JP2004210454A - Crane control device and crane control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane control device capable of saving the power to be comsumed by driving systems without prolonging a time to be required for working operation in a crane provided with two or more driving systems. <P>SOLUTION: This control device for a crane having two or more driving systems is provided with a computing means for computing the required time in the case where each of the driving units, which can be operated at the same time, are operated at the highest speed in response to an operating instruction, and a speed control means for controlling the operation speed so that the operation time of the driving units except the driving unit, which needs the longest required time, coincide with the operation time of the driving unit, which needs the longest required time. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a crane control device and a crane control program for controlling a crane having two or more drive systems.
[0002]
[Prior art]
Conventionally, there has been known a method of controlling a crane for storage and retrieval that can further improve a cycle time by controlling a traveling speed according to a value of a load, a lifting and lowering speed in a storage and retrieval work crane. (See Patent Document 1). This control method detects the weight of the loaded luggage with a load detector, and according to the value of the detected load, runs, elevates, and forks, the operation pattern is always safe and suitable for the load. The control is performed by switching to the maximum speed pattern.
Also, when the traveling speed of the stacker crane and the lifting speed of the lifting device of the transfer device are changed in response to the presence or absence of a load, etc. There has been known a control method that enables a loading / unloading operation in an appropriate operation order without requiring a map preparation (see Patent Document 2). This is a control method for determining the order of unloading according to the moving time when loading and unloading a load using a stacker crane equipped with two load transfer devices.
[0003]
[Patent Document 1]
JP-A-5-286527 [Patent Document 2]
JP-A-8-192905
[Problems to be solved by the invention]
However, in the crane control methods described in Patent Literatures 1 and 2, control is performed to further improve the cycle time in order to increase the work efficiency of loading and unloading, so that the power consumed during the operation of the crane is reduced. There is a problem that appropriate control is not performed in consideration of saving.
[0005]
The present invention has been made in view of such circumstances, and a crane control that can save power consumed by a driving system without delaying the time required for a moving operation in a crane having two or more driving systems. It is an object to provide a device and a crane control program.
[0006]
[Means for Solving the Problems]
The invention according to claim 1 is a control device for a crane having two or more driving units, and calculates a required time when each of the driving units that can operate simultaneously according to an operation instruction operates at the highest speed. And controlling the operating speed so that the operating time of the driving unit other than the driving unit requiring the longest time is adjusted to the driving unit requiring the longest time among the driving units for which the required time is calculated by the calculating unit. Speed control means for controlling the speed of the vehicle.
[0007]
The invention according to claim 2 is a control device for a crane having two or more drive units, wherein an operation speed is defined in advance for each operation instruction so that the required operation time of each drive unit that can operate simultaneously is matched. Speed data storage unit, and speed control means for reading the operation speed stored in the speed data storage unit in response to the operation instruction, and controlling the operation speed of each drive unit to the read operation speed. And characterized in that:
[0008]
According to a third aspect of the present invention, there is provided a control program for a crane having two or more driving units, the calculation program calculating a required time when each of the driving units that can operate simultaneously according to an operation instruction operates at the highest speed. And controlling the operation speed so that the operation time of the drive units other than the drive unit requiring the longest time is adjusted to the drive unit requiring the longest time among the drive units for which the required time is calculated by the calculation process. And controlling the computer to perform the speed control processing.
[0009]
According to a fourth aspect of the present invention, there is provided a control program for a crane having two or more driving units, wherein the operation speed is stored in advance so that the required operation time of each of the simultaneously operable driving units is matched for each operation instruction. The computer reads out an operation speed corresponding to the operation instruction from the speed data and controls the computer to perform a speed control process of controlling the operation speed of each drive unit to the read operation speed.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a control device of a stacker crane according to an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a control device when a stacker crane is used for an automatic warehouse will be described. FIG. 1 is a block diagram showing the configuration of the embodiment. In this figure, reference numeral 1 denotes an on-board control device provided on the stacker crane. Reference numeral 2 denotes a location instruction receiving unit that receives an operation instruction of the stacker crane. A control unit 3 controls the operation of the stacker crane. Reference numeral 4 denotes a required time calculator for calculating the required operation time when the stacker crane operates in response to the operation instruction. A speed pattern data storage unit 5 stores speed pattern data to be referred to when the required time calculation unit 4 calculates the required operation time.
