JPH10120362A - Device for controlling landing of load hoisted by crane - Google Patents
Device for controlling landing of load hoisted by craneInfo
- Publication number
- JPH10120362A JPH10120362A JP28041696A JP28041696A JPH10120362A JP H10120362 A JPH10120362 A JP H10120362A JP 28041696 A JP28041696 A JP 28041696A JP 28041696 A JP28041696 A JP 28041696A JP H10120362 A JPH10120362 A JP H10120362A
- Authority
- JP
- Japan
- Prior art keywords
- load
- landing
- displacement
- crane
- shake
- 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.)
- Granted
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、クレーンの吊り荷
着床制御装置に関し、例えばコンテナクレーンなどにお
いて、吊り下げた荷を目標位置に着床させる際の制御に
適用して好適なものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended load landing control device for a crane, and is suitably applied to control for landing a suspended load on a target position in, for example, a container crane. .
【０００２】[0002]
【従来の技術】図１はコンテナクレーン２を用いて陸地
ｇに積まれた荷（吊り荷）５を、岸壁に接岸された船Ｓ
に積み込んでいる状況を示す。同図を参照して、従来の
制御装置により、荷５を船上の目標位置に正しく積荷
（着床）する際の制御状態を説明する。2. Description of the Related Art FIG. 1 shows a load (hanging load) 5 loaded on land g using a container crane 2 and a ship S berthed on the quay.
This shows the status of loading. With reference to the drawing, a control state when the load 5 is correctly loaded (landed) on a ship at a target position by the conventional control device will be described.
【０００３】陸地ｇの荷５は、吊り具４を介して吊りワ
イヤー６で吊り下げられた状態で、ガーダー２ａ上を走
行するトロリー３によって船Ｓ上まで搬送される。この
時、吊りワイヤー６で吊り下げられた荷５は任意の周期
で振れ動いているので、この振れ量を振れセンサー９で
検出し、この検出値をもとにトロリー３を適宜移動させ
ることによって振れを小さくし、振れ量が許容値以下に
なった時点で荷５を着床させるようにしている。なお、
振れセンサー９は、カメラ１で撮影した画像を画像処理
して振れを検出するタイプのものを採用している。The load 5 on the land g is transported to the ship S by the trolley 3 traveling on the girder 2a while being suspended by the suspension wires 6 via the suspenders 4. At this time, since the load 5 suspended by the suspension wire 6 is swinging at an arbitrary cycle, the swing amount is detected by the swing sensor 9 and the trolley 3 is appropriately moved based on the detected value. The shake is reduced, and the load 5 is landed when the shake amount becomes equal to or less than the allowable value. In addition,
The shake sensor 9 employs a type that detects image shake by performing image processing on an image captured by the camera 1.
【０００４】[0004]
【発明が解決しようとする課題】前記した従来の着床位
置決め制御は、理想的条件の下では精度の高い着床が可
能である。しかし、実際には次のような原因（１）〜
（３）に基づいて着床精度が低下する。 （１）風などによってクレーン本体に振れや倒れが生じ
ている場合にはオフセットを生じる。 （２）振れセンサー自身に検出誤差がある。 （３）着床時のコンテナのがたつきによる位置ずれがあ
る。The above-described conventional landing positioning control enables highly accurate landing under ideal conditions. However, actually, the following causes (1) to
The landing accuracy is reduced based on (3). (1) When the crane main body swings or falls due to wind or the like, an offset occurs. (2) The shake sensor itself has a detection error. (3) There is a positional shift due to rattling of the container at the time of landing.
【０００５】また、従来の振れ止め着床制御でも、これ
を繰り返し実施することによって所望の精度まで高める
ことは可能であるが、長い時間を要するなどの問題があ
った。In the conventional steady rest landing control, it is possible to increase the accuracy to a desired level by repeatedly performing the control, but there is a problem that a long time is required.
【０００６】本発明は、上記従来技術に鑑み、荷を目標
位置に精度よく着床させることのできるクレーンの吊り
荷着床制御装置を提供することを目的とする。SUMMARY OF THE INVENTION In view of the above prior art, it is an object of the present invention to provide a crane hanging load floor control device capable of accurately landing a load at a target position.
