EP0841295A2 - Suspended load steadying/positioning control device - Google Patents

Suspended load steadying/positioning control device Download PDF

Info

Publication number
EP0841295A2
EP0841295A2 EP97308305A EP97308305A EP0841295A2 EP 0841295 A2 EP0841295 A2 EP 0841295A2 EP 97308305 A EP97308305 A EP 97308305A EP 97308305 A EP97308305 A EP 97308305A EP 0841295 A2 EP0841295 A2 EP 0841295A2
Authority
EP
European Patent Office
Prior art keywords
suspended load
traveling
crane
steadying
detectors
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
Application number
EP97308305A
Other languages
German (de)
French (fr)
Other versions
EP0841295B1 (en
EP0841295A3 (en
Inventor
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
Susumu Mitsubishi Heavy Ind. Ltd. Kouno
Hiromitsu Mitsubishi Heavy Ind. Ltd. Hoshina
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP0841295A2 publication Critical patent/EP0841295A2/en
Publication of EP0841295A3 publication Critical patent/EP0841295A3/en
Application granted granted Critical
Publication of EP0841295B1 publication Critical patent/EP0841295B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements

Definitions

  • This invention relates to a steadying (i.e., swing stopping)/positioning control device for performing the steadying and positioning of a suspended load in a crane.
  • FIG. 3 The structure of a conventional crane is shown in Fig. 3.
  • a gantry 3 is placed movably across two rails 1 (right and left rails) laid on the ground.
  • Independent travel drive devices 11, 14 are provided for moving the gantry 3 on each rail 1.
  • the travel drive devices 11, 14 are electrically connected to a control device 21, while the control device 21 produces an operation command for each of the travel drive devices 11, 14.
  • a trolley 4 On the gantry 3, a trolley 4 is borne so as to be movable transversely. From the trolley 4, a rope 5 hangs down to suspend a load 6.
  • the gantry 3 must be positioned at a given target position, and control for steadying the suspended load 6 must be performed simultaneously.
  • a control system for receiving feedback on the traveling position and traveling speed of the gantry 3 as well as the swing state of the suspended load, and determining the amount of operation (such as speed command) of the drive devices for the gantry 3.
  • a traveling position detector 12 and a traveling speed detector 13 are provided for detecting the traveling position x1 and traveling speed x2, respectively, of the gantry 3 on the right rail 1 in Fig. 3.
  • a swing motion detector 17 is attached to the suspended load 6, for detecting swing states, i.e., a swing displacement x5 of the suspended load and a swing speed x6 of the suspended load.
  • the control device 21 receives inputs of the measured values x1, x2, x5 and x6 by the detectors 12, 13 and 17, as shown in Fig. 4. By control computation, the control device 21 determines the amount of operation of the travel drive devices 11, 14, and carries out control.
  • control computation to be performed by the control device 21 it is known that a control system for positioning of the gantry and steadying of the suspended load can be realized by building the gantry and the suspended load into a bogie-pendulum system model as shown in Fig. 5, and constructing an optimum regulator based on this model (reference: "Mechanical System Control” Paragraph 6.2, Furuta Katsuhisa et al., Ohm).
  • a conventional control system drives the right and left drive systems by the same command, and thus is unable to reduce the misalignment between the right and left traveling positions to zero. As a result, the positioning accuracy for the suspended load 6 lowers, posing the grave problem that at the worst, required positioning accuracy cannot be fulfilled.
  • a positioning/steadying control system which comprises traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, right and left independent drive devices, and an arithmetic means for determining the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
  • control system is so constructed as to have traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive devices, and to determine the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
  • the control system can simultaneously perform positioning for the right and left traveling positions, and the steadying of the suspended load.
  • FIG. 1 is a schematic view showing the overall construction of the crane and control system according to the instant embodiment.
  • Fig. 2 is a block diagram of the control device of this embodiment. The same parts as in the aforementioned example are assigned the same numerals and symbols, and explanations for them are omitted.
  • the suspended load steadying/positioning control device of the instant embodiment is equipped with a right-hand traveling position detector 12 and a right-hand traveling speed detector 13 for detecting the traveling position xl and traveling speed x2 of a gantry 4 on a right rail 1 in Fig. 1, and is also equipped with a left-hand traveling position detector 15 and a left-hand traveling speed detector 16 for detecting the traveling position x3 and traveling speed x4 of the gantry 4 on a left rail 1 in the drawing.
  • a swing motion detector 17 is mounted on the suspended load 6 to detect a swing displacement x5 and swing speed x6 of the suspended load 6 in the traveling direction by use of an accelerometer or the like.
  • the control device 21 receives inputs of detection signals x1, x2, x3, x4, x5 and x6 from the detectors 12, 13, i5, 16 and 17, computes the amounts of optimum operation necessary for returning to zero the entered motion state amounts, i.e., the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load, and issues control command signals to the right and left travel drive devices 11, 14.
  • an optimum steadying gain K is separately precalculated and preset in the control device 21.
  • the control device 21 has a control arithmetic portion 22 which, based on this optimum gain K, computes the amounts of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load 6 that have been entered from the detectors 12, 13, 15, 16 and 17, and performs optimum steadying/positioning control by the right and left travel drive devices 11, 14.
  • the foregoing suspended load steadying/positioning control device concerned with the instant embodiment performs optimum steadying/positioning control by the following concrete processing steps (1) to (3):
  • Such optimum control can eliminate the misalignment between the right and left traveling positions, achieve the steadying of the suspended load, and ensure highly accurate positioning of the suspended load.
  • the present invention has traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive systems, and computes the amounts of operation of the drive devices by means of an optimum regulator.
  • the invention permits the accurate positioning of a suspended load even in a crane having structural deformation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

