EP4059875A1 - Kran und kransteuerungsverfahren - Google Patents

Kran und kransteuerungsverfahren Download PDF

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Publication number
EP4059875A1
EP4059875A1 EP20888560.8A EP20888560A EP4059875A1 EP 4059875 A1 EP4059875 A1 EP 4059875A1 EP 20888560 A EP20888560 A EP 20888560A EP 4059875 A1 EP4059875 A1 EP 4059875A1
Authority
EP
European Patent Office
Prior art keywords
velocity
payload
crane
sway
pattern
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.)
Pending
Application number
EP20888560.8A
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English (en)
French (fr)
Other versions
EP4059875A4 (de
Inventor
Yasuyuki Momoi
Koji Ieshige
Yugo Oikawa
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.)
Hitachi Industrial Equipment Systems Co Ltd
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Hitachi Industrial Equipment Systems Co Ltd
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Filing date
Publication date
Application filed by Hitachi Industrial Equipment Systems Co Ltd filed Critical Hitachi Industrial Equipment Systems Co Ltd
Publication of EP4059875A1 publication Critical patent/EP4059875A1/de
Publication of EP4059875A4 publication Critical patent/EP4059875A4/de
Pending 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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical

Definitions

  • the present invention relates to techniques for controlling the operation of cranes that suspend and carry suspended payloads.
  • the present invention relates to a crane, a crane controller, a crane control method, and a program for controlling the crane.
  • PTL 1 discloses a technique as one of countermeasures to prevent such accidents.
  • PTL 1 discloses the control method to stop a crane with suppressing apayload sway, in which, at the time of the start of a stop operation for the crane, a notch or mechanical braking is applied once, and then a reverse notch or mechanical braking is applied once or more than once at the time after one half period of thesway, or alternatively, a reverse notch application or mechanical braking is applied once or more than once at the time after one quarter period of the sway.
  • the notch is applied one or more times (triangle wave velocity pattern) in order to suppress a payload sway, but the sway can't be completely suppressed by only one operation.
  • a reduction in stopping distance is not expected.
  • the crane is stopped at once with safety, that is, the stopping distance is shorter with suppressing a payload sway even if an immediate change such as a stop occurs.
  • the time to reach a target velocity or the time until velocity variation is within a certain range.
  • the above time or moving distance is shorter, but the payload sway is larger.
  • the problem is made conspicuous by an abrupt change of velocity. For example, as an example of the velocity change, if the crane is stopped, the stopping distance over which a trolley moves until the crane comes to stop is shorter, but a large payload sway occurs.
  • the velocity change time (e.g., deceleration time) may be longer or the control to suppress the payload sway may be added. In this case, there is a problem that, although suppression of the payload sway can be achieved, the stopping distance is longer.
  • the present invention has been made in view of such problems and it is an object of the present invention to provide a technique to control crane operation with higher safety in which a distance and/or time required for control can be reduced with suppressing a payload sway.
  • a second velocity pattern is generated to cancel out an "overlap payload sway" resulting from superposition of a payload sway occurring when control on a crane is started and a payload sway occurring by a first velocity pattern for the crane control ("control" means control in which a target velocity or a velocity change falls within a certain range), and the acceleration and deceleration pattern is used to control the operation of the crane.
  • a crane includes: a horizontal movement device that moves, in a horizontal direction, a suspended payload which is suspended by a rope; a velocity command generation section that generates a velocity command for controlling the horizontal movement device; and a crane control section that controls a velocity of the horizontal movement device according to the velocity command.
  • the velocity command generation section generates a first velocity pattern in which a velocity at a velocity change start of the horizontal movement is changed to a predetermined velocity, and generates a second velocity pattern in which acceleration and deceleration are performed to cancel out a third payload sway resulting from superposition of a first payload sway at the velocity change start and a second payload sway occurring in driving according to the first velocity pattern.
  • the crane control section controls the horizontal movement device according to the first velocity pattern and the second velocity pattern that are thus generated.
  • the present invention also provides a method of controlling the crane and a program for executing the control method to control the crane.
  • rope is defined as representing tools in general capable of being used to suspend a burden, such as chains, cords, bonds, bands, cables and the like as well as the ropes.