【０００７】[0007]
【課題を解決するための手段】上記課題を解決する本発
明の構成は、巻下げ指令を出すことにより、線状材で吊
り下げた荷を巻き下げて目標位置に着床させるクレーン
の吊り荷着床制御装置であって、巻下げられている荷の
巻き高さを刻々計測する巻き高さ検出手段と、巻下げら
れている荷の振れ変位を刻々計測する振れ変位検出手段
と、計測した振れ変位から、振れ速度及び角速度を求め
て振幅を算出し、次いでこれらの値を用いて任意振れ状
態における位相角を算出すると共に、その時の巻下げ速
度にて荷が所定高さから着床するまでに要する所要時間
を求め、この所要時間だけ位相を進ませた時の予測振れ
変位を計算し、この計算した予測振れ変位を予め設定し
た着床許容値と比較して、振れ変位が着床許容値以下と
なったときのタイミングで着床動作を行うよう巻下げ指
令を出力する演算装置と、でなることを特徴とする。According to a construction of the present invention for solving the above-mentioned problems, a lifting load is issued, and a load suspended by a crane for lowering a load suspended by a linear material and landing at a target position. A landing control device, wherein a winding height detecting means for measuring the winding height of the load being lowered, a deflection displacement detecting means for measuring the deflection displacement of the load being lowered, and From the shake displacement, the shake speed and the angular velocity are obtained to calculate the amplitude, and then the phase angle in the arbitrary shake state is calculated using these values, and the load arrives from a predetermined height at the lowering speed at that time. Is calculated, and the predicted deflection displacement when the phase is advanced by the required time is calculated, and the calculated predicted deflection displacement is compared with a preset landing allowable value, and the deflection displacement is calculated. Tie when it falls below the allowable value Wherein an arithmetic unit for outputting a lowering command to perform a landing operation with ring, to become in.
【０００８】上記構成の本発明の作用は次の通りであ
る。即ち、荷を巻下げ速度Ｖｃで着床させる際に任意高
さにおける振れ変位Ｘを刻々計測し、この計測値Ｘより
振れ速度Ｘ’及び角速度ωを求めて、振幅Ａ＝〔Ｘ2 ＋
（Ｘ’／ω）2 〕1/2 を算出し、次いで、これらの値を
用いて位相角φ＝sin -1（Ｘ／Ａ）を算出し、一方、荷
が所定の高さｈ0 から着床するまでの時間Δｔを求めて
おき、このΔｔ及び先に求めた位相角φを用いて時間Δ
ｔだけ位相を進ませた時の予測振れ変位Ｘ（Δｔ）＝Ａ
sin (ωΔｔ＋φ） を計算し、この計算した予測振れ
変位Ｘ（Δｔ）の値が予め設定された許容値Ｘ0 と比較
してＸ（Δｔ）≦Ｘ0 となるときに着床動作を実行す
る。このようにすると荷は許容値Ｘ0 以内に着床する。The operation of the present invention having the above configuration is as follows. That is, when the load is landed at the lowering speed Vc, the deflection displacement X at an arbitrary height is measured every moment, the deflection speed X ′ and the angular speed ω are obtained from the measured value X, and the amplitude A = [X 2 +
(X ′ / ω) 2 ] 1/2 is calculated, and then the phase angle φ = sin −1 (X / A) is calculated using these values, while the load is calculated from a predetermined height h 0. The time Δt until landing is determined, and the time Δt is determined using the Δt and the phase angle φ determined earlier.
Predicted shake displacement X (Δt) = A when the phase is advanced by t
sin (ωΔt + φ) is calculated, and when the calculated value of the predicted shake displacement X (Δt) is compared with a preset allowable value X 0 , the landing operation is executed when X (Δt) ≦ X 0. . In this way load is landed within the allowable value X 0.
【０００９】[0009]
【発明の実施の形態】以下に、本発明の実施の形態を図
面に基づき詳細に説明する。なお、本明細書中では、表
記の都合上、振れ変位Ｘを時間微分して求めた振れ速度
をＸ’にて示す。Embodiments of the present invention will be described below in detail with reference to the drawings. In the present specification, for the sake of notation, a shake speed obtained by differentiating the shake displacement X with respect to time is indicated by X ′.
【００１０】本発明のクレーンの吊り荷着床制御装置
を、図１に示すようなコンテナクレーンに適用した実施
の形態を、以下に説明する。An embodiment in which the crane hanging and landing control apparatus of the present invention is applied to a container crane as shown in FIG. 1 will be described below.