A suspended load steadying/positioning control device comprises independent drive devices 11, 14 for moving a crane 4 on two rails 1, the crane suspending a load by a rope 5 or the like and traveling on the rails 1 across them; position detectors 12, 15 for detecting the traveling position of the crane on each rail 1; speed detectors 13, 16 for detecting the traveling speed of the crane on each rail 1; a suspended load swing displacement detector 17; and an arithmetic means 21 for calculating, based on inputs, operation commands for the drive devices 11, 14 at two locations, the inputs being the measured values of the traveling positions at two locations by the position detectors 12, 15, the measured values of the speeds at two locations by the speed detectors 13, 16, and the measured value of the displacement of the suspended load by the suspended load swing displacement detector 17. Thus, the suspended load can be accurately positioned even in a crane having a structural deformation.

Description

    BACKGROUND OF THE INVENTION
  • This invention relates to a steadying (i.e., swing stopping)/positioning control device for performing the steadying and positioning of a suspended load in a crane.
  • The structure of a conventional crane is shown in Fig. 3.
  • As shown in Fig. 3, a gantry 3 is placed movably across two rails 1 (right and left rails) laid on the ground. Independent travel drive devices 11, 14 are provided for moving the gantry 3 on each rail 1. The travel drive devices 11, 14 are electrically connected to a control device 21, while the control device 21 produces an operation command for each of the travel drive devices 11, 14.
  • On the gantry 3, a trolley 4 is borne so as to be movable transversely. From the trolley 4, a rope 5 hangs down to suspend a load 6.
  • When an automatic run is to be made in such a crane, it is necessary to position the suspended load 6 accurately with respect to the traveling direction of the gantry 3, and cause the suspended load 6 to rest at a predetermined position.
  • For this purpose, the gantry 3 must be positioned at a given target position, and control for steadying the suspended load 6 must be performed simultaneously.
  • Thus, a control system is provided for receiving feedback on the traveling position and traveling speed of the gantry 3 as well as the swing state of the suspended load, and determining the amount of operation (such as speed command) of the drive devices for the gantry 3.
  • That is, a traveling position detector 12 and a traveling speed detector 13 are provided for detecting the traveling position x1 and traveling speed x2, respectively, of the gantry 3 on the right rail 1 in Fig. 3. To the suspended load 6, a swing motion detector 17 is attached for detecting swing states, i.e., a swing displacement x5 of the suspended load and a swing speed x6 of the suspended load.
  • The control device 21 receives inputs of the measured values x1, x2, x5 and x6 by the detectors 12, 13 and 17, as shown in Fig. 4. By control computation, the control device 21 determines the amount of operation of the travel drive devices 11, 14, and carries out control.
  • In regard to control computation to be performed by the control device 21, it is known that a control system for positioning of the gantry and steadying of the suspended load can be realized by building the gantry and the suspended load into a bogie-pendulum system model as shown in Fig. 5, and constructing an optimum regulator based on this model (reference: "Mechanical System Control" Paragraph 6.2, Furuta Katsuhisa et al., Ohm).
  • In recent years, cranes have tended to be upsized. Thus, misalignment between the right-hand traveling position and the left-hand traveling position associated with the structural deformation of the gantry 3 may increase. A demand for positioning accuracy in an automatic run is becoming so harsh that the influence of the misalignment between the right and left traveling positions on positioning accuracy cannot be ignored.
  • A conventional control system drives the right and left drive systems by the same command, and thus is unable to reduce the misalignment between the right and left traveling positions to zero. As a result, the positioning accuracy for the suspended load 6 lowers, posing the grave problem that at the worst, required positioning accuracy cannot be fulfilled.
  • SUMMARY OF THE INVENTION
  • According to a first aspect of the present invention there is provided a positioning/steadying control system which comprises traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, right and left independent drive devices, and an arithmetic means for determining the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs.
