EP1334945A2 - Dispositif et procédé pour controler la rotation d'un conteneur - Google Patents

Dispositif et procédé pour controler la rotation d'un conteneur Download PDF

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Publication number
EP1334945A2
EP1334945A2 EP03002160A EP03002160A EP1334945A2 EP 1334945 A2 EP1334945 A2 EP 1334945A2 EP 03002160 A EP03002160 A EP 03002160A EP 03002160 A EP03002160 A EP 03002160A EP 1334945 A2 EP1334945 A2 EP 1334945A2
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EP
European Patent Office
Prior art keywords
container
rotation angle
rotation
lifting attachment
attachment member
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.)
Withdrawn
Application number
EP03002160A
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German (de)
English (en)
Other versions
EP1334945A3 (fr
Inventor
Nobuo Mitsubishi Heavy Ind. Ltd. Yoshioka
Tadaaki Mitsubishi Heavy Ind. Ltd. Monzen
Masaki Mitsubishi Heavy Ind. Ltd. Nishioka
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
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 EP1334945A2 publication Critical patent/EP1334945A2/fr
Publication of EP1334945A3 publication Critical patent/EP1334945A3/fr
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • the present invention relates to a device for controlling the rotation of a container, and a method for controlling the rotation of a container. More specifically, the present invention relates to a device and a method for controlling the rotation of a cargo container by which a hoisted cargo container may be rapidly transferred while reducing rotation and swinging thereof.
  • a lifting attachment member from which a cargo container (hereinafter also referred to as a cargo) may be hung via a cable (hereinafter also referred to as a rope, or a wire), is hung from a jib point of the crane, and the cargo container may be rotated by actuating a rotation motor provided with the lifting attachment member that rotates an end of the rope supported by the lifting attachment, for example, if it is required that a container, which is placed on a deck of a ship in a vertical direction with respect to a dock, be landed on the yard of the harbor so as to be parallel with respect to the dock, the operation for controlling the rotation of the cargo container is carried out by an operator of the crane who manually controls the rotation motor.
  • the lifting attachment member rotates and swings due to the reaction force generated by rotating the hoisted cargo container. Accordingly, the swing of the lifting attachment member affects the hoisted cargo container, and the container is also rotated and swung.
  • the present invention takes into consideration the above-mentioned circumstances, and has as an object to provide a device and a method for controlling the rotation of a container by which labor of an operator for carrying out the crane operation may be reduced by automating the control of the rotation of a hoisted cargo container.
  • the first aspect of the present invention provides a device for controlling the rotation of a container used for a crane which includes a jib having a jib point from which a container is hung via a lifting attachment member and a rope member (also referred to as a cable member, or a wire member), the device for controlling the rotation of a container rotating the container by rotating an end of the rope member supported at the lifting attachment member side using a rotation motor disposed at the lifting attachment member, the device including a hoisted container rotation angle obtaining unit which obtains a rotation angle ( ⁇ ) of the container; a lifting attachment rotation angle obtaining unit which obtains a rotation angle ( ⁇ ) of the lifting attachment member; a control computing unit which computes a motor control command value ( ⁇ ) based on a predetermined equation relating to a deviation ( ⁇ ref - ⁇ ) between a predetermined target rotation angle ( ⁇ ref ) of the container and the rotation angle ( ⁇ ) of the container obtained by the hoisted container rotation angle obtaining unit
  • the motor control command value ⁇ for the rotation motor is computed using the predetermined equation, the rotation motor is driven using the motor control command value ⁇ , and the rotation angle of the container is automatically matched to the target rotation angle of the container by performing a feedback control on the rotation angle ⁇ of the container and the relative rotation angle ⁇ which express the change in position of the lifting attachment member and the container. Accordingly, it becomes possible to significantly reduce the labor of an operator of the crane relating to an operation for controlling the rotation of the container.
  • the device for controlling the rotation of a container according to the first aspect of the invention further includes a relative rotation angle detection unit which detects a relative rotation angle ( ⁇ ) which is a relative angle of the container with respect to the lifting attachment member, and the lifting attachment rotation angle obtaining unit computes the angle ( ⁇ ) of the lifting attachment member by subtracting the relative rotation angle ( ⁇ ) from the rotation angle ( ⁇ ) of the container.
  • a relative rotation angle detection unit which detects a relative rotation angle ( ⁇ ) which is a relative angle of the container with respect to the lifting attachment member
  • the lifting attachment rotation angle obtaining unit computes the angle ( ⁇ ) of the lifting attachment member by subtracting the relative rotation angle ( ⁇ ) from the rotation angle ( ⁇ ) of the container.