【００１１】図示のようにコンテナクレーン２は、吊り
具４を介して吊りワイヤー６でコンテナ（吊り荷）５を
吊り下げた状態で、トロリー３をガーダー２ａに沿って
移動させ、陸地ｇ上のコンテナ（吊り荷）５を船Ｓ上
へ、あるいは、船Ｓ上のコンテナ（吊り荷）５を陸地ｇ
上へ搬送して所定位置に着床させて荷積みをするように
なっている。As shown in the figure, the container crane 2 moves the trolley 3 along the girder 2a while the container (hanging load) 5 is hung by the hanging wire 6 via the hanger 4, and the container crane 2 moves on the land g. The container (hanging load) 5 is placed on the ship S, or the container (hanging load) 5 on the ship S is placed on land.
It is configured to be transported upward, landed at a predetermined position, and loaded.
【００１２】このコンテナクレーン２には、荷の巻き高
さを計測するエンコーダ１０および荷の振れ変位を計測
する振れセンサー９が設置されている。エンコーダ１０
は吊りワイヤー６用のドラム８に設置されて、その回転
軸の回転角より巻き高さを検出する。振れセンサー９は
吊り具４の上面に設けたターゲット７のマーカ（図示せ
ず）をトロリー３上に設けたカメラ１で撮影し、その映
像を画像処理して振れ量を検出する。The container crane 2 is provided with an encoder 10 for measuring the height of the load and a deflection sensor 9 for measuring the deflection of the load. Encoder 10
Is installed on the drum 8 for the hanging wire 6, and detects the winding height from the rotation angle of the rotating shaft. The shake sensor 9 captures a marker (not shown) of the target 7 provided on the upper surface of the hanging tool 4 with the camera 1 provided on the trolley 3, and performs image processing on the image to detect a shake amount.
【００１３】そして、これらの検出値を演算装置（図示
せず）に送って操作量を算出し、得られた操作量を用い
てトロリー３の移動を制御することによって、吊り荷５
の振れを低減させる。その後、適正巻下げ速度で巻下げ
て吊り荷５を目標位置に着床させる。ここまでの振れ止
め制御は従来でも行っていた動作である。The detected values are sent to an arithmetic unit (not shown) to calculate an operation amount, and the movement of the trolley 3 is controlled by using the obtained operation amount, whereby the suspended load 5 is controlled.
To reduce the run-out. Thereafter, the suspended load 5 is lowered at an appropriate lowering speed to land on the target position. The anti-sway control so far is the operation that has been performed conventionally.
【００１４】本発明の制御装置による制御は、上記振れ
止め制御と併行して実施され、同制御に用いた吊り荷の
振れ変位計測値及び吊り荷巻き高さ計測値より、所定高
さから吊り荷を着床させた時の着床位置を予測し、振れ
動く吊り荷を適正なタイミングで着床させることにより
着床精度を高めるようにしたものである。The control by the control device of the present invention is performed in parallel with the above-mentioned steady rest control, and is performed from a predetermined height based on the measured swing displacement of the suspended load and the measured height of the suspended load used for the control. The landing position when the load is landed is predicted, and the swinging suspended load is landed at an appropriate timing to improve the landing accuracy.
【００１５】図３は本実施の形態に係るクレーンの吊り
荷着床制御装置のブロック図を示す。同装置は吊り荷５
の振れ変位を計測する振れセンサー９、吊り荷５の巻き
高さを計測するエンコーダ１０及びこれらの計測値より
それぞれの物理量及び操作量を算出する演算装置１１よ
り成る。本制御装置では、演算装置１１の巻下げ指令に
よってドラム８を駆動し、吊り荷５を所定速度で巻下げ
て着床させる。FIG. 3 is a block diagram of a hanging load floor control device for a crane according to the present embodiment. The device is a suspended load 5
It comprises a shake sensor 9 for measuring the shake displacement, an encoder 10 for measuring the winding height of the suspended load 5, and an arithmetic unit 11 for calculating each physical quantity and operation amount from these measured values. In the present control device, the drum 8 is driven by the lowering command of the arithmetic unit 11, and the suspended load 5 is lowered at a predetermined speed to land on the floor.
【００１６】また図４（ａ）（ｂ）は本発明の着床制御
の考え方を示す。図４（ａ）に示すように、吊り荷５は
通常の振れ止め制御を行った後も、次式（１）で示す振
れ変位Ｘで振れ動いている。FIGS. 4A and 4B show the concept of landing control according to the present invention. As shown in FIG. 4A, the suspended load 5 is still swinging at the swing displacement X represented by the following equation (1) even after performing the normal steadying control.