  • In a preferred embodiment the control system is so constructed as to have traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive devices, and to determine the amounts of operation of the right and left drive devices based on the measured values from the detectors as inputs. Thus, the control system can simultaneously perform positioning for the right and left traveling positions, and the steadying of the suspended load.
  • BRIEF DESCRIPTION OF THE DRAWINGS
    • Fig. 1 is a schematic view showing the overall construction of a steadying control device in accordance with an embodiment of the present invention;
    • Fig. 2 is a block diagram of the steadying control device in accordance with an embodiment of the present invention;
    • Fig. 3 is a schematic view showing the overall construction of a conventional steadying control device;
    • Fig. 4 is a block diagram of the conventional steadying control device; and
    • Fig. 5 is an explanatory drawing showing a model with a gantry and a suspended load.
    DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • A suspended load steadying/positioning control device in accordance with an embodiment of the present invention is shown in Figs. 1 and 2. Fig. 1 is a schematic view showing the overall construction of the crane and control system according to the instant embodiment. Fig. 2 is a block diagram of the control device of this embodiment. The same parts as in the aforementioned example are assigned the same numerals and symbols, and explanations for them are omitted.
  • As shown in Fig. 1, the suspended load steadying/positioning control device of the instant embodiment is equipped with a right-hand traveling position detector 12 and a right-hand traveling speed detector 13 for detecting the traveling position xl and traveling speed x2 of a gantry 4 on a right rail 1 in Fig. 1, and is also equipped with a left-hand traveling position detector 15 and a left-hand traveling speed detector 16 for detecting the traveling position x3 and traveling speed x4 of the gantry 4 on a left rail 1 in the drawing.
  • To detect the swing state of a suspended load 6, a swing motion detector 17 is mounted on the suspended load 6 to detect a swing displacement x5 and swing speed x6 of the suspended load 6 in the traveling direction by use of an accelerometer or the like.
  • The control device 21 receives inputs of detection signals x1, x2, x3, x4, x5 and x6 from the detectors 12, 13, i5, 16 and 17, computes the amounts of optimum operation necessary for returning to zero the entered motion state amounts, i.e., the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load, and issues control command signals to the right and left travel drive devices 11, 14.
  • As shown in Fig. 2, an optimum steadying gain K is separately precalculated and preset in the control device 21. The control device 21 has a control arithmetic portion 22 which, based on this optimum gain K, computes the amounts of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load 6 that have been entered from the detectors 12, 13, 15, 16 and 17, and performs optimum steadying/positioning control by the right and left travel drive devices 11, 14.
  • The foregoing suspended load steadying/positioning control device concerned with the instant embodiment performs optimum steadying/positioning control by the following concrete processing steps (1) to (3):
    • (1) The detectors 12, 13, 15, 16 and 17 detect the traveling positions and traveling speeds of the right and left drive devices, as well as the motion state amount of the suspended load 6, and issues these data to the control device 21.
    • (2) Then, based on these motion state amounts, the optimum control portion 22 calculates speed commands ul, u2 for the right and left drive devices 11, 14 according to the computation of optimum steadying control using the following Numeric Expression 1: u = Kx
      Figure imgb0001
      where u represents an operation amount vector to be described below, ul represents a speed command for the right-hand drive device 11, and u2 represents a speed command for the left-hand drive device 14. That is, the following Numeric Expression 2 holds: u = [ u 1 u 2] T
      Figure imgb0002
      In the Numeric Expression 1, x represents a state amount vector to be described below. Its elements are, in order of arrangement from left to right, a right-hand traveling position x1 and a right-hand traveling speed x2, a left-hand traveling position x3 and a left-hand traveling speed x4, a swing displacement x5 and a swing speed x6 of the suspended load. That is, the following Numeric Expression 3 holds: x=[ x 1 x 2 x 3 x 4 x 5 x 6] T
      Figure imgb0003