[0011]
Reference numeral 8 denotes a fork driving unit that drives the fork operation of the stacker crane. Reference numeral 9 denotes a fork motor that generates a driving force for the fork operation. Reference numeral 10 denotes a traveling drive unit that drives the traveling operation of the stacker crane. Reference numeral 11 denotes a traveling motor that generates a driving force for the traveling operation. Reference numeral 12 denotes a lifting drive unit that drives the lifting operation of the stacker crane. Reference numeral 13 denotes an elevating motor that generates a driving force for the elevating operation. The three motors (the fork motor 9, the traveling motor 11, and the elevating motor 13) control the rotation speeds instructed by the three driving units (the fork driving unit 8, the traveling driving unit 10, and the elevating driving unit 12). At the same time, the acceleration until reaching the specified rotation speed is also controlled. Reference numeral 14 denotes an inventory management system that performs inventory management processing in an automatic warehouse. Reference numeral 15 denotes a ground control device that transmits a location instruction of a stacker crane for loading and unloading the load in the automatic warehouse to the onboard control device 1 in accordance with an instruction from the inventory management system 14.
Although not shown in FIG. 1, an output of a detector that detects the position of the stacker crane is input to the control unit 3, and an instruction is output to each drive unit according to the input value.
[0012]
Here, the stacker crane will be briefly described with reference to FIG. FIG. 9 is an external view showing a configuration of a general automatic warehouse. In this drawing, reference numeral 16 denotes three drive systems (fork drive unit 8, fork motor 9, travel drive unit 10, travel motor 11, lift drive unit 12, and lift motor 13): run, lift, and fork. Is a stacker crane having: In this automatic warehouse, cargo shelves are arranged on both sides of the stacker crane 16, respectively. The stacker crane 16 mounts the load 17 carried by the loading / unloading conveyor (not shown) on the loading platform 18 by forking operation, moves to a shelf instructed by running and lifting operation, and again instructs by forking operation. Transfer the load to the designated shelf. This entry / exit instruction is called a location instruction, and is transmitted from the ground control device 15 to the onboard control device 1 by wireless communication.
[0013]
In the following description, the operation in which the loading platform 18 of the stacker crane moves parallel to the floor is referred to as “traveling”, and the identifier for identifying the position of the shelf in the traveling direction is “address XX”. The movement of the loading platform 18 perpendicular to the floor is referred to as “elevation”, and the identifier for identifying the position of the shelf in the elevating direction is defined as “XX steps”. An identifier for identifying each of the shelves on both sides of the stacker crane 16 is referred to as “XX column”. Therefore, by specifying “1st row, 3rd address, 4th tier” or “2nd row, 4th address, 2nd tier” in the location instruction, the position of the shelf can be uniquely specified.
[0014]
Next, the operation of the apparatus shown in FIG. 1 will be described with reference to FIG. FIG. 2 is a flowchart illustrating the control operation of the onboard control device 1. First, the location instruction receiving unit 2 receives a location instruction from the ground control device 15 (step S1). The location instruction receiving unit 2 notifies the control unit 3 of the received location instruction. The location instruction includes location information (one column, three addresses, four rows, etc.) for specifying the position of the shelf, and an entry / exit type for identifying entry / exit. For example, the location instruction is "1st row, 3rd address, 4th row, warehousing". The control unit 3 that has received the notification of the location instruction notifies the required time calculation unit 4 of the location information included in the location instruction, and issues an instruction to calculate the required time of the fastest pattern. In response to this, the required time calculation unit 4 calculates the travel time and the elevating time required when the carrier 18 is moved to the notified location at the highest speed (steps S2 and S3). At this time, the required time calculation unit 4 calculates the required time for the movement with reference to the acceleration and the maximum speed of the fastest pattern stored in the speed pattern data storage unit 5.