  • the payload sway produced by a velocity change can be cancelled or mitigated by a smaller number of operations of acceleration and deceleration. This enables a reduction in distance to a target velocity with suppressing the payload sway. In turn, a higher level of safety of the crane is offered.
  • the present invention covers all types of cranes capable of moving a suspended payload in the horizontal direction.
  • the techniques can be applied to cranes moving a trolley in traverse and travel for a suspended payload (e.g., ceiling crane), as well as cranes performing only one of traverse and travel (e.g., unloader) and so-called crane vehicles.
  • the term "crane” includes all types of cranes capable of moving a suspended payload in the horizontal direction. It is noted that the word "horizontal/horizontally” includes curvilinear movement made by an arm of a crane vehicle and/or the like. Stated another way, any movement is included if the movement can cause a payload sway.
  • a burden (suspended payload) to be carried by a crane is suspended with a chain, a rope, and/or the like to be carried.
  • a tool can be used to suspend a burden
  • any tool can be used irrespective of materials, shape, and the like. Therefore, as just mentioned, the term "rope" as used herein is referred as a general term for tools used to suspend a burden.
  • a "rope” includes not only so-called ropes but also chains, bands, wires, cables, cords, bonds, and the like.
  • Figure 1 is a schematic diagram illustrating the mechanism of a ceiling crane. It should be noted that the present invention is not limited to a ceiling crane as described above.
  • a crane 1 includes: runways 2 installed along both side walls of a building (not shown); a girder 3 moving on the tops of the runways 2; and a trolley 4 moving along the underside of the girder 3.
  • a winch (hoist) which is not shown is mounted in a lower portion of the trolley 4 and is used to wind or unwind a rope 5 in order to lift or lower a hook 6 attached at the distal end of the rope 5.
  • a suspended payload 8 is suspended directly or via a wire 7 from the hook 6, so that the suspended payload 8 is lifted and lowered as the hook 6 is lifted and lowered.
  • the crane 1 is capable of moving the suspended payload 8 in the horizontal direction by means of horizontal movement of the girder 3 (hereinafter referred to simply as "travel") and horizontal movement of the trolley 4 (hereinafter referred to simply as “traverse”), and the crane 1 is capable of lifting and lowering the suspended payload 8 vertically (in the up and down direction) by use of the winch.
  • the horizontal movement is performed by the traverse of the trolley 4 and the travel of the girder 3.
  • the trolley 4 and the girder 3 corresponds to a horizontal movement device. Since the present invention is pertinent to the operation of moving the suspended payload horizontally, the following description for Example 1 according to the present invention focuses mainly on the operation of horizontal movement by means of the traverse and the travel. Therefore, in the description in the following examples, the movement of the suspended payload refers to any one or both of the movement by driving the trolley 4 (traverse) and the movement by driving the girder 3 (travel).
  • Figure 2 is a diagram illustrating the configuration of the crane according to Example 1 of the present invention.
  • Figure 2 illustrates the crane 1 operating the trolley 4 for traverse for the purpose of clear and simple description, in which travel of the girder 3 is omitted.
  • a drive portion such as a motor/motors and/or the like used to move the trolley 4 and the girder 3 is also omitted.
  • reference sign 10 denotes a velocity command generation section that generates velocity patterns and the like for use of controlling the horizontal movement device (the girder 3 and the trolley 4) in order to move the suspended payload 8 to a desired position
  • Figure 2 shows an example of using a general-purpose computing machine.
  • Reference sign 101 denotes an MPU (Microprocessing Unit) that performs arithmetic processing using programs, data and/or the like contained therein for generation of velocity patterns and/or the like.
  • Reference sign 102 denotes memory to store the programs, the data and/or the like.
  • Reference sign 103 denotes an input/output control section for input of data and signals from the outside and output of signals obtained through the arithmetic processing by MPU and/or the like to the outside.
  • Reference sign 104 denotes a bus for communication of signals and data among components in the velocity command generation section 10.
  • Reference sign 12 denotes a crane control section that receives the velocity patterns output from the velocity command generation section 10 and controls the velocity of horizontal movement (traverse) of the trolley 4. The crane control section 12 outputs, to the trolley 4, a control signal according to the received velocity pattern. Alternatively, the crane control section 12 may provide the function to the velocity command generation section 10 so that the control signal may be output from the velocity command generation section 10.