      Further, K represents a constants matrix with 2 rows and 6 columns shown below.
      Figure imgb0004

      The above constants matrix K is an optimum gain determined by the following procedure:
      • (a) From motion equations formulated for the right and left travel drive devices 11, 14, gantry 3, rope 5 and suspended load 6, a state equation (Numeric Expression 5) as indicated below, is derived. This state equation is a linear differential equation expressing the vibrations of the suspended load 6 as a spring-mass system. d dt x=Ax+Bu
        Figure imgb0005
        where u and x represent the aforementioned operation amount vector and state amount vector, respectively, A represents a transition matrix with 6 rows and 6 columns, and B represents a drive matrix with 6 rows and 2 columns.
      • (b) For the above state equation (Numeric Expression 5), the optimum gain K of Numeric Expression 7 that minimizes an evaluation function J of Numeric Expression 6 below is sought.
        Figure imgb0006
        where Q and R represent weighting matrices with 6 rows and 6 columns and 2 rows and 2 columns, respectively. u=Kx
        Figure imgb0007

        By so minimizing the evaluation function J, the optimum gain K is found which rapidly reduces all elements of the state amount to zero with the smallest possible operation amount u.
    • (3) Based on the optimum gain K obtained by the above-described computation, the optimum control portion 22 determines optimum operation amounts adapted to the motion state amounts and the run state by the detectors 12, 13, 15, 16 and 17, and issues the optimal operation amounts as control command signals for the right and left drive devices 11, 14.
    By driving them according to the signals, the optimum control portion 22 performs optimum control for positioning for the right and left traveling positions, and steadying of the suspended load 6.
  • Such optimum control can eliminate the misalignment between the right and left traveling positions, achieve the steadying of the suspended load, and ensure highly accurate positioning of the suspended load.
  • As described based on the embodiment, the present invention has traveling position detectors and traveling speed detectors for detecting the right and left traveling positions and traveling speeds, respectively, of a crane traveling on two rails across them, and right and left independent drive systems, and computes the amounts of operation of the drive devices by means of an optimum regulator. Thus, the invention permits the accurate positioning of a suspended load even in a crane having structural deformation.

