Automated Port Handling Systems

Transcription

1 Automated Port Handling Systems AHK Symposium, 04. April 2017, Houston USA Dr. Jürgen Hellmich, CEO isam AG

2 isam AG - WE DELIVER SOLUTIONS About the Company employees (group), mostly engineers, physicists and software developers More than 30 years experience Globally operating, main customers in Europe, South-East Asia, Russia, North America and Australia Leading supplier of advanced port automation systems in Europe and North America Offering the full range of automation systems including field equipment, electrical cabinets, PLC and Level 2 systems isam AG Alexanderstraße Mülheim an der Ruhr Germany info@isam-ag.de isam North America Corp. 500 Broadcast Drive Mobile, Alabama USA info@isam-na.com isam Asia Pacific Pty Ltd Level 21, Riverside Centre 123 Eagle St Brisbane, QLD 4000 Australia info@isam-apac.com.au isam Automation Canada Corp. # Newport Drive Port Moody, British Columbia V3H 5N2 Canada info@isam-canada.com

3 Grab Ship Unloader Key Tasks 3 Determination of position, attitude and energy of the grab Determination of vessel and hatch position Detection of material distribution within the cargo bay Handling of materials with "unpredictable flow characteristics" Control of sway and oscillation Safety and certification

4 Grab Ship Unloader Technology 4 3D laser scanner to determine simultaneously position of grab, vessel, hatch and material Real-time image processing to extract cables and grab from 3D scan data and accurately determine sway angle and grab attitude (rotation) RTK-GNSS to determine accurate crane position Multiple strategy modules for different materials Redundant evaluation with PC and PLC to create safe areas for movement of personnel on the ship

5 Grab Ship Unloader Special Challenges 5 Grabbing material from underneath the coaming requiring active use of sway (not just anti-sway) External influences (material slides, wind) causing sway and rotational movements unknown to the grab model Fully loaded coal ships requiring operation close to the coaming and/or hatch covers

6 First 3D Laser Measurement taken by isam at a Container STS Crane 6 3D scanner mounted to operator cabin of STS crane Field of view allowing for scanning containers on shore and on ship Spreader and ropes are visible in scan image at all times allowing for real-time image processing to extract cables and spreader from 3D scan data and accurately determine sway angle and attitude (rotation) Distance between spreader / container and surface below can be automatically determined

7 3D Ship Model Collision Prevention and Operator Assistance 7 Overlay of CAD machine model on scan data providing synthetic vision to the (remote) operator Real-time distance to stop for all movements Easy to understand for the operator Easy to integrate in existing PLCs Ship model is created on the fly No need for scan runs prior to loading Dynamic open/close of hatch covers Real-time compensation of sway and drift Independent protection of individually moving structures (e.g. boom, telescope, cabin) on the ship loader

8 Unmanned Automation (UA) Ship Loader Process Technology 8 True automation without operator intervention Continuous measurement of ship attitude and cargo distribution Pre-set loading plans and patterns with automatic adaption to actual load Optional remote control on the ship for better integration of the stevedores Changes in hatch loading sequence Final trim phase in cooperation with the ship officers System remains in auto mode with full protection during trimming

9 UA for Export Terminals Implementation for Seagoing Vessels 9 Multi-stage approach 3D ship model based manual remote control + Automatic hatch loading + Automatic relocation + Automatic loading below the coaming (coal only) + Semi-automatic trimming Automatic control of all machine movements for even product distribution and roll control Automatic shortest / fastest path calculation for hatch relocation Prediction for required product gap on feeding belts can be optimized Positioning logic gets split into control system and machine PLC Positioning commands calculated by control system based on model data Positioning itself gets implemented in and executed by the PLC

10 UA Prototype at Hansaport Loading Small Vessels and Barges 10 Many different types of vessels; normally run by owner-operators my ship is my home Minimizing drop height to prevent dust Extremely sensitive to unbalancing, both laterally and horizontally (1 light = 1 cm) Loading in close proximity to the ship s superstructure Online correction of ship attitude and drop position necessary

11 UA Prototype at EMO Loading Panamax Vessels 11 Generally cleaner deck layout but there are exceptions Conveyor belts for selfunloading ships Deck cranes Butterfly hatches Collision avoidance against the ship s superstructure Operation in close proximity to hatch limits Sometimes complex movements required for hatch changes performance is critical

12 Performances and return of invest 12

13 Performances and return of invest 13 Zeitraum: E0/E1: Sa 06:30 Mo 13:00 E2: Sa 13:20 Mo 12:40 Material: S.O. Pellets Abmessungen: 282 m x 45 m Entladung: 75 % Automatik, 25 % Hand Zeit: [t] brutto t/h netto t/h E0 Auto 37299,35 28:47: :47: E0 Hand 13587,65 12:11: :04: E1 Auto 34846,21 25:51: :39: E1 Hand 10806,75 9:02: :58: E2 Auto 23876,27 18:19: :27: E2 Hand 7577,86 6:37: :04: Prozentuale Steigerung von Hand auf Automatikbetrieb: E0 -> 16% brutto / 12% netto E1 -> 12% brutto / 9% netto E2 -> 13% brutto / 16% netto 52 h für t mit 3 Brücken => t/h

14 Goals 14 Market analysis for interests and demands in the states of Texas and Louisiana Meetings and discussions with potential clients within the states to talk about their needs, their demands and future outlook in terms of automation Meetings and discussions with potential cooperation partners for the utilization of network sharing experience as well as finding help in terms of sales and projects

15 Thank you for your attention AG ALEXANDERSTRASSE 46 D MÜLHEIM AN DER RUHR FON +49 (0) FAX +49 (0)

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