[0015]
Here, the speed pattern data stored in advance in the speed pattern data storage unit 5 will be described with reference to FIG. FIG. 3 is an explanatory diagram showing a table structure of the speed pattern data storage unit 5 shown in FIG. The speed pattern data storage unit 5 includes a running speed pattern table (a) for calculating a running speed and an elevating speed pattern table (b) for calculating an elevating speed. Each table stores a speed pattern. Each value of the “pattern No” to be identified, the “maximum speed” which is the speed at the time of steady movement, and the “acceleration” up to the maximum speed are defined. Nmax corresponds to the fastest pattern, and the pattern numbers are assigned to the speed patterns so that the smaller the pattern number, the lower the power consumption (in principle, the order of the maximum speed and the acceleration is lower).
[0016]
When calculating the required time of the fastest pattern, the required time calculation unit 4 reads the maximum speed and acceleration of the fastest pattern (Nmax) from the traveling speed pattern table, and calculates the maximum distance and the travel distance obtained from the location notified from the control unit 3. Based on this, the required time for traveling and ascent / descent is calculated. The travel distance in the traveling direction can be obtained by multiplying the width of one shelf in the traveling direction by the numerical value of “address” indicating the position of the designated shelf. Similarly, the moving distance in the ascending / descending direction can be obtained by multiplying the height of one shelf in the ascending / descending direction by the numerical value of “stage” indicating the position of the designated shelf. By this calculation processing, the traveling time and the elevating time when moving to the location notified by the control unit 3 at the highest speed can be obtained. The running time and the elevating time obtained here are notified to the control unit 3.
[0017]
Next, the control unit 3 compares the notified traveling time with the ascent / descent time (Step S4). If the running time is longer than the elevating time (the time is longer), 1 is substituted for the variable n (step S5). Then, the control unit 3 notifies the required time calculation unit 4 of an ascent / descent time calculation instruction including the value of the variable n and the content of the location instruction. In response, the required time calculation unit 4 reads the maximum speed and acceleration of the pattern No. indicated by the variable n from the vertical speed pattern table of the speed pattern data storage unit 5 (step S6). Subsequently, the required time calculation unit 4 calculates the ascent / descent time using the read maximum speed and acceleration (Step S7). The calculation of the ascent / descent time is the same as the ascent / descent time calculation in the fastest pattern in step S3, except that the values of the maximum speed and the acceleration are changed. The control unit 3 is notified of the elevating time obtained here.
[0018]
Next, the control unit 3 compares the obtained ascending and descending time with the previously obtained traveling time in the fastest pattern (step S8). If the elevating time is longer than the running time in the fastest pattern, it is determined whether the variable n is equal to Nmax (step S9). If not, the variable n is increased by 1 (step S10), and the process proceeds to step S6. The return process is repeated, and if the elevating time is not smaller than the traveling time even when the variable n becomes Nmax, the elevating speed pattern is determined as the fastest pattern. Then, the control unit 3 reads the fastest pattern data from the vertical speed pattern table in the speed pattern data storage unit 5 and instructs the read maximum speed and acceleration to the vertical drive unit 12 (step S11). Further, the control unit 3 reads the fastest pattern data from the running speed pattern table in the speed pattern data storage unit 5 and instructs the running drive unit 10 of the read maximum speed and acceleration.
[0019]
On the other hand, when the elevating time obtained from the running time at the time of the fastest pattern is shorter (shorter) in step S8, the controller 3 stores the current speed pattern data of the pattern No. indicated by the variable n in the speed pattern data storage unit. 5 is read from the vertical speed pattern table, and the read maximum speed and acceleration are instructed to the vertical drive unit 12 (step S12). Further, the control unit 3 reads the fastest pattern data from the running speed pattern table in the speed pattern data storage unit 5 and instructs the running drive unit 10 of the read maximum speed and acceleration. In response to these instructions, the traveling drive unit 10 and the elevation drive unit 12 drive the traveling motor 11 and the elevation motor 13 respectively, and the bed 18 of the stacker crane 16 moves to the shelf indicated by the location instruction.
[0020]
By the processing of steps S5 to S12, the elevating speed can be reduced within a range in which the elevating time does not exceed the running time, so that the power consumed by the elevating motor 13 can be saved.
