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WO2011066856A1 - Procédé, appareil, programme informatique et produit de programme d'ordinateur destinés à commander un ensemble de grues - Google Patents

Procédé, appareil, programme informatique et produit de programme d'ordinateur destinés à commander un ensemble de grues Download PDF

Info

Publication number
WO2011066856A1
WO2011066856A1 PCT/EP2009/066262 EP2009066262W WO2011066856A1 WO 2011066856 A1 WO2011066856 A1 WO 2011066856A1 EP 2009066262 W EP2009066262 W EP 2009066262W WO 2011066856 A1 WO2011066856 A1 WO 2011066856A1
Authority
WO
WIPO (PCT)
Prior art keywords
crane
movement
overall plan
completion time
movement operation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/066262
Other languages
English (en)
Inventor
Alf Isaksson
Stefan Israelsson Tampe
Guido Sand
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Research Ltd Switzerland
Original Assignee
ABB Research Ltd Switzerland
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Research Ltd Switzerland filed Critical ABB Research Ltd Switzerland
Priority to PCT/EP2009/066262 priority Critical patent/WO2011066856A1/fr
Publication of WO2011066856A1 publication Critical patent/WO2011066856A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the invention relates generally to control of at least two automated cranes .
  • the automated container cranes perform movements
  • An object of the invention is to reduce energy and/or power requirements for automated cranes while still not affecting an overall plan completion time.
  • a method for controlling a crane set of at least two automated container cranes it is presented a method for controlling a crane set of at least two automated container cranes .
  • completion time of a movement operation of a first crane of the crane set allows a completion time of an overall plan of movements to remain unaffected; and effecting, when the determining step provides an affirmative result, the movement operation with a completion time of the movement operation being later than the originally planned completion time of the movement operation, such that energy consumption and/or power consumption for the crane set is reduced.
  • crane A could be on a critical path, whereby a crane B movement can be delayed to reduce energy consumption, while at a later stage, crane B could be on a critical path, whereby a crane A movement can be delayed.
  • the crane set uses a smaller current and can in some cases be configured to use a smaller peak electrical current from the grid.
  • the step of determining may comprise determining that, due to an interdependency between plans for the first crane and a second crane, a delayed completion time of the movement operation of the first crane allows the end time of the overall plan of movements to remain
  • the step of effecting the movement may reduce movement speed to reduce energy consumption and/or power
  • the step of effecting the movement times may comprise timing a lifting of the load of the first crane to correspond in time to when the load of another crane of the crane set is lowered.
  • the lowering is also known as set-down and the lifting is also known as pick-up. This can reduce power usage which reduces the electrical current drawn from the power grid.
  • the step of effecting the movement times may comprise delaying a start time of the movement operation of the first crane.
  • the determining step and the effecting step may be repeated for each crane in the crane set.
  • the method may further comprise the step, prior to the step of determining, of: determining an overall plan as a compromise between completions time of the overall plan and energy usage and/or power consumption of the overall plan. It is to be noted that the determining an overall plan is to be construed either as modifying an existing plan or creating a new plan.
  • the step of determining an overall plan may comprise using weighting factors for completion time of the overall plan, and energy usage and/or power consumption of the overall plan, respectively.
  • a second aspect of the invention is an apparatus for controlling a crane set of at least two automated container cranes, the apparatus comprising: determiner arranged to determine that a delayed completion time of a movement operation of a first crane of the crane set allows the completion time of an overall plan of
  • a movement controller effecting the movement operation with a completion time being later than the originally planned completion time such that energy consumption and/or power consumption for the crane set is reduced.
  • the determiner may be arranged to determine that, due to an interdependency between plans for the first crane and a second crane, a delayed completion time of the movement operation of the first crane allows the end time of the overall plan of movements to remain unaffected.
  • the movement controller may be arranged to control acceleration to reduce energy consumption and/or power consumption .
  • the movement controller may be arranged to reduce movement speed to reduce energy consumption and/or power consumption.
  • the movement controller may be arranged to adjust timing of a lifting of the load of the first crane to correspond in time to when the load of another crane of the crane set is lowered.
  • the movement controller may be arranged to delay a start time of the movement operation of the first crane.
  • the apparatus may further comprise: an output device arranged to present at least two options for an overall plan, each option comprising a completion time and an energy usage and/or power consumption indication, and an input device arranged to receive an input for a selected one of the options.
