Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.
B66C 13/06 - Auxiliary devices for controlling movements of suspended loads, or for preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
B66C 13/46 - Position indicators for suspended loads or for crane elements
B66C 19/00 - Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
2.
METHOD AND APPARATUS FOR RELATIVE POSITIONING OF A SPREADER
There is provided an apparatus comprising means for: receiving a first image of a first feature of a load; receiving a second image of a second feature of the load; determining image plane coordinates of the features of the load based on the first image and the second image; determining one or more action candidates based on the image plane coordinates; evaluating the one or more action candidates using an intermediate medium embodying historical experience information within a finite time horizon; choosing a control action based on the evaluation, wherein the control action causes a spreader to move with respect to the load.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Machines for lifting, loading, unloading and freighting
purposes and machine tools; motors and engines (except for
land vehicles); machine belts and couplings (except for land
vehicles); loading and lifting cranes, hydraulic loaders,
lifting machines and apparatus (except car lifts, in
particular for workshops); hauling machines, namely cranes,
loaders, bulldozers, excavators, mechanical shovels and
engines therefor; transmission components, except for land
vehicles, and parts therefor; loaders for harvesters; parts
and fittings for the aforesaid goods not included in other
classes. Recorded computer software, computer hardware and recorded
software systems for real time monitoring, trouble shooting
and data collecting, storing and handling for use in
machines and apparatus for lifting, loading, unloading and
freighting purposes; microprocessors for use in control
operating systems, automatic control operating systems and
automatic control systems for cargo transport vehicles;
computer hardware and recorded computer software systems for
use in machines, devices and vehicles for controlling
lifting, loading and unloading purposes; electronic
monitoring devices, namely, electric sensors and electric
controllers for loading and lifting cranes, lifts and
hoists; monitoring control apparatus, namely, wireless
controllers to monitor and control the functioning of other
electronic devices for use in machines and apparatus for
lifting, loading, unloading and freighting purposes and land
vehicles; measuring, detecting and monitoring instruments,
indicators and controllers, namely, electric sensors and
controllers for use in machines and apparatus for lifting,
loading, unloading and freighting purposes and land
vehicles; remote monitoring apparatus, namely, electric
sensors and controllers for use in machines and apparatus
for lifting, loading, unloading and freighting purposes and
land vehicles; electronic control systems for use in
machines and apparatus for lifting, loading, unloading and
freighting purposes and cargo land transport vehicles;
downloadable cloud network monitoring software; downloadable
computer software for creating searchable databases of
information and data; computer programs for connecting
remotely to computers or computer networks; downloadable
computer software for database management and wireless
content delivery; downloadable electronic databases,
computer software applications and cloud-computing
application software for use in cargo fleet management;
downloadable software applications for use with mobile
devices for use in cargo fleet management; electronic remote
controls apparatus for use in machines and apparatus for
lifting, loading, unloading and freighting purposes and
remote control starts for land vehicles; wireless
transmitters and receivers. Motor vehicles, namely vehicles incorporating lifting
apparatus and cranes; fork-lift trucks; replaceable vehicle
platforms; vehicle chassis; traction control systems for
land vehicles and traction engines for automobiles, parts
and fittings for the aforesaid goods not included in other
classes. Repair and maintenance of lifting, loading, unloading and
freight handling machines, machine tools, motors and
engines, machine belts and couplings, loading and lifting
cranes, hydraulic loaders, lifting machines and apparatus,
(except car lifts in particular for workshops); repair and
maintenance of hauling engines and apparatus, transmission
components, loaders for harvesters, motor vehicles, vehicles
incorporating lifting apparatus and cranes, fork-lift
trucks, replaceable vehicle platforms, vehicles chassis and
traction vehicles; installation services for lifting,
loading, unloading and freight handling machines, machine
tools, motors and engines, machine belts and couplings,
loading and lifting cranes, hydraulic loaders, lifting
machines and apparatus, (except car lifts in particular for
workshops), hauling engines and apparatus, transmission
components, loaders for harvesters, motor vehicles, vehicles
incorporating lifting apparatus and cranes, fork-lift
trucks, replaceable vehicle platforms, vehicles chassis and
traction vehicles. Design and development of computer hardware and software;
scientific and technological development, analysis,
expertise, know-how, consultancy, advice, information,
supplying and assistance related services, namely,
engineering consulting and scientific and technological
expert engineering consulting relating to machines and
devices for lifting, loading and unloading purposes and land
vehicles; engineering design for others relating to science
and technology; design and development of computer hardware
and software for use in machines and devices for lifting,
loading and unloading purposes and land vehicles; repair,
installation and maintenance services for computer software;
repair, installation and maintenance services for computer
software for use in machines and devices for lifting,
loading and unloading purposes and land vehicles; Software
as a Service (SaaS) featuring software for real time
monitoring, trouble shooting and data collecting, storing
and handling for use in machines and apparatus for lifting,
loading, unloading and freighting purposes hosted in the
cloud; providing temporary use of web-based software
applications for real time monitoring, trouble shooting and
data collecting, storing and handling for use in machines
and apparatus for lifting, loading, unloading and freighting
purposes; database development services; research relating
to the computerized automation of technical processes;
engineering consultancy services; engineering services
relating to robotics; development of computer software for
use with programmable controllers.