  • the velocity command generation section 10 outputs velocity patterns for velocity control of horizontal movement (travel) of the girder 3 in the travel control. On the girder 3 side, the velocity of horizontal movement (travel) of the suspended payload is controlled based on the velocity pattern.
  • the velocity command generation section 10 also receives a rope length L0 which is output from a rope length detector not shown, and a velocity Vs at the time of the stop operation start from a velocity detector also not shown. It is noted that when there is no change in the rope length L0 and the velocity Vs, the data on them may be stored in the memory 102.
  • reference sign 9 denotes an obstruction. The obstruction 9 is not always present on the carry route for a suspended load, but the possible presence is assumed in Figure 2 .
  • a description of the deceleration and stop of the crane is provided by way of example, but each example is also applicable to control performed to reach a target velocity in acceleration, deceleration up to a velocity which is slow but not stop, an/or the like.
  • a velocity when control is initiated is used for a velocity at the time of the deceleration start.
  • the time of the deceleration start may be input from the velocity detector or may be a predicted value based on control.
  • the velocity command generation section 10 when an operator uses an operation input device 100 to instruct a direction of moving the suspended payload, the velocity command generation section 10 generates a velocity command to move the girder 3 and the trolley 4 in a direction corresponding to the instructed moving direction.
  • the crane control section drives the girder 3 and the trolley 4 according to the velocity command generated, to move (in this case, cause traverse of) the suspended payload 8 horizontally.
  • the operator For stopping the horizontal movement (traverse, travel), the operator uses the operation input device 100 to instruct the velocity command generation section 10 for a stop operation start signal 11.
  • a stop operation start signal 11 For example, push buttons corresponding to the moving directions are disposed on the operation input device 100. Hence, one of the buttons corresponding to a desired moving direction is pressed for start of the movement, and then the button is released for stop of the movement.
  • the velocity command generation section 10 receives the stop operation start signal 11 serving as a trigger for the stop operation start when the push button is released.
  • the stop operation start signal 11 may be configured to be input by use of a separately disposed stop button or form external equipment.
  • Figure 3 is a chart illustrating velocity patterns generated by the velocity command generation section 10 when the stop operation start signal 11 is received.
  • a drive is provided in a first velocity pattern v1 in which a velocity of the girder/trolley is reduced over a time duration T1 from Vs at the time of the stop operation start.
  • the drive is provided in a second velocity pattern v2 in which acceleration and deceleration are performed with a maximum velocity Vdmax over a time duration T2 after a lapse of Tw from the stop operation start in such a manner as to cancel out the payload sway occurring at the start of the stop operation and the payload sway produced by the drive in v1.
  • the above velocity patterns are obtained the following relational expressions. It is noted that the velocity patterns may be a pattern showing changes in velocity.
  • a transfer function P(s) from a crane velocity command to the amount of payload sway is given by the following equation.
  • P s ⁇ s / s ⁇ 2 + wr ⁇ 2
  • L is obtained by adding, to the rope length L0, a distance ⁇ L from the hook position to the center of gravity of the suspened payload by the wire.
  • ⁇ L changes depending on a suspended payload and/or a wire used, and ⁇ L is measured by a distance sensor mounted to the trolley and/or the like, alternatively, ⁇ L is input by the operator and prestored in the memory 102.
  • a payload sway x0(t) at the time of the stop operation start is given as the following equation.
  • x 0 t A 0 * sin wr * t + ⁇ 0
  • A0 and ⁇ 0 are as follows.
  • x 1 t A 1 * sin wr * t + ⁇ 1 where if v1(t) decelerates at a constant deceleration, A1 and ⁇ 1 are as follows.
  • Vs is a velocity of the trolley at the time of the stop operation start
  • T1 is deceleration time
  • the payload sway x01(t) resulting from superposition of x0(t) and x1(t) may be canceled by x2(t).
  • x 01 t A 01 * sin wr * t + ⁇ 01
  • A01 and ⁇ 01 used in Equation 11 are as follows.
  • x 01 Tw + T 2 / 2 A 01 * sin ⁇ / 2
  • Vdmax 1 / 4 * A 01 * 1 ⁇ r * T 2 * wr ⁇ 2 / cos r * T 2 * wr / 2 ⁇ cos T 2 * wr / 2
  • T2 Vdmax, r can be obtained as follows.
