US 11,702,323 B2
Automatically guided lifting gantry device for containers and method for operating such a lifting gantry device
Stefan Klement, Rimpar (DE); Daniel Baselt, Korschenbroich (DE); and Sascha Pollak von Emhofen, Frechen (DE)
Assigned to KONECRANES GLOBAL CORPORATION, Hyvinkää (FI)
Appl. No. 16/620,147
Filed by Konecranes Global Corporation, Hyvinkää (FI)
PCT Filed Jun. 1, 2018, PCT No. PCT/EP2018/064508
§ 371(c)(1), (2) Date Dec. 6, 2019,
PCT Pub. No. WO2018/224408, PCT Pub. Date Dec. 13, 2018.
Claims priority of application No. 10 2017 112 661.9 (DE), filed on Jun. 8, 2017.
Prior Publication US 2021/0147192 A1, May 20, 2021
Int. Cl. B66C 13/46 (2006.01); B66C 19/00 (2006.01); G05D 1/02 (2020.01); G01C 21/36 (2006.01)
CPC B66C 13/46 (2013.01) [B66C 19/007 (2013.01); G01C 21/3647 (2013.01); G05D 1/0246 (2013.01); B60R 2300/105 (2013.01); G05D 2201/0205 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A gantry container lift comprising
four mutually spaced apart gantry struts;
wheels that enable the gantry container lift to travel freely and in a floor-bound manner;
a vehicle controller, via which the gantry container lift can be automatically controlled and can be operated in a fully automated manner as an automated guided vehicle, wherein in the automated operation all of the maneuvers of the gantry container lift can be automatically controlled, in that transport orders are executed and routes which are specified in this respect are converted by control technology into corresponding maneuvers within a terminal for handling containers; and
a sensor system which is configured and designed to determine sensor data of a surrounding area of the gantry container lift in order to automatically control the gantry container lift;
wherein the sensor system comprises at least two sensor units for contactless object measurement and object recognition, and wherein each sensor unit is arranged on a separate one of the four gantry struts and is designed to determine sensor data of a surrounding area of the gantry container lift for object measurement and object recognition, and wherein the sensor system additionally includes four spreader cameras, and wherein the sensor system includes an automatic calibration device via which the sensor units and spreader cameras can be automatically calibrated to reference objects comprising marking elements attached to the gantry container lift; and
wherein transport orders are planned via a superordinate computer-assisted management system, and wherein the superordinate computer-assisted management system is operable to adapt dynamic traffic rules and block or release areas and ensure that only one gantry lift device is located in a specific area.