A method of providing position control information for controlling the movement of a spreader (400) of a crane (10) towards a spreader target position is disclosed. The method comprises measuring both the distance to the loading/unloading target position (32, 36) and the distance to a position of the spreader (400) for determining both a loading/unloading target position (32, 36) and the position of the spreader (400) in a fixed coordinate system by using a sensor fixed in a position and not attached to the crane. The method also comprises causing position control information corresponding to the position of the spreader (400) and the loading/unloading target position (32, 36) to be transmitted to the crane (10).
According to an example aspect of the present invention, there is provided a remote control workstation for controlling more than one type of load handling equipment. The remote control workstation is configured for communications with a plurality of types of load handling equipment and configured to cause connecting to one of said load handling equipment (202), determining a type of the connected load handling equipment (204), and in response to establishing a connection between the remote control workstation and said load handling equipment, displaying on a user interface of the remote control workstation a load handling equipment type specific control view from a plurality of load handling equipment type specific control views in accordance with a load handling equipment type of said load handling equipment (208).
The invention relates to a method for controlling braking of a machine mounted for movement on rails. The machine is provided with mechanical wheel brakes, electric drive motors for rotating the wheels and a control system for braking. The method comprises the steps of: -monitoring the movement and operations of the machine to detect whether a stop command shall be activated to stop the machine immediately, -switching-on the mechanical wheel brakes to stop the machine if the stop command is activated, and -activating the electric drive motors of the machine simultaneously with the switching-on of the mechanical wheel brakes to rotate the wheels and prevent locking and sliding of wheels on the rails if movement of the machine is detected at the moment of the activation of the stop command. The invention relates also to a system and computer program product for controlling braking of a machine mounted for movement on rails.
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
F16D 66/00 - Arrangements for monitoring working conditions of brakes, e.g. wear or temperature
7.
A METHOD, AN APPARATUS, AND A COMPUTER PROGRAM FOR CONTROLLING A CONTAINER CARRIER
The invention relates to a method, an apparatus, and a computer program product for controlling a container carrier comprising receiving position information (20) and receiving route information (22) in the cargo handling area (2) for the container carrier. The invention comprises assigning (24) to the cargo handling area (2) at least two portions comprising different speed categories in response to the route information (22), calculating the speed control information (28) at least in response to the speed category in the position of the container carrier, and sending the speed control information (28) to the drive control system.
The invention relates to container carriers (8) that are used in ports and terminals. The invention comprises a method, an apparatus and a computer program product for moving a container carrier (8). The method comprises the steps of lowering the container, causing to disengage the weight of the container and the spreader off the wheels (1 ), turning the wheels (1 ) to an orientation suitable for a carousel or skew maneuver (2), lifting the container and starting a carousel or skew maneuver (2).
The invention relates to a system for determining the position of a container in a vehicle and/or trailer loaded with containers in the container loading area, such as the container terminal, the container or containers (13) being loaded on the vehicle (16) and/or trailer (17) and correspondingly unloaded therefrom by a crane handling the containers and moving over a lane or lanes (26) in the loading area. The crane is provided with a spreader grabbing the containers (13) from the top and with a positioning system for the crane and the spreader. The system according to the invention for determining the position of a container is provided with a container position determining apparatus arranged in connection with the lane (26) and comprising a fixed structure (1) which is mounted alongside the lane (26) and the location of which relative to ground is known, and an indicator (2) that is movable on the fixed structure (1) and can be manually moved to indicate either end of the desired position of a container on a vehicle (16) parked on the lane (26) or on a trailer (17) connected thereto. Information about the position of the indicator (2) on the fixed structure (1) is determined and transmitted to the crane.
