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Automated Port Handling SystemsAHK Symposium, 04. April 2017, Houston USA

Dr. Jürgen Hellmich, CEO iSAM AG

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About the Company

90+ 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

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iSAM AG - WE DELIVER SOLUTIONS

iSAM AGAlexanderstraße 4645472 Mülheim an der RuhrGermany

[email protected]

iSAM North America Corp.500 Broadcast DriveMobile, Alabama 36606USA

[email protected]

iSAM Asia Pacific Pty LtdLevel 21, Riverside Centre 123 Eagle StBrisbane, QLD 4000Australia

[email protected]

iSAM Automation Canada Corp.# 1601 - 290 Newport DrivePort Moody, British ColumbiaV3H 5N2Canada

[email protected]

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Grab Ship UnloaderKey Tasks

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

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AHK Symposium, 04. April 2017, Houston USA

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Grab Ship UnloaderTechnology

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

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Grab Ship Unloader„Special Challenges”

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

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First 3D Laser Measurement taken by iSAMat a Container STS Crane

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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


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3D Ship ModelCollision Prevention and Operator Assistance

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


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Unmanned Automation (UA)Ship Loader Process Technology

„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


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UA for Export TerminalsImplementation for Seagoing Vessels

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


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UA Prototype at HansaportLoading Small Vessels and Barges

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

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UA Prototype at EMOLoading Panamax Vessels

Generally “cleaner” deck layout but there are exceptions Conveyor belts for self-

unloading 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


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Performances and return of invest


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Performances and return of invest


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[t] brutto t/h netto t/h

E0 – Auto 37299,35 28:47:02 1296 24:47:56 1504

E0 – Hand 13587,65 12:11:57 1114 10:04:50 1348

E1 – Auto 34846,21 25:51:17 1348 23:39:48 1473

E1 – Hand 10806,75 9:02:41 1195 7:58:56 1354

E2 – Auto 23876,27 18:19:17 1303 16:27:57 1450

E2 – Hand 7577,86 6:37:02 1145 6:04:04 1249

Zeitraum: 05.03.2011 – 07.03.2011E0/E1: Sa 06:30 – Mo 13:00E2: Sa 13:20 – Mo 12:40 Material: S.O. PelletsAbmessungen: 282 m x 45 mEntladung: 75 % Automatik, 25 % HandZeit: 52 h für 135.534 t mit 3 Brücken => 2.606 t/h

Prozentuale Steigerung von Hand auf Automatikbetrieb: E0 -> 16% brutto / 12% nettoE1 -> 12% brutto / 9% nettoE2 -> 13% brutto / 16% netto

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Goals

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


WWW.iSAM-AG.DEiSAM AG · ALEXANDERSTRASSE 46 · D-45472 MÜLHEIM AN DER RUHR · FON +49 (0) 208 49 585-0 · FAX +49 (0) 208 49 585-49 · WWW.iSAM-AG.DE

Thank youfor your attention

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