【００１７】 Ｘ＝Ａ sin (ωｔ＋φ) ・・・・（１） ただし Ａ：振幅 ω：角速度 φ：位相角X = A sin (ωt + φ) (1) where A: amplitude ω: angular velocity φ: phase angle
【００１８】この吊り荷５の動きを図４（ｂ）のように
縦軸に振れ変位Ｘ、横軸にＸ’／ω（但しＸ’は振れ速
度）をとって表すと、その軌跡は円を描く。同図におい
て振れ変位の大きいｍ点（ 座標Ｘ，Ｘ’／ω ）を振
れの現在位置とすると、このｍ点から位相角φだけ進ん
だ振れ変位の小さいｎ点を、前記振れセンサー９の計測
値（振れ変位Ｘ，振れ速度Ｘ’，角速度ω）及びエンコ
ーダ１０の計測値（巻き高さｈ，巻下げ速度Ｖｃ）から
予測することができ、この予測位置に達したタイミング
で着床動作を行い吊り荷５を許容誤差以内に着床させる
ものである。When the movement of the suspended load 5 is represented by the deflection displacement X on the vertical axis and X '/ ω (X' is the deflection speed) on the horizontal axis as shown in FIG. Draw. Assuming that a point m (coordinates X, X '/ ω) having a large shake displacement is the current position of the shake in the figure, an n point having a small shake displacement advanced from this m point by a phase angle φ is measured by the shake sensor 9. It can be predicted from the values (vibration displacement X, vibration speed X ', angular velocity ω) and the measurement values (winding height h, lowering speed Vc) of the encoder 10, and the landing operation is performed at the timing when the predicted position is reached. In this case, the suspended load 5 is landed within an allowable error.
【００１９】以下、図２に示すフローチャートに従って
本発明の吊り荷着床制御装置による着床制御動作を説明
する。Hereinafter, the landing control operation by the hanging load landing control device of the present invention will be described with reference to the flowchart shown in FIG.
【００２０】ドラム８が駆動されて吊り荷５の巻下げが
開始されると、振れセンサー９によって吊り荷５の振れ
変位Ｘが刻々計測されると共に、エンコーダ１０によっ
て巻き高さｈが刻々計測される。これらの計測値に基づ
く通常の振れ止め制御を受けながら吊り荷５は巻下げら
れる。When the drum 8 is driven to start lowering the suspended load 5, the deflection sensor 9 measures the displacement X of the suspended load 5 every moment, and the encoder 10 measures the winding height h every moment. You. The suspended load 5 is lowered while receiving the normal steady rest control based on these measured values.
【００２１】一方、上記振れ止め制御と併行して本発明
の着床制御が開始される。具体的には演算装置１１によ
り以下の検出・演算と、指令が行われる。即ち、まず計
測された振れ変位Ｘの値より振れ速度Ｘ’，周期Ｔ即ち
角速度ω＝２π／Ｔが検出される。さらに、これら値
Ｘ，Ｘ’，ωを次式（２）に適用して振幅Ａを算出す
る。On the other hand, the landing control according to the present invention is started in parallel with the steady rest control. Specifically, the arithmetic unit 11 performs the following detection / calculation and commands. That is, first, a shake speed X ′ and a period T, that is, an angular speed ω = 2π / T are detected from the measured value of the shake displacement X. Furthermore, the amplitude A is calculated by applying these values X, X ′, and ω to the following equation (2).
【００２２】 Ａ＝〔Ｘ2 ＋（Ｘ’／ω）2 〕1/2 ・・・・（２）A = [X 2 + (X ′ / ω) 2 ] 1/2 (2)
【００２３】この算出値Ａを用いて、前記（１）式より
位相角φを次式（３）から算出する。Using the calculated value A, the phase angle φ is calculated from the following equation (3) using the above equation (1).
【００２４】 φ＝sin -1（Ｘ／Ａ） ・・・・（３）Φ = sin −1 (X / A) (3)
【００２５】ここで吊り荷５の着床を開始するのに適切
な巻き高さｈ0 （図４（ａ）参照）が予め設定されてお
り、この巻き高さｈ0 を巻き下げるに要する時間Δｔ
を、巻下げ速度検出値Ｖｃを用いて、次式（４）にて算
出する。Here, an appropriate winding height h 0 (see FIG. 4A) for starting the landing of the suspended load 5 is set in advance, and the time required to lower the winding height h 0 is set. Δt
Is calculated by the following equation (4) using the detected lowering speed Vc.