  • the above relative rotation angle detection unit is an encoder attached to the rotation motor, and the lifting attachment rotation angle obtaining unit captures a marker using a camera device, which is disposed at the jib, to obtain the rotation angle ⁇ of the container by detecting the change in position of the marker from the captured image thereof.
  • both the detection of the relative rotation angle using the encoder and the detection of the rotation angle of the container using the camera device are conventionally well known techniques, and are detection devices often provided with a crane. Accordingly, the angle of the lifting attachment member may be very easily obtained by calculating the angle of the lifting attachment member based on values detected by various detection devices which are already provided with the crane. Therefore, it is unnecessary to install new sensors, etc., for detecting the angle of the lifting attachment member according to an embodiment of the present invention.
  • the device for controlling the rotation of a container further includes a hoisted container rotational angular velocity computing unit which computes a rotational angular velocity ( ⁇ ) of the container by differentiating the rotation angle of the container, and a lifting attachment angular velocity computing unit which computes an angular velocity ( ⁇ ) of the lifting attachment member by differentiating the rotation angle of the lifting attachment member, wherein the predetermined equation is an equation in which the deviation between the target rotation angle of the container and the rotation angle of the container, the angle of the lifting attachment member, and the angular velocity of the lifting attachment member are used as parameters (variables).
  • the symbol indicates a first order differential
  • the symbol indicates a second order differential.
  • the first order differential of the symbol ⁇ is expressed as ⁇
  • the second order differential of the symbol ⁇ is expressed as ⁇ .
  • the predetermined equation is an equation in which the four parameters (variables) are multiplied by a respective characteristic proportional gain, and a result of each multiplication is added to be given as the motor control command value.
  • the proportional gain is determined based on an optimum control theory provided that both the deviation between the target rotation angle of the container and the rotation angle of the container, and the angle of the lifting attachment member are converged to be zero.
  • the sixth aspect of the present invention also provides a method for controlling the rotation of a container used for a crane which includes a jib having a jib point from which a container is hung via a lifting attachment member and a rope member, the container being rotated by rotating an end of the rope member supported at the lifting attachment member side using a rotation motor disposed at the lifting attachment member, the method comprising the steps of: computing a motor control command value based on a predetermined equation relating to variables of state ( ⁇ , ⁇ ) which express rotational movement of the lifting attachment member and the container, a target rotation angle ( ⁇ ref ) of the container, and the motor control command value ( ⁇ ) for operating the rotation motor; driving the rotation motor based on the motor control command value, and performing a feedback control on the variables of state so that the rotation angle of the container matches the target rotation angle of the container.
  • the seventh aspect of the present invention also provides a method for controlling the rotation of a container used for a crane which includes a jib having a jib point from which a container is hung via a lifting attachment member and a rope member, the container being rotated by rotating an end of the rope member supported at the lifting attachment member side using a rotation motor disposed at the lifting attachment member, the method comprising the steps of: obtaining a rotation angle of the container; obtaining a rotation angle of the lifting attachment member; computing a motor control command value based on a predetermined equation relating to a deviation between a predetermined target rotation angle of the container and the rotation angle of the container, an angle of the lifting attachment member, and the motor control command value for operating the rotation motor; driving the rotation motor based on the motor control command value, and performing a feedback control on the rotation angle of the container and the angle of the lifting attachment member so that the rotation angle of the container matches the target rotation angle of the container.
  • FIG. 1 is a diagram showing a schematic structure of a mobile harbor crane being an example of a crane to which a device for controlling the rotation of a hoisted container according to an embodiment of the present invention is applied.
  • FIG 1 which shows the schematic structure of the entire mobile harbor crane
  • the numeral 1 indicates a mobile harbor crane (hereinafter also simply referred to as a "body”) which may be suitably used in a harbor facility as harbor equipment.
  • the body 1 of the mobile harbor crane mainly includes a carrier frame 11 provided with a plurality of outriggers 12, a revolving frame 13 and a main frame 14, each of which is mounted on the carrier frame 11, and a jib 2 attached to the main frame 14.
  • the carrier frame 11 secures the stability of the body 1 by means of the plurality of the outriggers 12, each of which protrude from both sides of the carrier frame 11 in a vertical direction with respect to the longitudinal direction thereof.
  • the crane can move around the yard of the harbor by means of wheels (not shown in the figure).