  • a third aspect of the invention is a computer program for a crane controller, the computer program comprising computer program code which, when run on the crane controller, causes the crane controller to perform the steps according to the first aspect.
  • a fourth aspect of the invention is a computer program product comprising a computer program according to the third aspect and a computer readable means on which the computer program is stored. It is to be noted that any feature of the first, second, third and fourth aspects may, where appropriate, be applied to any other aspects of these aspects.
  • Fig 1 is a schematic diagram illustrating en embodiment of the present invention in a container port
  • Fig 2a is a schematic diagram illustrating a relatively small number of movement operations of the system of Fig 1,
  • Fig 2b is a schematic diagram illustrating a relatively large number of movement operations of the system of Fig 1,
  • Fig 3 is a schematic graph illustrating time usage of the cranes for the movement operations of Fig 2b,
  • Fig 4 shows one example of a computer program product 100 comprising computer readable means
  • Fig 5 is a flow chart illustrating a method according to one embodiment .
  • Fig 1 shows a port 11 provided with a port logistics system 8 controlling all movements of crane sets in the port.
  • Ships 2 arrive to unload or load containers 1, and the containers are stored, in this embodiment, in four storage blocks 10.
  • Each storage block 10 is served by two cranes 5, where the two cranes for a storage block 10 make up a crane set.
  • the port logistics system 8 controls the cranes that unload/ load the ships through a
  • an unloaded container is brought from a ship via a transport rail 4 to a storage block 10 selected by the port logistics system 8.
  • Cranes 5 that are dedicated to a storage block 10, and controlled by the port logistics system 8 move the unloaded container into a position as ordered within the storage block 10.
  • a container that is going to be loaded onto a ship is collected by the cranes 5 and moved to the transport rail 4 to be transported to the ship 2.
  • the port logistics system issues orders to each crane and these orders are arranged in a queue for each crane. The same applies when a truck 6 loads or unloads a container on the lower side of the blocks 7.
  • Fig 2 schematically shows in some more detail how two cranes 5a serve a storage block 10.
  • a co-ordinate system has been overlaid to make references to the movement operations clear. References are made herein in the form of [x, y] .
  • the top container of position [1, 2] is to be moved to position [3, 8].
  • the upper crane 5a does not reach position [1, 2]
  • the lower crane 5b does not reach position [3, 8].
  • the lower crane 5b is first ordered, in a first movement operation 11a, to move the top-most container of position [1, 2] to position [3, 3].
  • This allows the upper crane 5a, in a second movement operation lib, to move the container from position [3, 3] to position [3, 8], allowing the container to be
  • the lower crane is free to perform other movement operations . Since the containers can be stacked in the z-dimension (not shown) , it is easy to understand that moving a particular container to be shipped out can require a large number of movement operations. Loading a ship with a significant number of containers thus results in an overall plan which can include hundreds of movement operations. Moreover, there are similar overall plans when trucks 6 are unloaded. During times when there is no unloading or loading of containers, the cranes can perform optimisation, where containers are reordered to allow ship loading with fewer movement operations. With all these overall plans, regardless whether they are overall plans for ship loading, truck unloading or reordering, there are some limitations .
  • the upper crane 5a can not be in a position which is lower than the lower crane 5b. Consequently, the operating range of the upper crane is limited downwards and the range of the lower crane is limited upwards.
  • the crane 5a depend on the movement operation 11a of the crane 5b. In such circumstances, it is beneficial to always let the plan be the master. In other words, if the first movement operation 5b is delayed, the second movement operation lib only starts when the first
  • controller for a crane set (or even all crane sets, such as the port logistics system 8) , or each crane can track the movements of all other cranes of the same crane set. This helps to prevent deadlocks, which can otherwise occur. Deadlocks are situations where there is a mutual dependency between cranes and can take significant time and effort to solve.
  • Fig 2b is a schematic diagram illustrating the same movements of Fig 2a, but with two more movements added.
  • Fig 3 is a schematic graph illustrating time usage of the cranes for the movement operations of Fig 2b.
  • the four movements lla-d make up one overall plan for the crane set comprising the two upper crane 5a and the lower crane 5b. In order not to obscure with unnecessary details, the times for moving a crane into position is disregarded. It can be seen how the upper crane 5a only can start the second movement operation lib at a time 20, once the first movement operation 11a is complete.
  • the lower crane 5b can perform the third movement operation 11c which is completed at time 21.
  • the upper crane 5a can perform the fourth movement operation lid only when the second movement operation lib is complete, since the upper crane can only perform one movement operation at any one time.
  • the upper crane 5a can only perform the fourth movement operation lid once the third movement operation 11c is complete, since the fourth movement operation lid operates on the container moved by the third movement operation 11c.