  • Vdmax 2 * A 01 / 1 + r / T 2
  • r 2 * A 01 / T / k * V where k is a correction factor taking the influence of the approximation into account. From the determined r, an exact solution of Vdmax is calculated by Equation 16.
  • Vdmax 1 / 8 * A 01 * T 2 * wr ⁇ 2 / sin T 2 * wr / 4 ⁇ 2
  • Vdmax 2 * A 01 / T 2
  • T2 is determined as expressed in the following equation.
  • T 2 2 * A 01 / k * V where k is a correction factor taking the influence of the approximation into account. From the determined T2, an exact solution of Vdmax is calculated by Equation 22.
  • T2 and Vdmax may be determined as follows.
  • An acceleration can be obtained as expressed in the following equation.
  • T2 is determined as expressed in the following equation.
  • T 2 4 / wr * asin 1 / 2 * sqrt A 01 * wr ⁇ 2 / ⁇ From the determined T2, Vdmax is calculated by Equation 22.
  • a start time Tw of v2(t) is obtained by the following equation.
  • Tw ⁇ / 2 ⁇ ⁇ 01 / wr ⁇ T 2 / 2 If Tw ⁇ 0 in this equation, since the drive by v2(t) must be started before the stop operation start, this cannot be realized.
  • x01(t) is a periodic function of an angular period 2 ⁇ , the time at which the amount of payload sway reaches a maximum after one period and the center time of v2(t) may coincide with each other. Therefore, Tw is determined by the following equation.
  • Tw 2 * n + 1 / 2 * ⁇ ⁇ ⁇ 01 / wr ⁇ T 2 / 2 where n is zero or one.
  • the start time Tw and the time duration T2 of the second velocity pattern v2, the maximum velocity Vdmax, and the upper side/lower side r of the trapezoidal wave are determined.
  • T1 becomes approximate zero.
  • the payload sway x01(t) resulting from superposition of the payload sway x0(t) at the time of the stop operation start and the payload sway x1(t) by the first velocity pattern becomes only x0(t).
  • the amplitude A01 and the phase ⁇ 01 of x01(t) may be assumed as the amplitude A0 and the phase ⁇ 0 of x0 (t).
  • a deceleration of v1(t), a set value V for the maximum velocity of v2(t), and a set value ⁇ for an acceleration are desirably taken as high as possible.
  • FIG. 4 is a diagram illustrating a processing flow in the velocity command generation section 10. Details of the processing will be described below.
  • Equation 3 From the amount of payload sway x0(0) and a payload sway velocity v0(0) at the time of the stop operation start, an amplitude A0 and a phase ⁇ 0 of the payload sway x0(t) at the time of the stop operation start are estimated by Equations 3 and 4. It is noted that if the velocity of the girder/trolley Vs at the time of the stop operation start is very slow and A0 is below an allowable value of the amount of payload sway, a stop may be reached without subsequent calculations.
  • a time duration T2 of v2 and a maximum velocity Vdmax are obtained by Equations 24 and 22.
  • Vdmax and r are obtained by Equations 17, 18. If a trapezoidal acceleration thus obtained is equal to or less than a maximum acceleration, it is determined that a trapezoidal wave to be driven is determined, and the flow goes to S10.
  • a triangular acceleration is equal to or less than an allowable value (minimum allowable acceleration ⁇ min). If it is equal to or less than the allowable value, a reduction of T2 is made possible by setting r>0. Because of this, a parameter calculation is performed to specify a maximum velocity and an acceleration.
  • Parameters of the velocity patterns are calculated as described above. If the triangular wave causes the time duration to increase, using the trapezoidal wave reduces the time duration. This enables a reduction in stopping distance and in time until the payload sway is suppressed and a stop is reached.
  • FIG. 5 shows charts for explaining the operation in Example 1, which illustrates temporal changes of the trolley velocity and the amount of payload sway from above.
  • deceleration is started according to the first velocity pattern from the time of the stop operation start at which a stop operation start signal 11 is input.