[0021]
Next, the processing in the case where the traveling time is not longer than the elevating time in step S4 will be described. The control unit 3 compares the notified travel time with the ascent / descent time (step S13). If the elevating time is longer than the running time (the time is long), 1 is substituted for a variable n (step S14). Then, the control unit 3 notifies the required time calculation unit 4 of a travel time calculation instruction including the value of the variable n and the content of the location instruction. In response to this, the required time calculation unit 4 reads the maximum speed and acceleration of the pattern No. indicated by the variable n from the traveling speed pattern table in the speed pattern data storage unit 5 (Step S15). Subsequently, the required time calculation unit 4 calculates the travel time using the read maximum speed and acceleration (Step S16). The calculation of the travel time is the same as the calculation of the travel time in the fastest pattern in step S2, except that the values of the maximum speed and the acceleration are changed. The obtained travel time is notified to the control unit 3.
[0022]
Next, the control unit 3 compares the obtained travel time with the elevation time obtained at the time of the fastest pattern obtained earlier (step S17). If the running time is longer than the elevating time in the fastest pattern, it is determined whether the variable n is equal to Nmax (step S18). If not, the variable n is increased by 1 (step S19), and the process proceeds to step S15. The return process is repeated, and if the traveling time is not shorter than the elevating time even when the variable n becomes Nmax, the traveling speed pattern is determined as the fastest pattern. Then, the control unit 3 reads the fastest pattern data from the traveling speed pattern table in the speed pattern data storage unit 5, and instructs the traveling driving unit 10 on the read maximum speed and acceleration (step S20). Further, the control section 3 reads the fastest pattern data from the up / down speed pattern table in the speed pattern data storage section 5 and instructs the up / down drive section 12 of the read maximum speed and acceleration.
[0023]
On the other hand, if the traveling time obtained from the ascent / descent time at the time of the fastest pattern becomes smaller (shorter) in step S17, the control unit 3 stores the current speed pattern data of the pattern No. indicated by the variable n in the speed pattern data storage unit. 5 is read from the traveling speed pattern table, and the read maximum speed and acceleration are instructed to the traveling drive unit 10 (step S21). Further, the control section 3 reads the fastest pattern data from the up / down speed pattern table in the speed pattern data storage section 5 and instructs the up / down drive section 12 of the read maximum speed and acceleration. In response to these instructions, the traveling drive unit 10 and the elevation drive unit 12 drive the traveling motor 11 and the elevation motor 13 respectively, and the bed 18 of the stacker crane 16 moves to the shelf indicated by the location instruction.
[0024]
By the processing of steps S14 to S21, the traveling speed can be reduced within a range in which the traveling time does not exceed the elevating time, so that the power consumed by the traveling motor 11 can be saved.
[0025]
In step S13, if the running time is not shorter than the elevating time, that is, if the running time is equal to the elevating time, the control unit 3 determines whether the running speed pattern table and the elevating speed pattern table in the speed pattern data storage unit 5 are different from each other. , The maximum speed and the acceleration of the pattern No. Nmax (the fastest pattern) are read, and the read maximum speed and the acceleration are instructed to the traveling drive unit 10 and the elevation drive unit 12 (step S22). In response to these instructions, the traveling drive unit 10 and the elevation drive unit 12 drive the traveling motor 11 and the elevation motor 13 respectively, and the bed 18 of the stacker crane 16 moves to the shelf indicated by the location instruction.
[0026]
Note that the magnitude comparison determination processing of step S4 is a determination processing of whether or not the difference between the traveling time and the elevation time is greater than a predetermined threshold (travel time-elevation time> threshold), and the magnitude comparison of step S13 is performed. The determination process may be a process of determining whether or not the difference between the elevation time and the travel time is greater than a predetermined threshold (elevation time−travel time> threshold). This threshold value may be a value that allows the two required times to be regarded as substantially the same. By doing so, step S22 can be executed not only when the traveling time and the elevating time are completely the same, but also when they are almost equal.