  • Swing bearings of circular shape are provided at substantially the center portion of the carrier frame 11, and the revolving frame 13 is mounted on the carrier frame 11 via the swing bearings.
  • Gear racks are formed around the swing bearings and pinions (not shown in the figures), which are attached to a revolving driving unit (not shown in the figures), are engaged with the pinions.
  • the revolving driving unit is attached to the revolving frame 13 side.
  • the revolving frame 13 is rotatable 360° around the center of the swinging bearings due to the rotation of the pinions.
  • the center of the swinging bearings means the rotation center O, and indicates the center of the operating radius of the crane carrying out the handling operation of a cargo.
  • a revolution angle detection device 5a which detects the revolution direction of the revolving frame 13 with respect to the carrier frame 11 is disposed in the vicinity of the revolving center O of the revolving frame 13.
  • the revolution angle detection device 5a is connected to the control unit 10, which will be described later, by a cable indicated by dotted lines.
  • the main frame 14 On the revolving frame 13, the main frame 14, winches 4 and 4' (not shown in the figure), a cylinder 6, and an operation room (not shown in the figure) are mainly provided.
  • the main frame 14 rotatably supports a base end portion of the jib 2.
  • the winches 4 and 4' wind up ropes 3 and 3' (in this specification, the term "rope” means any flexible cords, such as cables and wires) connected to a lifting attachment member 15.
  • the cylinder 6 hoists the jib 2, and an operator occupies the operation room to perform crane operations.
  • the rope 3' and the winch 4' are provided parallel to the rope 3 and the winch 4, respectively, toward the back of the figure. Also, the winches 4 and 4' are provided with encoders 4a and 4a', respectively, each of which detects a state of the length of the rope 3 and 3'.
  • the main frame 14 has a truss structure in which a plurality of rod type members are combined.
  • the base end portion of the jib 2 (the left hand side in the figure) is attached to substantially the middle position of the main frame 14 via jib foot pins (not shown in the figures).
  • the jib 2 has a long shape with a truss structure, and the base end portion of the jib 2 is rotatably supported by the main frame 14 as explained above. Also, an end portion of the cylinder 6 at the rod side is rotatably attached to an underside position of the base end portion of the jib 2 slightly shifted towards the jib point side via pins (not shown in the figure). In this manner, the jib 2 is supported. Another end portion of the cylinder 6 at the bottom side is rotatably attached to a front portion of the revolving frame 13 via pins (not shown in the figures).
  • the jib 2 is hoisted with respect to the jib foot pin, which functions as the center, by extension and retraction operations of the cylinder 6, and the jib operating radius based on the jib point H is determined.
  • FIG 2 is a diagram showing from the jib point H to the container 19 viewed from the direction indicated by the arrow S shown in FIG 1.
  • FIG 3 is a schematic diagram showing a control system of a rotation motor 16.
  • one end of the ropes 3 and 3', respectively, is fixed to the lifting attachment member 15, and the other end of the ropes 3 and 3' are wound up by the winches 4 and 4' disposed on the revolving frame 13. Accordingly, the lifting attachment member 15 is moved up when the ropes 3 and 3' are wound up by the winches 4 and 4', and the lifting attachment member 15 is moved down when the winches 4 and 4' are rotated in the reverse direction. Also, a spreader 18 and the container 19 (hereinafter these are referred to as "hoisted cargo container G"), which is hung from the lifting attachment member 15 via the rope 30, are moved up and down in accordance with moving up and down of the lifting attachment member 15.
  • the rotation motor 16 is disposed below the lifting attachment member 15, and a hook 17 is disposed below the rotation motor 16. Also, the spreader 18 is hung using the hook 17 via the rope 30.
  • An encoder (not shown in the figure) is attached to the rotation motor 16.
  • the encoder detects a relative rotation angle ⁇ , which is a relative angle of the hoisted cargo container with respect to the lifting attachment member 15.
  • the encoder then transmits the detected relative rotation angle ⁇ to a control device 50.
  • the control device 50 is disposed at a part of the control unit 10 explained above (refer to FIG 1).
  • markers 20 and 21 are attached to the upper surface of the spreader 18, and the position of the marker is captured using cameras 22 and 23, which are disposed at the right hand side end and the left hand side end, respectively, of the jib point H so that the images of the markers 20 and 21 may be transmitted to an image processing unit (not shown in the figure).
  • the image processing unit detects the position of the right marker and that of the left marker, and computes a hoisted cargo container rotation angle ⁇ , which is a relative angle of the hoisted cargo container with respect to the jib point H, by dividing the difference in change of the position of the markers by the distance between the right marker and the left marker. After this, the detected hoisted cargo container rotation angle ⁇ is transmitted to the control unit 10.