【００２６】 Δｔ＝ｈ0 ／Ｖｃ ・・・・（４）Δt = h 0 / Vc (4)
【００２７】そこで、こうして求めた振幅Ａ、位相角
φ、所要時間Δｔを（１）式に代入することにより、現
時点より時間Δｔだけ位相を進ませた時（図４（ｂ）の
ｎ点）の予測振れ変位Ｘ（Δｔ）を、次式（５）のよう
に算出する。このＸ（Δｔ）を着床誤差と考えることが
できる。Then, by substituting the amplitude A, the phase angle φ, and the required time Δt obtained in this way into the equation (1), the phase is advanced by the time Δt from the current time (point n in FIG. 4B). Is calculated as in the following equation (5). This X (Δt) can be considered as a landing error.
【００２８】 Ｘ（Δｔ）＝Ａ sin (ωΔｔ＋φ） ・・・・（５）X (Δt) = A sin (ωΔt + φ) (5)
【００２９】かくして、着床許容値をＸ0 とすると、吊
り荷５の巻き高さｈがｈ≦ｈ0 に達し、予測振れ変位予
測値Ｘ（Δｔ）がＸ（Δｔ）≦Ｘ0 の時のタイミングで
着床動作を実行するよう着床動作指令（巻下げ指令）を
出す。このようにすることにより、吊り荷５を許容値Ｘ
0 以内の精度で着床させることができる。Thus, assuming that the landing allowable value is X 0 , when the winding height h of the suspended load 5 reaches h ≦ h 0 and the predicted swing displacement value X (Δt) is X (Δt) ≦ X 0 A landing operation command (a lowering command) is issued to execute the landing operation at the timing of. By doing so, the suspended load 5 is reduced to the allowable value X.
Landing can be performed with an accuracy within 0 .
【００３０】なお、本例では吊り荷の一方向振れ（例え
ば走行方向振れ）の場合を説明したが、横行方向振れや
スキュー振れ（重心周りの振れ）がある場合についても
上記同様の処理を実行することによって同じ効果を上げ
ることができる。In this example, the case of one-way swing of the suspended load (for example, the running direction shake) has been described. Can achieve the same effect.
【００３１】[0031]
【発明の効果】以上説明したように、本発明のクレーン
の吊り荷着床制御装置によると、吊り荷の所定巻き高さ
における振れ変位、振れ速度を検出してこれより振幅、
位相角を算出し、これらの算出値を用いて所定巻き高さ
を着床させるに必要な時間だけ位相を進ませたときの予
測振れ変位を予測し、この予測振れ変位の値が着床許容
値以下になったときのタイミングで着床動作を実行する
ようにしたので、従来の振れ止め制御で起こり得る着床
精度低下原因を補完し、敏速に許容値以下の高精度で吊
り荷を着床させることができるという効果がある。As described above, according to the apparatus for controlling the hanging load of a crane of the present invention, the swing displacement and the swing speed at a predetermined winding height of the suspended load are detected, and the amplitude,
A phase angle is calculated, and a predicted swing displacement when the phase is advanced by a time necessary for landing at a predetermined winding height using the calculated values is predicted. Since the landing operation is executed at the timing when the value falls below the value, the cause of the landing accuracy decrease that can occur with the conventional steady rest control is complemented, and the suspended load can be quickly loaded with high accuracy below the allowable value. There is an effect that it can be floored.
【図面の簡単な説明】[Brief description of the drawings]
【図１】本発明を適用したコンテナクレーンを示す構成
図。FIG. 1 is a configuration diagram showing a container crane to which the present invention is applied.
【図２】本制御装置の動作状況を示すフローチャート。FIG. 2 is a flowchart showing an operation state of the control device.
【図３】本発明の実施の形態を示すブロック図。FIG. 3 is a block diagram illustrating an embodiment of the present invention.
【図４】着床制御の原理を示す説明図。FIG. 4 is an explanatory diagram showing the principle of landing control.