[0027]
As described above, in the case where the traveling time and the elevating time are different, the operation is performed at a reduced speed so as to match the operation of the driving unit having a long required time, so that the power consumed by the driving motor can be saved. it can. In addition, since the operation time of the other drive unit is delayed within a range that does not exceed the operation time of the drive unit with the longer required time, energy saving can be realized without deteriorating the efficiency of loading and unloading of loads. .
[0028]
Next, another embodiment of the present invention will be described. FIG. 4 is a block diagram showing a configuration of another embodiment. In this figure, the same parts as those of the apparatus shown in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. The device shown in this figure differs from the device shown in FIG. 1 in that the onboard control device 1 includes a location instruction receiving unit 2, a control unit 6, and a speed data storage unit 7. In the speed data storage unit 7, the maximum speed and the acceleration are defined in advance so that the time required for traveling and ascending / descending for each location instruction are matched. The table structure of the speed data storage unit 7 will be described with reference to FIG. The speed data table is a table in a two-dimensional array. For each combination of “address” for specifying the position of the shelf in the traveling direction and “stage” for specifying the position of the shelf in the elevating direction, the maximum traveling speed, acceleration and The maximum speed and acceleration of ascent and descent are defined and stored in advance. For example, as shown in FIG. 6, when loading a cargo from the loading / unloading conveyor to the “X address, Z level” shelf, the control unit 6 sets the speed data of “X address, Z level” in the speed data storage unit 7. Is read, and the read speed data is instructed to the traveling drive unit 10 and the elevation drive unit 12. In response to these instructions, the traveling drive unit 10 and the elevation drive unit 12 drive the traveling motor 11 and the elevation motor 13 respectively, and the bed 18 of the stacker crane 16 moves to the shelf indicated by the location instruction.
[0029]
Next, a modified example of the table structure of the speed data storage unit 7 shown in FIG. 4 will be described with reference to FIG. This table is a speed data table when the location instruction is a composite type. For example, in the case where the location instruction enters the store at the address X1 and Z1 and leaves the store from the address X2 and Z2, and the departure point or the arrival point is the entrance and exit conveyor, the table structure described in FIG. 5 is used. Good, but there is no speed data to refer to when moving from address X1, Z1 to address X2, Z2. In order to solve such a problem, the speed data shown in FIG. 7 defines speed data according to the relative movement amount. For example, when moving from the address X1 and Z1 to the address X2 and Z2 as in the example shown in FIG. 8, the difference between the address and the step is obtained, and the relative movement amount obtained from this difference (3 in this example). The speed data corresponding to the address (in two steps) is read, and the read speed data is instructed to the traveling drive unit 10 and the lift drive unit 12. In response to these instructions, the traveling drive unit 10 and the elevation drive unit 12 drive the traveling motor 11 and the elevation motor 13 respectively, and the bed 18 of the stacker crane 16 moves to the shelf indicated by the location instruction.
[0030]
In this way, by defining the maximum speed and the acceleration in advance so that the time required for traveling and ascending / descending for each location instruction match, it is not necessary to perform a calculation process for each operation instruction, and the processing can be performed at high speed. The configuration in the upper control device 1 can be simplified.
[0031]
In the above description, the values instructed to the respective driving units are described as the maximum speed and the acceleration. However, the maximum speed is fixedly determined inside the control unit 3 and only the acceleration is changed. Is also good. Alternatively, the acceleration may be fixedly determined inside the control unit 3, and only the maximum speed may be changed.
[0032]
In addition, it is possible to determine whether or not a load is loaded on the bed of the stacker crane 16 based on the loading / unloading type included in the location instruction. May be referred to the speed pattern data table in the case where is mounted. For example, in the case of warehousing, a load is loaded on the carrier when moving to the designated shelf position, and no load is loaded when moving to the original position after transferring the load to the shelf. Also, in the case of unloading, when moving to the designated shelf position, the load is not loaded on the carrier, and when moving to the original position after transferring the load from the shelf to the carrier, the load is loaded. ing. From this, it is possible to determine whether or not a load is loaded on the loading platform from the content of the location instruction, and based on the determination result, the case where the load is loaded and the case where the load is not loaded are determined. Thus, the power consumption can be further reduced by making the operation speed variable. Further, according to this determination processing, control can be performed without including a detector for detecting whether or not a load is loaded.