  • the control device 50 receives, as input signals, the hoisted cargo container rotation angle ⁇ detected by the image processing unit of the cameras 22 and 23, the relative rotation angle ⁇ detected by the encoder attached to the rotation motor 16, and a target hoisted cargo container rotation angle ⁇ ref , which is computed by a superior computer or input by an operator of the crane. Then, the control device 50 computes a motor control command value ⁇ for the rotation motor 16, which makes the actual hoisted cargo container rotation angle ⁇ equal to the target hoisted cargo container rotation angle ⁇ ref , and outputs the motor control command value ⁇ to a drive control unit (not shown in the figure) of the rotation motor 16.
  • the drive control unit of the rotation motor drives the rotation motor 16 based on the motor control command value ⁇ .
  • the drive control unit controls the amount of current which flows through inverters, and so forth.
  • the hoisted cargo container rotation control device includes, as its main structural elements, the markers 20 and 21, the cameras 22 and 23, and the image processing unit (not shown in the figure) as a means for obtaining the hoisted cargo container rotation angle, which detects the hoisted cargo container rotation angle ⁇ , encoders (not shown in the figure) as a means for detecting the relative rotation angle, the control device 50, and the drive control unit (not shown in the figure).
  • each end of the ropes 3 and 3 at the jib point H side is defined as E1 and E2, respectively, and each end of the ropes 3 and 3 at the lifting attachment member 15 side is defined as E3 and E4, respectively.
  • the angle between an upper side of the jib point H (this is regarded as a reference line q) and a line connecting the E1 and E2 is defined to be a fulcrum angle ⁇ .
  • the angle between the line connecting E1 and E2 and a line connecting the E3 and E4 is defined to be the lifting attachment angle ⁇ .
  • the angle between the line connecting E3 and E4 and a side of the hoisted cargo container G in the longitudinal direction is defined to be the relative rotation angle ⁇ . That is, the relative rotation angle ⁇ is a relative angle between the lifting attachment member 15 and the hoisted cargo container G.
  • the length of the rope from the jib point H to the lifting attachment member 15 is defined to be the rope length 1. That is, the rope length 1 is equal to the distance between E1 and E3, which in turn equals to the distance between E2 and E4. Also, the mass of the lifting attachment member 15 is defined to be the lifting attachment mass m, and the mass of the hoisted cargo container is defined to be the hoisted cargo container mass M.
  • the hoisted cargo container mass M means the total of the mass of the spreader 18 and the container 19.
  • the distance between the two ropes at the jib point H i.e., the distance between E1 and E2 is defined to be the distance 2d.
  • FIG 4 is a diagram showing the concept of the control system of the hoisted container rotation control device shown in FIG 3. As shown in the figure, the hoisted cargo container rotation angle ⁇ , and the relative rotation angle ⁇ as well as the target hoisted cargo container rotation angle ⁇ ref are input into the control device 50 as detected signals.
  • the control device 50 computes the motor control command value ⁇ based on these input information and outputs the results. Also, the control device 50 carries out a feedback control for the hoisted cargo container rotation angle ⁇ and the relative rotation angle ⁇ as detected values so that the hoisted cargo container rotation angle ⁇ matches the target hoisted cargo container rotation angle ⁇ ref .
  • FIG 5 is a diagram showing the control logic of the control device 50.
  • the control device 50 includes a control computing unit 65 and a feedback control unit 66.
  • the control computing unit 65 computes the motor control command value ⁇ based on a predetermined equation relating to the deviation ( ⁇ ref - ⁇ ) between the target hoisted cargo container rotation angle ⁇ ref and the hoisted cargo container rotation angle ⁇ , the lifting attachment angle ⁇ , and the motor control command value ⁇ for driving the rotation motor 16.
  • the feedback control unit 66 performs feedback on the detection values of the hoisted cargo container rotation angle ⁇ and the relative rotation angle ⁇ , and computes each parameter (variable) to be assigned to predetermined equations based on the feedback values of the hoisted cargo container rotation angle ⁇ and the relative rotation angle ⁇ .
  • the feedback control unit 66 includes a subtractor 61, a differentiation unit 62, another subtractor 63, and another differential unit 64, and outputs calculation results to the control computing unit 65.
  • the subtractor 61 computes deviation by subtracting the feedback value of the hoisted cargo container rotation angle ⁇ from the target hoisted cargo container rotation angle ⁇ ref .