Claims (2)

  1. A suspended load steadying/positioning control device comprising:
    independent drive devices for moving a crane on two rails, said crane suspending a load by a rope or the like and traveling on the rails across them;
    position detectors for detecting the traveling position of the crane on each rail;
    speed detectors for detecting the traveling speed of the crane on each rail;
    a suspended load swing displacement detector; and
    arithmetic means for calculating, based on inputs, operation commands for the drive devices at two locations, said inputs being the measured values of the traveling positions at two locations by the position detectors, the measured values of the speeds at two locations by the speed detectors, and the measured value of the displacement of the suspended load by the suspended load swing displacement detector.
  2. The suspended load steadying/positioning control device of claim 1, wherein based on an optimum steadying gain which has been calculated and set separately, the arithmetic means computes the amount of optimum operation in response to the right and left traveling positions and traveling speeds, the swing displacement and swing speed of the suspended load that have been entered from the detectors, and performs optimum steadying/positioning control by the drive devices.
EP97308305A 1996-11-07 1997-10-20 Suspended load steadying/positioning control device Expired - Lifetime EP0841295B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP294898/96 1996-11-07
JP8294898A JPH10139368A (en) 1996-11-07 1996-11-07 Bracing and positioning control device for hung load
JP29489896 1996-11-07

Publications (3)

Publication Number Publication Date
EP0841295A2 true EP0841295A2 (en) 1998-05-13
EP0841295A3 EP0841295A3 (en) 2000-01-12
EP0841295B1 EP0841295B1 (en) 2004-09-22

Family

ID=17813685

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308305A Expired - Lifetime EP0841295B1 (en) 1996-11-07 1997-10-20 Suspended load steadying/positioning control device

Country Status (8)

Country Link
EP (1) EP0841295B1 (en)
JP (1) JPH10139368A (en)
KR (1) KR100237150B1 (en)
DE (1) DE69730799T2 (en)
HK (1) HK1010530A1 (en)
MY (1) MY126395A (en)
SG (1) SG67437A1 (en)
TW (1) TW379201B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002095520A1 (en) * 2001-05-21 2002-11-28 Power Jacks Limited Control system
WO2005049285A1 (en) * 2003-11-14 2005-06-02 Siemens Technology-To-Business Center, Llc Systems and methods for sway control
DE19907989B4 (en) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Method for controlling the path of cranes and device for path-accurate method of a load
CN103253600A (en) * 2013-04-19 2013-08-21 杭州凯尔达机器人科技股份有限公司 Numerical control gantry crane for boom production line
US10207903B2 (en) * 2013-10-24 2019-02-19 Torquer Limited Apparatus and method for controlling the orientation of a suspended load

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100349168B1 (en) * 1997-11-17 2003-02-14 주식회사 포스코 Position servo apparatus for preventing shakes in 3 axes overhead crane
KR101949953B1 (en) * 2017-06-29 2019-02-21 (주) 케이티에스코리아 Control system for anti-snag and sway of crane hook
TWI675001B (en) * 2018-11-07 2019-10-21 中國鋼鐵股份有限公司 Crane anti-swing and positioning control system and calculation method of acceleration and deceleration curve

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0583816A1 (en) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus
WO1995005336A1 (en) * 1993-08-13 1995-02-23 Caillard Method for controlling the swinging motion of an oscillating load and device for applying same
EP0677478A2 (en) * 1994-03-30 1995-10-18 Samsung Heavy Industries Co., Ltd Unmanned operating method for a crane and the apparatus thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0583816A1 (en) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus
WO1995005336A1 (en) * 1993-08-13 1995-02-23 Caillard Method for controlling the swinging motion of an oscillating load and device for applying same
EP0677478A2 (en) * 1994-03-30 1995-10-18 Samsung Heavy Industries Co., Ltd Unmanned operating method for a crane and the apparatus thereof