The apparatus comprises a container handling vehicle (30) provided with a platform (31), and at least two elongated support beams (41) disposed transversely on the platform (31), the support beams (41) supporting a container (20) by container castings (50) provided at the corners of the container (20). Each support beam (41) is floatingly supported on the platform (31) in such a way that the movement of the support beam (41) in the lengthwise direction of the support beam (41) is allowed but the movement of the support beam (41) in the cross-direction of the support beam (41) is prevented.
B60P 1/64 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading the load supporting or containing element being readily removable
Coupling means (1) for rods (2) to be used for lashing and supporting containers, more particularly containers (9,13,21,22) to be transported on ships, such as cargo ships, which coupling means (1) comprises at least two locking heads (A,B), which locking heads comprise end parts (4,5), and which end parts comprise at least one support surface (6,7) for achieving a lashing function and supporting function, and which end parts can be fitted inside the holes (10, 12) that are on the corners (9 ',13 ' ) or in the corner pieces of containers, for lashing and supporting the containers, and in which coupling means at least two locking heads (A,B) are fitted with a hinge (8) to a rod (2) such that they can be turned around the hinge (8) to the extent of the desired angle, for selecting the locking head (A or B) to be used, and in that the essentially orthogonal distance (Α ', Β ' ) of the support surfaces (6,7) from the center line of the rod is different when either the locking head (A) or (B) is used.
The invention concerns a system for determination of a container's position in a vehicle and/or in its trailer to be loaded with containers (13) in a loading area for containers (13), such as a container freight terminal, where the container or containers (13) are loaded into a vehicle (16) and/or into its trailer and, correspondingly, they are unloaded from this/these by a crane (10b) for handling containers which travels in the loading area above the traffic lane or traffic lanes (26b). The crane is equipped with a container spreader (23b) gripping the containers (13) from above and with a positioning system for the crane (10b) and for the container spreader (23b). The vehicle (16) and, correspondingly, its trailer have locking pins locking into pin holes in the corners of the container (13), whereby the system has laser scanners for determination of the position of the locking pins in the vehicle (16) and/or in its trailer and for determination of the container's position depending on these. The laser scanner/laser scanners are arranged to determine the positions in relation to the ground of the locking pins in the vehicle (16) and/or its trailer parked in the loading area, and the system is arranged to relay the position information determined by the laser scanner to the crane (10b), whereby based on the position information of the crane (10b) and the container spreader (23b) the crane's positioning system is adapted to calculate the position of the locking pins in relation to the crane (10b).
Rotation prevention means (2) of a lashing device, which lashing device (1) is used particularly for lashing containers used on cargo ships, and which lashing device comprises an elongated first coupling part (3), such as a stud bolt, which can be detachably connected to a desired base, such as to the ship or to the deck of the ship, and to which first coupling part at least one second rotatable coupling part (4) is fitted, for changing the length of the lashing device, and that the rotation prevention means (2) is fitted in connection with the first and the second coupling part for preventing unintentional rotation of the second coupling part, and wherein the rotation prevention means (2) is fitted to the first and the second coupling part, for preventing unintentional rotation of the second coupling part, such that the force needed to change the direction of rotation of the second coupling part is essentially greater than the force that is needed for rotating the second coupling part in either direction.
Rotation prevention means (2) suited for a lashing device, which lashing device (1) is used more particularly for lashing containers to be used on cargo ships, and which lashing device comprises an elongated first coupling part (3), such as a stud bolt, which can be detachably connected to a desired base, such as to the ship or to the deck of the ship, and to which first coupling part at least one second rotatable coupling part (4) is fitted, for changing the length of the lashing device, and that the rotation prevention means (2) is fitted in connection with the first and the second coupling part for preventing unintended rotation of the second coupling part, and that the rotation prevention means (2) is fitted to the first and the second coupling part, such that the force needed to change the direction of rotation of the second coupling part is essentially greater than the force that is needed for rotating the second coupling part in either direction, and that it comprises at least one prestressing means (8), such as a spring, which presses a first grooved and/or notched and/or toothed part (7), such as a toothed plate or gear wheel, fitted to the first coupling part, and that at least one second grooved and/or notched and/or toothed part (19) in the rotation prevention means (2), which part (19) is either a toothed plate or a gear wheel, is in contact with the first grooved and/or notched and/or toothed part (7), and that the prestressing means (8) presses the first grooved and/or notched and/or toothed part (7) against the second grooved and/or notched and/or toothed part (19).