  • the differentiation unit 62 computes the hoisted cargo container rotational angular velocity ⁇ by differentiating the hoisted cargo container rotation angle ⁇ .
  • the subtractor 63 computes the lifting attachment rotation angle ⁇ by subtracting the relative rotation angle ⁇ from the hoisted cargo container rotation angle ⁇ .
  • the differential unit 64 computes the lifting attachment rotational angular velocity ⁇ by differentiating the lifting attachment angle ⁇ obtained by the subtractor 63.
  • the control computing unit 65 assigns each calculated value, which is input from the feedback control unit 66, to the predetermined equation (1) shown below to obtain the motor control command value ⁇ .
  • u k 1 ( ⁇ - ⁇ ref ) + k 2 ⁇ + k 3 ⁇ + k 4 ⁇
  • each of k 1 , k 2 , k 3 , and k 4 is a proportional gain, which is determined based on the optimum control theory under the condition that both the deviation between the hoisted cargo container rotation angle ⁇ and the target hoisted cargo container rotation angle ⁇ ref , and the lifting attachment angle ⁇ become zero.
  • the procedure relating to the determination of the proportional gains will be explained later.
  • the motor control command value ⁇ for driving the rotation motor is calculated using the predetermined equation relating to the lifting attachment angle ⁇ and the hoisted cargo container rotation angle ⁇ , which are parameters expressing the motion of the hoisted cargo container and the lifting attachment member, the target hoisted cargo container rotation angle ⁇ ref , and the motor control command value ⁇ for the rotation motor.
  • the rotation motor is driven based on the motor control command value ⁇ , and the feedback control is performed on the hoisted cargo container rotation angle ⁇ and the relative rotation angle ⁇ , which express the change in position of the lifting attachment member and the hoisted cargo container.
  • the kinetic energy T may be expressed by the following equation (3).
  • T 1 2 I ( ⁇ + ⁇ )+ 1 2 J ( ⁇ + ⁇ + ⁇ )+ 1 2 ( m + M ) z
  • V ( m + M ) g z
  • a 1 may be expressed as the following equation (10).
  • a 1 2 d 2 ( m + M ) g / I l
  • the equation of state for the entire controlled system may be derived by adding a numerical model of the rotation motor 16, which is an actuator, to the equation of state relating to the rotational movement which is derived as explained above.
  • the numerical model of the rotation motor 16 may be expressed by the following equation (12).
  • f is the driving torque generated by the rotation motor 16
  • ⁇ is the motor control command value (for instance, velocity command value) for controlling the drive of the rotation motor 16
  • K p and T I are proportional gain and integral gain, respectively, of the motor control system
  • I m is the moment of inertia converted to the gear side shaft of the motor + gear system.
  • the numerical model of the rotation motor 16 may be expressed as the following formula (13).
  • the block diagram for the simulation is the same as the block diagram shown in FIG 4.
  • equations (14) which are the equations of state for the entire controlled system as explained above, was used as the objects 52 to be controlled.
  • the control device 50 used was the one shown in FIG. 5.
  • each parameter for the objects to be controlled was as shown in Table 1 below. As the set value for each of the parameters, practical values are used which may be determined from diagrams of an actual device and so forth.
  • equation of state for the entire controlled system may be given as the following equation (15) as indicated in the equations (14).
  • Q and r are adjusting parameters of so called 5 ⁇ 5 weighting matrix and 1 ⁇ 1 weighting matrix, respectively.
  • A' and B' are constant matrix which may be obtained by assigning a value of A, B, H 1 , H 2 , and H 3 , which may be derived from the above equations (10), (11), and (13), to each of the equations (14).
  • the proportional gains k 1 , k 2 , k 3 , and k 4 at that moment i.e., the proportional gains suitable for carrying out the control of the rotation of a hoisted cargo container, were obtained, and the value of each is shown in the following Table 2.
  • the device for controlling the rotation of a hoisted cargo container according to the embodiment of the present invention was verified using the same simulator.
  • the values of the proportional gains k 1 , k 2 , k 3 , and k 4 used for the verification were the same as the values shown in Table 2.
  • the results of the simulation were shown in FIGS. 7A through 7D.
  • each parameter was set as shown in Table 1, and the target hoisted cargo container rotation angle ⁇ ref , the lifting attachment angle ⁇ , and the relative rotation angle ⁇ , were initialized to be zero, zero , and 0.1 rad, respectively.