  • the trapezoidal velocity command which is the second velocity pattern
  • the payload sway produced at the time of the stop operation start and by the deceleration is canceled out by the trapezoidal velocity command, so that the trolley is stopped and subsequent payload sway can be suppressed.
  • a stop is enabled by a single application of trapezoidal wave. This enables a shorter stopping distance than that in a method of performing the operation over several times.
  • the payload sway produced by deceleration can be canceled out by a single application of the acceleration and deceleration, which in turn enables a reduction in stopping distance with suppressing the payload sway, thereby improving the safety of the crane.
  • the payload sway can be suppressed similarly even if the velocity is changed to any given velocity.
  • the first velocity pattern and the second velocity pattern may be superposed on each other, i.e., Tw may be smaller than T1.
  • FIG. 6 is a diagram illustrating the configuration of the crane according to Example 2.
  • a significant difference from Example 1 illustrated in Figure 2 is to have a payload sway amount acquisition device that acquires the amount of payload sway and a payload sway velocity in Figure 6 .
  • an amplitude A0 and a phase ⁇ 0 of the payload sway x0 at the time of the stop operation start are used, and they can be obtained by Equations 3 and 4 from the amount of payload sway x0(0) and the payload sway velocity v0(0) at the time of the start of stop which are acquired by the payload sway amount acquisition device.
  • the payload sway amount acquisition device is a device for obtaining the amount of payload sway and the payload sway velocity.
  • the payload sway amount acquisition device in the example includes a payload sway amount detector 13 that measures the amount of payload sway, and a payload sway velocity arithmetic device that computes the payload sway velocity from the measured amount of payload sway.
  • the payload sway amount detector 13 is implemented by use of, for example, a camera or a 3D laser distance sensor which is mounted in a downward direction to the trolley, to observe (measure) sway of the hook 6 or the suspended payload 8.
  • a payload sway velocity acquisition device performs, for example, a differentiation operation or a pseudo differentiation operation on the measured amount of payload sway.
  • the payload sway velocity acquisition device is configured as a function of the velocity command generation section 10, rather than being separately installed.
  • a payload sway amount estimation device may be provided to estimate the amount of payload sway and a payload sway velocity, and the payload sway amount acquisition device may also obtain by estimating the amount of payload sway and a payload sway velocity from the angular frequency wr of a payload sway and a velocity command for the girder/trolley. Therefore, the payload sway amount acquisition device may not detect the amount of payload sway directly from the payload sway amount detector 13.
  • the angular frequency wr may be estimated from the rope length L0.
  • the function of the payload sway amount estimation device may be configured to perform computations in the velocity command generation section 10.
  • VT(s) and X(s) resulting from performing a laplace transform on vt(t) and x(t) are calculated from the following equation.
  • X s P s * VT s
  • the payload sway amount estimation device may estimate the amount of payload sway by performing a filtering operation in which a transfer function is given by P(s) for vt(t), and may estimate a payload sway velocity by differentiating the obtained amount of payload sway.
  • the payload sway produced by deceleration can be canceled out by a single application of the acceleration and deceleration, which in turn enables a reduction in stopping distance with suppressing the payload sway, thereby improving the safety of the crane.
  • FIG. 7 is a diagram illustrating the configuration of the crane according to Example 3 of the present invention.
  • an obstruction detector 14 is included to detect an obstruction 9 located around the suspended load 8, the trolley 4, and the girder 3.
  • a collision determination device 15 is included, which receives a detection signal from the obstruction detector 14, and determines whether a risk of a collision between the obstruction 9 and any of the suspended payload 8, the trolley 4, and the girder 3 is present or absent. If it is determined that the risk of the collision is present, the collision determination device 15 outputs a stop operation start signal 11 to the velocity command generation section 10.
  • the obstruction detector 14 observes surroundings of the suspended payload 8 by use of, for example, a camera or a 3D laser distance sensor which is mounted in a downward direction to the trolley 4, in order to detect an obstruction around the suspended payload. If a collision between the detected obstruction and the suspended payload is estimated, the collision determination device 15 immediately outputs a stop operation start signal 11. Upon receiving the stop operation start signal 11, the velocity command generation section 10 generates velocity patterns similarly to those in the above examples.