  • the dependencies between cranes are shown with arrows .
  • the fourth movement operation completes at a time 23, which is also the completion time of the overall plan. It can here be seen that any delay to the first movement operation 11a, second movement operation lib and fourth movement operation lid will result in the completion time 23 of the overall plan being delayed.
  • the third movement operation 11c is not a critical movement operation, and as long as it is completed by time 22, there will be no delay to the completion of the overall plan.
  • non-critical movement operations such as the third movement operation 11c are thus deliberately not performed at a maximum speed of the crane in question to conserve energy usage and/or to reduce wear on mechanical components.
  • Non-critical operations can be performed using slower acceleration to use less energy.
  • Non-critical operations can be delayed in start time to balance energy usage across the crane set.
  • Such choices can reduce concurrent power requirements for a crane set, which can e.g. reduce peak power usage of the crane set.
  • the lifting (also known as pick-up) of a container of a non-critical movement operation can be delayed to a time when another crane in the crane set performs a lowering (also known as set-down) of a container to balance power consumption and power
  • the lowering of a container of a non-critical movement operation can be delayed to a time when another crane in the crane set performs a lifting of a container.
  • non critical operations can be performed at a generally lower speed to reduce energy usage and wear of components .
  • an operator can set the overall end time 23 to reduce energy requirements and/or to balance power usage.
  • a method to perform embodiments of the invention can contain the following steps :
  • the movement operation is effected with a completion time being later than the originally planned completion time, such that energy consumption and/or power consumption for the crane set is reduced.
  • Fig 4 shows one example of a computer program product 100 comprising computer readable means.
  • a computer program 101 can be stored, which computer program can cause a controller to execute the method according to embodiments described herein.
  • the computer program product is an optical disc, such as a CD (compact disc) or a DVD (digital versatile disc) .
  • the computer program product could also be embodied as a memory of a device, such as memory 18 of the secure element 10 or memory 23 of the application manager server 20.
  • the computer program 101 is here schematically shown as a track on the depicted optical disk, the computer program can be stored in any way which is suitable for the computer program product .
  • Fig 5 is a flow chart illustrating a method according to one embodiment .
  • the overall plan is determined.
  • the overall plan can be for the crane set or for a plurality of crane sets, for a section of the port or even for the whole port .
  • the plan can be determined to minimize its completion time or it can be determined as a compromise between completion time and energy usage and/or power consumption.
  • an operator is provided with a choice between several options, where each plan has a completion time and energy- usage and/or power consumption for the plan. This allows the operator to select a more energy and/or power
  • time criticality and energy usage and/or power consumption are weighted using weight factors, allowing the overall plan to be determined automatically using the weight factors.
  • movement operations are effected. For each movement, it is determined in a conditional can movement operation be delayed step 22, if the movement operation can be delayed without affecting the completion time of the overall plan. If this is affirmative, the method continues to an effect movement with reduced energy consumption step 24. Otherwise, the method ends, or in reality continues with the next movement operation. In the effect movement with reduced energy consumption step 24, the movement is effected with reduced energy consumption and/or power consumption, which results in a later completion time than originally planned for the movement operation, as described above. While the embodiments herein mention two cranes in a crane set, any number of suitable cranes can be combined in a crane set.
  • plan are described herein as originating from the port logistics system. It is to be noted, however, that the plan can originate from any suitable source, including a planning system from the crane set or even one of the cranes of the crane set.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention porte sur un procédé de commande d'un ensemble de grues comprenant au moins deux grues automatisées de levage de conteneur. Le procédé comprend les étapes consistant à : déterminer un moment d'exécution retardé d'une opération de déplacement d'une première grue de l'ensemble de grues permettant au temps d'exécution du plan d'ensemble de déplacement de ne pas être affecté, et exécuter l'opération de déplacement à un moment d'exécution plus tardif que le moment d'exécution prévu à l'origine, de manière à réduire la consommation d'énergie et/ou la consommation d'électricité pour l'ensemble de grues. L'invention porte également sur un appareil et sur un programme informatique et un produit de programme d'ordinateur correspondants.
PCT/EP2009/066262 2009-12-02 2009-12-02 Procédé, appareil, programme informatique et produit de programme d'ordinateur destinés à commander un ensemble de grues Ceased WO2011066856A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/066262 WO2011066856A1 (fr) 2009-12-02 2009-12-02 Procédé, appareil, programme informatique et produit de programme d'ordinateur destinés à commander un ensemble de grues