  • the control device 50 obtains the motor control command value ⁇ of the rotation motor so that the hoisted cargo container rotation angle ⁇ becomes zero rad, which is target hoisted cargo container rotation angle, while carrying out feedback control on the state function [ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ] of the lifting attachment member and the hoisted cargo container.
  • the motor control command value ⁇ of the rotation motor 16 was obtained as a pattern shown in FIG 7A, and the hoisted cargo container rotation angle ⁇ , the lifting attachment angle ⁇ , and the relative rotation angle ⁇ , were changed as shown in FIGS. 7B through 7D, by controlling the motor based on the motor control command value ⁇ .
  • the hoisted cargo container rotation angle ⁇ became zero, which was the target hoisted cargo container rotation angle ⁇ ref , and the lifting attachment angle ⁇ also became zero.
  • computer system used in this specification includes an operation system and hardware, such as peripherals.
  • computer readable recording medium includes, for instance, an optical disc, such as CD-ROM, an magneto-optical disc, such as MO and MD, a magnetic recording medium, such as HDD and FD, a transportable recording medium, such as flash memory and semiconductor memory, and a recording device such as a hard disc which is incorporated in a computer system.
  • an optical disc such as CD-ROM
  • an magneto-optical disc such as MO and MD
  • a magnetic recording medium such as HDD and FD
  • transportable recording medium such as flash memory and semiconductor memory
  • a recording device such as a hard disc which is incorporated in a computer system.
  • the term “computer readable recording medium” further includes one which is capable of maintaining a program for a certain period of time.
  • Examples of the "computer readable recording medium” includes a network such as the Internet, a server to which a program is transmitted via a communication line, such as a telephone circuit, and a volatile memory (RAM) inside a computer system which becomes a client.
  • a network such as the Internet
  • a server to which a program is transmitted via a communication line, such as a telephone circuit
  • RAM volatile memory
  • the above-mentioned program may be transmitted to another computer system from a computer system in which the program is stored in a recording device, etc., via a transmission medium or transmission wave contained in a transmission medium.
  • transmission medium transmitting a program means a medium having function of transmitting information, examples of which including a network (a communication network) such as the Internet, and a communication circuit (a communication line), such as a telephone circuit.
  • the above program may be one which realizes a part of the above-mentioned function.
  • the above program may be a so called difference file (a difference program) which realizes the above-mentioned function when combining with a program which is already recorded in a computer system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP03002160A 2002-02-08 2003-02-03 Dispositif et procédé pour controler la rotation d'un conteneur Withdrawn EP1334945A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002032887 2002-02-08
JP2002032887 2002-02-08

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EP1334945A2 true EP1334945A2 (fr) 2003-08-13
EP1334945A3 EP1334945A3 (fr) 2004-01-02

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2921954A1 (fr) * 2007-10-04 2009-04-10 Sogreah Consultants Soc Par Ac Systeme d'aide a la pose de blocs de construction d'ouvrages artificiels.
DE102010054502A1 (de) * 2010-12-14 2012-06-14 Wolfgang Wichner Verfahren und Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse
DE102014008094A1 (de) 2014-06-02 2015-12-03 Liebherr-Werk Nenzing Gmbh Verfahren zum Steuern der Ausrichtung einer Kranlast und Auslegekran

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DE19907989A1 (de) * 1998-02-25 1999-10-07 Hofer Eberhard Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
US6092678A (en) * 1998-06-05 2000-07-25 Shinko Electric Co., Ltd. Overhead hoist transfer
EP1063194A2 (fr) * 1999-06-25 2000-12-27 Siemens Aktiengesellschaft Procédé pour abaisser et déposer une charge de grue sur un support
DE10064182A1 (de) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung

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Publication number Priority date Publication date Assignee Title
FR2461676A1 (fr) * 1979-07-17 1981-02-06 Casteran Jean Procede pour la commande automatique de la trajectoire du fardeau d'un engin de levage et dispositif pour sa mise en oeuvre
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FR2921954A1 (fr) * 2007-10-04 2009-04-10 Sogreah Consultants Soc Par Ac Systeme d'aide a la pose de blocs de construction d'ouvrages artificiels.
DE102010054502A1 (de) * 2010-12-14 2012-06-14 Wolfgang Wichner Verfahren und Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse
EP2465807A1 (fr) * 2010-12-14 2012-06-20 Wolfgang Wichner Procédé et dispositif de positionnement d'une charge de grue suspendue sur une suspension par câble d'une grue dans le sens de rotation autour de son axe vertical
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