The solution comprises an outer bearing housing (41), which is supported on the lift bogie's body structure, a cylindrical inner bearing housing (42), which is fitted in the outer bearing housing's (41) axial first bore (41a), and a bearing element (43), through which the travelling wheel's shaft is supported in the inner bearing housing (42). The inner periphery (42a) of the inner bearing housing (42) is eccentric in relation to the outer periphery (42b) of the inner bearing housing (42), and the inner bearing housing (42) is locked in the outer bearing housing (41) with a friction lock (45, 46, 47, 49) in such a way that, on the one hand, the inner bearing housing (42) can be rotated step-lessly in the peripheral direction in order to control the desired eccentric position in relation to the outer bearing housing (41) and, one the other hand, it can be moved step-lessly in the axial direction in relation to the outer bearing housing (41) in order to control the desired gauge.
A coupling device (1) for coupling containers (40, 41), particularly for coupling containers used in cargo ships and land transport, which coupling device includes a fastening piece (2) formed in the upper part of its body part (48), by which the body part is fastenable in a corner piece (26) in a corner of the container (40) by rotating the body part around its vertical shaft, whereby the fastening piece fastens in the corner piece (26) of the container, and which body part includes a planar coupling plate (3) formed between its upper part and lower part, and the body part includes a cam part (6) below the coupling plate, and which body part is fitted with a first rotatable lever-like locking part (5) for preventing and/or releasing the motion of the body part, and which body part includes a second rotatable lever-like locking part (8) for enabling and/or preventing the motion of the body part, and the second lever-like locking part (8) is either directly or indirectly in contact with the first lever-like locking part (5) such that, as the first lever-like rotates, the second lever-like locking part is also able to rotate for enabling the locking mode and the unlocking mode, and in which in the second lever-like locking part is formed a protrusion (34) for receiving vertical forces between the containers.
Seal for sealing a transverse bulkhead (3) of a hold of a ship, more particularly for sealing a gap between a longitudinal bulkhead (2) and a transverse bulkhead (3). The invention is implemented such that the seal comprises two or more connectable seal parts (1', 1", 1'", etc.), which form an elongated seal essentially the length of the gap to be sealed.
Operating mechanism (25) of a loading hatch of a cargo ship, which loading hatch comprises at least one hatch panel (18,19), which hatch panel can be moved between an open position and a closed position for opening and closing the cargo space (23) of a cargo ship, and in which at least one actuator apparatus is fitted to the hatch panel, or in connection with it, for achieving movement of the hatch panel between the open position and the closed position, and in which the hatch panel can be raised into a travel position and can be lowered into a locking position, a sliding base (1), which is arranged to slide supported by a guide or guides (4 ',4") on the hull of the ship, and by means of the aforementioned sliding base as well as at least one hinged lever arm (2,3) or sector gear connected directly or indirectly to the hull of the ship.
The invention relates to a coupling device for coupling containers, particularly for coupling containers used in cargo ships and land transport, in which coupling device (1) there is formed in the upper part of its body part (13) a fastening piece (2), by which the body part is fastenable in a corner piece (26) in a corner of a container (40) by rotating the body part around its vertical shaft, whereby the fastening piece fastens in the corner piece (26) of the container, and that in the body part is formed between its upper part and lower part a planar coupling plate (3), and that in the body part there is a cam part (6) for controlling the motion of the body part and for receiving substantially vertical forces between the containers (40, 41), and that in the body part is fitted a first rotating lever-like locking part (8) for preventing and/or releasing the motion of the body part and, in the body part, there is a second rotating lever- like locking part (5) for enabling and/or preventing the lateral motion of the body part and for receiving substantially vertical forces between the containers (40, 41), and which second lever-like locking part (5) is directly or indirectly in contact with the first lever-like locking part (8) so that, when the first locking part rotates, also the second lever-like locking part is able to rotate for enabling a locking mode and an unlocking mode.
The invention relates to an electrically-driven container straddle carrier, terminal tractor or equivalent free-travel device which runs on rubber tyres and handles containers. The device (1, 2, 3) is provided with a repeatedly-chargeable electric power storage and an automatic charging system connected to the power storage which is arranged to couple to an external source of electric power for a part of the work cycle of the device (1, 2, 3) handling containers for charging the electric power storage without disturbing the normal work cycle of the device. When the device is a transport straddle carrier (1) which operates in a cargo terminal between a crane (4) and a container interchange area (5), the automatic charging system comprises a power supply station (7) arranged in the terminal area advantageously into connection with the container interchange area (5), provided with a power supply head, whereby the container straddle carrier (1) is provided with a charging head (12) connected to the power storage and coupling to the power supply station (7).
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B66C 19/00 - Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