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/066262 WO2011066856A1 (fr) 2009-12-02 2009-12-02 Procédé, appareil, programme informatique et produit de programme d'ordinateur destinés à commander un ensemble de grues

Publications (1)

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WO2011066856A1 true WO2011066856A1 (fr) 2011-06-09

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2507390R1 (es) * 2013-04-11 2015-03-03 Europ Bulk Handling Intallation Ebhi S A Equipo de manejo y actuación sobre gruás-pórtico para descarga de materiales a distancia
GB2528568A (en) * 2014-06-03 2016-01-27 Ocado Innovation Ltd Methods, systems and apparatus for controlling movement of transporting devices
EP3006376A1 (fr) * 2014-10-09 2016-04-13 KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG Rayonnage et procede de commande de la trajectoire d'un appareil de commande de rayonnage dans un rayonnage
CN109335716A (zh) * 2018-08-31 2019-02-15 北京图森未来科技有限公司 港口物流配送方法、物流配送服务器和操控终端

Citations (1)

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EP2006237A1 (fr) * 2007-06-19 2008-12-24 Abb Research Ltd. Procédé et système pour optimiser les conteneurs d'un bloc

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EP2006237A1 (fr) * 2007-06-19 2008-12-24 Abb Research Ltd. Procédé et système pour optimiser les conteneurs d'un bloc

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JIAO ZHAO ET AL: "A particle swarm optimization for the quay crane scheduling problem with non-interference constraints", AUTOMATION AND LOGISTICS, 2009. ICAL '09. IEEE INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 5 August 2009 (2009-08-05), pages 270 - 272, XP031532179, ISBN: 978-1-4244-4794-7 *
NG ET AL: "Crane scheduling in container yards with inter-crane interference", 1 July 2005, EUROPEAN JOURNAL OF OPERATIONAL RESEARCH, AMSTERDAM, NL, PAGE(S) 64 - 78, ISSN: 0377-2217, XP025393328 *

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2507390R1 (es) * 2013-04-11 2015-03-03 Europ Bulk Handling Intallation Ebhi S A Equipo de manejo y actuación sobre gruás-pórtico para descarga de materiales a distancia
US11079770B2 (en) 2014-06-03 2021-08-03 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
GB2528568B (en) * 2014-06-03 2018-12-19 Ocado Innovation Ltd Methods, systems and apparatus for controlling movement of transporting devices
US10901404B2 (en) 2014-06-03 2021-01-26 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US10955834B2 (en) 2014-06-03 2021-03-23 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US11066239B2 (en) 2014-06-03 2021-07-20 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
GB2528568A (en) * 2014-06-03 2016-01-27 Ocado Innovation Ltd Methods, systems and apparatus for controlling movement of transporting devices
US11635769B2 (en) 2014-06-03 2023-04-25 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US11640176B2 (en) 2014-06-03 2023-05-02 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US11650601B2 (en) 2014-06-03 2023-05-16 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US12030718B2 (en) 2014-06-03 2024-07-09 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
EP3006376A1 (fr) * 2014-10-09 2016-04-13 KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG Rayonnage et procede de commande de la trajectoire d'un appareil de commande de rayonnage dans un rayonnage
US9546042B2 (en) 2014-10-09 2017-01-17 Keuro Besitz Gmbh & Co. Edv-Dienstleistungs Kg Rack storage system and method for controlling the movement path of a storage and retrieval device in a rack storage system
CN109335716A (zh) * 2018-08-31 2019-02-15 北京图森未来科技有限公司 港口物流配送方法、物流配送服务器和操控终端

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