor-based measurement and control. This substitution of mechanical/manual operations with electronic sensing and computational control achieves precise positioning that maximizes space utilization while maintaining manageable system complexity.
Data Source
AI summary
A gantry stacker having a spreader for containers and including a locating system arranged on the gantry stacker that determines a position of the gantry stacker. To permit a more precise receiving or depositing of containers in a predefined position in a container terminal, sensors are arranged on the gantry stacker, with the sensors and the locating system being connected to a control unit, and the control unit determines a position of the spreader, of a container to be received or of a deposit site from the position of the gantry stacker using the signals from the sensors.