Nachrüstung von Brückenkranen für den autonomen Betrieb: Entwicklung eines autonomen Gitterbox-Transportsystems

Abstract

While bridge cranes are widely available systems for handling heavy materials, they are mainly used manually and for isolated transports which results in a low degree of utilization. This work proposes a retrofittable, removable system, that enables the existing bridge crane to transport pallet cages autonomously, also in crowded industrial environments without the need of restricted areas at shopfloor level. The system consists of a newly developed removable load handling device, a camera and radar sensor based perception system and a control structure, that implements a new developed safety concept and a process control system for autonomy. A requirements study is discussed, upon which a system design is suggested. The suggested system design is validated by a prototype built on a standard bridge crane.