[0033]
In the above description, the control operation of the stacker crane has been described as an example. However, even if the crane is not a stacker crane, the operation position (location) is instructed and the crane itself detects the position up to the instructed position. A mobile crane can achieve power saving by performing the same control. For example, it is applicable to an overhead crane, a cable crane, a jib crane, and the like.
In the above description, the control of two driving systems, that is, traveling and ascending / descending, has been described. However, in the case where three or more driving systems operate at the same time and the operation order is not limited, the above-described control is performed. Thus, power consumption can be saved. That is, the operation of the other drive system may be adjusted to the operation of the drive system requiring the longest time when each drive system operates at the highest speed. This makes it possible to save power consumption without delaying the loading / unloading time of the load. For example, the present invention can be applied to a case in which two driving systems for moving in a plane parallel to the floor surface and a driving system for winding up a hook are simultaneously operated to move to a predetermined position, such as an overhead crane.
[0034]
In addition, a program for realizing the functions of the onboard controller 1 in FIGS. 1 and 4 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by a computer system and executed. May perform the crane control process. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer system” also includes a WWW system provided with a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) inside a computer system serving as a server or a client when a program is transmitted through a network such as the Internet or a communication line such as a telephone line. In addition, programs that hold programs for a certain period of time are also included.
[0035]
Further, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.
[0036]
【The invention's effect】
As described above, according to the present invention, it is possible to save the power consumed by the drive system without delaying the time required for the work operation.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is a flowchart showing a control operation of the onboard control device 1 shown in FIG.
FIG. 3 is an explanatory diagram showing a table structure of a speed pattern data storage unit 5 shown in FIG.
FIG. 4 is a block diagram showing a configuration of another embodiment of the present invention.
FIG. 5 is an explanatory diagram showing a table structure of a speed data storage unit 7 shown in FIG.
FIG. 6 is an explanatory diagram showing an operation of the stacker crane 16;
7 is an explanatory diagram showing a table structure of a speed data storage unit 7 shown in FIG.
FIG. 8 is an explanatory view showing the operation of the stacker crane 16;
FIG. 9 is an explanatory diagram showing a configuration of an automatic warehouse.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Onboard control apparatus 2 ... Location instruction receiving part 3 ... Control part 4 ... Required time calculation part 5 ... Speed pattern data storage part 6 ... Control part 7 ... Speed Data storage unit 8 Fork drive unit 9 Fork motor 10 Travel drive unit 11 Travel motor 12 Lift drive unit 13 Lift motor 14 Stock Management system 15: Ground control device 16: Stacker crane

Claims (4)

A control device for a crane having two or more drives,
Calculating means for calculating the required time when each of the drive units that can operate simultaneously according to the operation instruction operates at the highest speed;
Speed control for controlling the operation speed of the driving units other than the driving unit requiring the longest time among the driving units for which the required time has been calculated by the calculation unit so as to match the operating time of the driving unit requiring the longest time. And a crane control device. A control device for a crane having two or more drives,
For each operation instruction, a speed data storage unit in which the operation speed is predefined so that the required operation time of each drive unit that can operate at the same time matches,
Speed control means for reading an operation speed stored in the speed data storage unit in response to an operation instruction, and controlling the operation speed of each drive unit to the read operation speed. And crane control equipment. A control program for a crane having two or more driving units,
A calculation process for calculating the required time when each of the drive units that can operate simultaneously according to the operation instruction operates at the fastest speed;
Speed control for controlling the operation speed of the driving units other than the driving unit requiring the longest time among the driving units for which the required time is calculated by the calculation processing, so as to match the operating time of the driving unit requiring the longest time. A crane control device program characterized by causing a computer to perform processing. A control program for a crane having two or more driving units,
For each operation instruction, the operation speed according to the operation instruction is read out from the speed data in which the operation speed is stored in advance so that the required operation time of each drive unit that can operate at the same time is read, and the operation speed of each drive unit is read out. A crane control program characterized by causing a computer to perform a speed control process for controlling the operating speed to be adjusted.

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