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19907989B4 (en) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Method for controlling the path of cranes and device for path-accurate method of a load
WO2002095520A1 (en) * 2001-05-21 2002-11-28 Power Jacks Limited Control system
WO2005049285A1 (en) * 2003-11-14 2005-06-02 Siemens Technology-To-Business Center, Llc Systems and methods for sway control
US7289875B2 (en) 2003-11-14 2007-10-30 Siemens Technology-To-Business Center Llc Systems and methods for sway control
US7648036B2 (en) 2003-11-14 2010-01-19 Siemens Aktiengesellschaft Systems and methods for sway control
CN103253600A (en) * 2013-04-19 2013-08-21 杭州凯尔达机器人科技股份有限公司 Numerical control gantry crane for boom production line
CN103253600B (en) * 2013-04-19 2015-05-13 杭州凯尔达机器人科技有限公司 Numerical control gantry crane for boom production line
US10207903B2 (en) * 2013-10-24 2019-02-19 Torquer Limited Apparatus and method for controlling the orientation of a suspended load

Also Published As

Publication number Publication date
SG67437A1 (en) 1999-09-21
DE69730799T2 (en) 2005-09-29
HK1010530A1 (en) 1999-06-25
EP0841295B1 (en) 2004-09-22
DE69730799D1 (en) 2004-10-28
TW379201B (en) 2000-01-11
KR19980042184A (en) 1998-08-17
EP0841295A3 (en) 2000-01-12
KR100237150B1 (en) 2000-03-02
MY126395A (en) 2006-09-29
JPH10139368A (en) 1998-05-26

Similar Documents

Publication Publication Date Title
JP2768293B2 (en) Anti-collision device and method for moving objects
US4753357A (en) Container crane
US5127533A (en) Method of damping the sway of the load of a crane
CN1959578B (en) Control device for movable body
EP0846648B1 (en) Apparatus for controlling article-lowering operations of a crane
JP3955365B2 (en) Active guide device
EP0841295B1 (en) Suspended load steadying/positioning control device
EP3527522B1 (en) A method for preventive maintenance of an elevator and an elevator system
US5831227A (en) Differential magnetic alignment of an elevator and a landing
JPH07133089A (en) Method for determining inclination angle of rope and anti-swing device for controlling inclination angle in lift device
KR20050092172A (en) Autonomous travelling system and the travelling method of the tracked vehicle which uses magnetic field
JP3806287B2 (en) Elevator equipment
EP0841294A2 (en) Suspended load steadying control device
JP2997126B2 (en) Elevator running characteristics inspection device
KR102439322B1 (en) Crane for controlling a number of load units and method for controlling the same
US20230041995A1 (en) Structural health monitoring system for material handling systems
JP3262618B2 (en) Travel position detection method for cable crane
JPH09258823A (en) Automated guided vehicle stop controller
JPH0553886B2 (en)
JP2812458B2 (en) Travel position detection device for cable crane
CN115033001A (en) Multi-load AGV intelligent control system
JPS6266306A (en) Run direction detection system
JPH07277672A (en) Meandering preventive method and device of ceiling crane
JPS60172000A (en) Height service car
JPH0680387A (en) Method for controlling crane positioning and swinging prevention

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19971027

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): DE FR GB IT NL SE

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

RIC1 Information provided on ipc code assigned before grant

Free format text: 7B 66C 13/06 A, 7B 66C 13/46 B

AKX Designation fees paid

Free format text: DE FR GB IT NL SE

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT NL SE

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 69730799

Country of ref document: DE

Date of ref document: 20041028

Kind code of ref document: P

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: HK

Ref legal event code: GR

Ref document number: 1010530

Country of ref document: HK

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20050623

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20061004

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20061012

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20061015

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20061018

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20061031

Year of fee payment: 10

EUG Se: european patent has lapsed
GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20071020

NLV4 Nl: lapsed or anulled due to non-payment of the annual fee

Effective date: 20080501

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080501

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20080630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071021

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080501

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20061010

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071020

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20071020