１ カメラ ２ コンテナクレーン ２ａ ガーダー ３ トロリー ４ 吊り具 ５ 吊り荷（コンテナ） ６ 吊りワイヤー ７ ターゲット ８ ドラム ９ 振れセンサー １０ エンコーダ １１ 演算装置 Reference Signs List 1 camera 2 container crane 2a girder 3 trolley 4 hanging tool 5 hanging load (container) 6 hanging wire 7 target 8 drum 9 runout sensor 10 encoder 11 arithmetic unit
Claims (1)
吊り下げた荷を巻き下げて目標位置に着床させるクレー
ンの吊り荷着床制御装置であって、 巻下げられている荷の巻き高さを刻々計測する巻き高さ
検出手段と、 巻下げられている荷の振れ変位を刻々計測する振れ変位
検出手段と、 計測した振れ変位から、振れ速度及び角速度を求めて振
幅を算出し、次いでこれらの値を用いて任意振れ状態に
おける位相角を算出すると共に、その時の巻下げ速度に
て荷が所定高さから着床するまでに要する所要時間を求
め、この所要時間だけ位相を進ませた時の予測振れ変位
を計算し、この計算した予測振れ変位を予め設定した着
床許容値と比較して、振れ変位が着床許容値以下となっ
たときのタイミングで着床動作を行うよう巻下げ指令を
出力する演算装置と、 でなることを特徴とするクレーンの吊り荷着床制御装
置。An apparatus for controlling a suspended load of a crane for lowering a load suspended by a linear material and landing at a target position by issuing a lowering command. Winding height detecting means for measuring the winding height every moment, shake displacement detecting means for every moment measuring the running displacement of the load being lowered, and calculating the amplitude by calculating the swing speed and angular velocity from the measured shake displacement. Then, using these values, the phase angle in the arbitrary run-out state is calculated, the required time required for the load to land from a predetermined height at the lowering speed at that time is determined, and the phase is advanced by the required time. Calculate the predicted shake displacement at the time of the movement, compare the calculated predicted shake displacement with the preset landing allowable value, and perform the landing operation at the timing when the shake displacement becomes equal to or less than the landing allowable value. Outputting the lowering command A hanging load floor control device for a crane, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28041696A JP3229222B2 (en) | 1996-10-23 | 1996-10-23 | Crane suspended load control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28041696A JP3229222B2 (en) | 1996-10-23 | 1996-10-23 | Crane suspended load control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10120362A true JPH10120362A (en) | 1998-05-12 |
| JP3229222B2 JP3229222B2 (en) | 2001-11-19 |
Family
ID=17624749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP28041696A Expired - Fee Related JP3229222B2 (en) | 1996-10-23 | 1996-10-23 | Crane suspended load control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3229222B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1231178A2 (en) | 2001-02-13 | 2002-08-14 | Mitsubishi Heavy Industries, Ltd. | Method of and apparatus for controlling stacking of a load by a crane |
| EP1277691A1 (en) * | 2001-07-18 | 2003-01-22 | Mitsubishi Heavy Industries, Ltd. | Crane and method for controlling the crane |
| JP2004161475A (en) * | 2002-11-15 | 2004-06-10 | Mitsubishi Heavy Ind Ltd | Method and device for controlling stacking of lifted load and load handling machine |
| JP2008247527A (en) * | 2007-03-29 | 2008-10-16 | Mitsui Eng & Shipbuild Co Ltd | Skew swing stopper for container |
| CN103145046A (en) * | 2013-02-17 | 2013-06-12 | 中国葛洲坝集团机械船舶有限公司 | Automatic safety control apparatus of bridge crane under complex condition, and method thereof |
-
1996
- 1996-10-23 JP JP28041696A patent/JP3229222B2/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1231178A2 (en) | 2001-02-13 | 2002-08-14 | Mitsubishi Heavy Industries, Ltd. | Method of and apparatus for controlling stacking of a load by a crane |
| SG115447A1 (en) * | 2001-02-13 | 2005-10-28 | Mitsubishi Heavy Ind Ltd | Method of and apparatus for controlling stacking of a load by a crane |
| EP1277691A1 (en) * | 2001-07-18 | 2003-01-22 | Mitsubishi Heavy Industries, Ltd. | Crane and method for controlling the crane |
| US6880712B2 (en) | 2001-07-18 | 2005-04-19 | Mitsubishi Heavy Industries, Ltd. | Crane and method for controlling the crane |
| JP2004161475A (en) * | 2002-11-15 | 2004-06-10 | Mitsubishi Heavy Ind Ltd | Method and device for controlling stacking of lifted load and load handling machine |
| JP2008247527A (en) * | 2007-03-29 | 2008-10-16 | Mitsui Eng & Shipbuild Co Ltd | Skew swing stopper for container |
| CN103145046A (en) * | 2013-02-17 | 2013-06-12 | 中国葛洲坝集团机械船舶有限公司 | Automatic safety control apparatus of bridge crane under complex condition, and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3229222B2 (en) | 2001-11-19 |
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