  • the velocity command generation section 10 generates a first velocity pattern for deceleration from the velocity at the time of the deceleration start to a first deceleration end velocity, and a second velocity pattern for acceleration and deceleration to cancel out a payload sway occurring when the horizontal movement device is driven in first velocity pattern. And, the generated velocity patterns are output to the crane control section 12, so that the crane control section 12 controls the velocitys of the girder 3 and/or the trolley 4 to stop the crane.
  • Such control operation enables the avoidance of a collision between a suspended load and an obstruction and an accident that an operator is caught in a payload and an obstruction.
  • a collision of the crane with a wall, a stopper or another crane running on the same rail may be estimated by use of, for example, a length measurement sensor mounted to the trolley 4 and/or the girder 3 to measure a distance to the wall, the stopper or the other crane. If, upon the estimation, the stop operation start signal is immediately output to stop the crane, the avoidance of a collision between the crane and the wall, the stopper and/or the other crane and a caught accident is enabled.
  • a payload sway produced by deceleration can be canceled out by a single application of acceleration and deceleration, which in turn enables a reduction in stopping distance with suppressing the payload sway, thereby improving the safety of the crane. Furthermore, the avoidance of a collision and a caught accident is enabled to provide a further improvement in safety of the crane.
  • a payload sway produced by deceleration can be canceled out or mitigated by a single application of acceleration and deceleration, and therefore a reduction in stopping distance while suppressing the payload sway is enabled to provide improved safety of the crane.
  • the present invention is not limited to the above some examples, and is intended to embrace various modifications.
  • the above examples have been described in detail for the purpose of explaining the present invention clearly, and the present invention is not necessarily limited to including all the components and configurations described above.
  • a portion of the configuration in one example may be substituted for configuration in another example, and configuration in one example may be added to configuration in another example.
  • addition, deletion, and substitution of another configuration may be made.
  • the control on the crane is not limited to the stop control, and the application to deceleration and acceleration to any given velocity (target velocity) is enabled. In this case, maintaining the target velocity constantly within a redetermined range is involved.
  • the stopping distance means a moving distance to the target velocity.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP20888560.8A 2019-11-12 2020-07-02 Kran und kransteuerungsverfahren Pending EP4059875A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019204401A JP7297645B2 (ja) 2019-11-12 2019-11-12 クレーンおよびクレーン制御方法
PCT/JP2020/026086 WO2021095296A1 (ja) 2019-11-12 2020-07-02 クレーンおよびクレーン制御方法

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EP4059875A1 true EP4059875A1 (de) 2022-09-21
EP4059875A4 EP4059875A4 (de) 2024-03-20

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JP (1) JP7297645B2 (de)
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WO2024181451A1 (ja) * 2023-03-02 2024-09-06 株式会社キトー 制御装置、クレーン、および制御方法
CN116448188B (zh) * 2023-06-13 2023-08-18 西安高商智能科技有限责任公司 一种货运绞车异常状态监测及预警系统

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JPS55123882A (en) * 1979-03-12 1980-09-24 Mitsubishi Electric Corp Method of controlling cargo work and conveyance equipment
JPS56149986A (en) * 1980-04-22 1981-11-20 Mitsubishi Electric Corp Steady-rest controlling device for suspension type crane
JPS5992892A (ja) * 1982-11-17 1984-05-29 株式会社日本製鋼所 吊り下げ式運搬装置の振れ止め制御装置
JPS60153392A (ja) * 1984-01-24 1985-08-12 株式会社東芝 クレ−ン安全装置
JPH0680387A (ja) * 1992-09-01 1994-03-22 Hitachi Kiden Kogyo Ltd クレーンの位置決め及び振れ止め制御方法
JPH08324960A (ja) 1995-05-26 1996-12-10 Nippon Steel Corp クレーン振れ止め制御方法
US5713477A (en) * 1995-10-12 1998-02-03 Wallace, Jr.; Walter J. Method and apparatus for controlling and operating a container crane or other similar cranes
JPH09156876A (ja) * 1995-12-06 1997-06-17 Mitsui Eng & Shipbuild Co Ltd クレーンの振止め方法

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EP4059875A4 (de) 2024-03-20
JP7297645B2 (ja) 2023-06-26
WO2021095296A1 (ja) 2021-05-20
JP2021075372A (ja) 2021-05-20
CN114650962A (zh) 2022-06-21

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