JPH10167664A - Conveying method of lifting cargo by overhead traveling crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid a collision with an obstacle surely by operating a collision avoidance time difference in each of traversing and traveling motions necessary for avoiding possible collision between a lifting cargo and the obstacle, and changing at least one pattern of two traversing and traveling patterns. SOLUTION: Two collision avoidance time difference D1 and D2 in each of traversing and traveling motions necessary for avoiding any possible collision between a lifting cargo and an obstacle R are operated each. The collision avoidance time difference D1 is found out of the range of a time zone in traverse motion when the lifting cargo passes through a regional area where the obstacle R exists. Likewise, the collision avoidance time difference D2 is found out of the range of a time zone in traveling motion when the lifting cargo passes through the regional area where the obstacle R exists. In succession, on the basis of both these collision avoidance time differences D1 and D2, at least one pattern of both these traversing and traveling patterns is changed. In brief, a span of operation starting time of the traversing pattern or traveling pattern is delayed as long as more than each time corresponding to these time differences D1 and D2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for transporting suspended loads by an overhead crane, and more particularly to an automatic crane.
In addition to performing the steadying control of the suspended load, if there is an obstacle on the transport route, avoid the collision with the obstacle and efficiently move the suspended load from the transport start position to the target position in a stable state. And a method for transporting the same.

[0002]

2. Description of the Related Art In recent years, when a suspended load is conveyed, measures have been taken to carry out suspension control of the suspended load and to convey the suspended load from a conveyance start position to a target position in a stable state. .

A conventional method of transporting a suspended load by an overhead crane employing the above-described suspension control of the suspended load is described below.
This will be described below. In this conventional transport method, first, a swing cycle of the suspended load is calculated based on the suspended load and the suspended load height. Next, the acceleration / deceleration time in each of the traveling and traveling of the overhead crane for suppressing the swing of the suspended load, which is equivalent to an integral multiple of a half cycle of the swing cycle of the suspended load obtained in this way, is calculated. . Then
The transport distance on the transport reference route from the transport start position of the suspended load to the target position is calculated. Further, based on the acceleration / deceleration time and the transport distance obtained in this way, the target maximum speed in each of the traversing and traveling is calculated. Next, based on the transport time and the target maximum speed obtained in this way, the transport time in each of traversing and traveling is calculated. Next, a traversing pattern and a traveling pattern are set based on the transport distance, the target maximum speed, and the transport time obtained as described above. Then, based on the traversing pattern and the traveling pattern set in this way, the speed of the traversing and traveling of the suspended load is respectively controlled,
Thus, the traversing and traveling are independently performed, and thus the suspended load is transported in the transport yard from the transport start position to the target position in a stable state (hereinafter, referred to as “prior art”).

[0004]

However, it has been conventionally assumed that there is no obstacle in the transport yard of the automatic crane. As a result, the prior art method does not consider any means for avoiding collisions with obstacles, and therefore, the prior art method is not suitable for transporting a suspended load in a transport yard where obstacles are present. In other words, it was impossible to automate the transfer of suspended loads in the transfer yard where obstacles exist.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problem embraced by the prior art, that is, not only to control the steadying of a suspended load, but also to prevent an obstacle from being present on a transport route. An object of the present invention is to provide a method of transporting a suspended load by an overhead crane, which can efficiently transport a suspended load from a transport start position to a target position in a stable state while avoiding collision with an object.

[0006]

According to a first aspect of the present invention, there is provided a method of calculating a swing cycle of a suspended load conveyed by an overhead crane, and suppressing the swing of the suspended load based on the swing cycle. For, the acceleration and deceleration time in each of the traverse and travel of the overhead crane is calculated, from the transport start position of the suspended load to the target position, the transport distance in each of the traverse and travel on the transport reference route is calculated, A target maximum speed in each of the traversing and traveling is calculated based on the acceleration / deceleration time and the transport distance, and a transport time in each of the traversing and traveling is calculated based on the transport distance and the target maximum speed. Based on the distance, the target maximum speed and the transport time, a traversing pattern and a traveling pattern are set, and the traversing pattern thus set is set. Based on preliminary the running pattern,
Controlling the traversing and traveling, and thereby transporting the suspended load from the transport start position to the target position in the transport yard. When there is, according to the traversing pattern and the traveling pattern, when the suspended load passes through the area where the obstacle is present, a time zone in each of the traversing and traveling is calculated, and the suspended load is calculated. Calculating a collision avoidance time difference in each of the traverse and the travel necessary to avoid a collision with the obstacle, and based on the collision avoidance time difference, at least one of the traverse pattern and the travel pattern. And thus transport the suspended load from the transport start position to the target position on the transport bypass route. Those having features to.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method of transporting a suspended load by an overhead crane according to an embodiment of the present invention will be described below in detail.

According to the method of transferring a suspended load by an overhead crane according to the present invention, a first step of calculating a swing period of the suspended load, and acceleration / deceleration of the overhead crane for traverse and traveling, respectively, for controlling the suspension of the suspended load. Second to calculate time
A step, a third step of calculating a transport distance in each of the traverse and the travel on the transport reference route, a fourth step of calculating a target maximum speed in each of the traverse and the travel on the transport reference route, Fifth to calculate the transport time in each of the traversing and traveling on the route
A step of setting a traversing speed pattern and a traveling speed pattern on the transport reference route;
A seventh step of calculating a time zone in each of traversing and traveling when the suspended load passes through the area where the obstacle exists when an obstacle exists on the transport reference route;
An eighth step of calculating a collision avoidance time difference in each of traversing and traveling, which is necessary to avoid a collision between the suspended load and the obstacle; and a traversing speed pattern based on the collision avoidance time difference calculated in this manner. And a ninth step of changing at least one of the traveling speed pattern;
At least one of them includes a tenth step of controlling the traversing and traveling of the suspended load based on the traversing speed pattern and traveling speed pattern thus changed.

The basic concept of the method for transporting a suspended load by an overhead crane according to the present invention will be described below with reference to FIGS. FIG. 1A is a schematic plan view showing a positional relationship based on coordinate axes of a transport start position of a suspended load, a target position, and an obstacle, and FIG. 1B is a transport reference route based on coordinate axes. FIG. 2A is a schematic plan view showing FIG.
FIG. 2 is a graph showing the relationship between the transport speed and the time of the traversing pattern on the transport reference route, and FIG. 2B is a graph showing the relationship between the transport distance and the time on the traverse pattern on the transport reference route. FIG. 3A is a graph showing the relationship between the transport speed and the time in the travel pattern on the transport reference route, and FIG. 3B is a graph showing the relationship between the transport distance and the time in the travel pattern on the transport reference route. It is a graph which shows a relationship.

In the coordinates shown in FIG. 1A, the X axis indicates the traversing direction of the crane, and the Y axis indicates the traveling direction. In FIG. 1A, a point P (Px, Py) indicates a transfer start position of a suspended load in the transfer yard, and a point Q
(Qx, Qy) indicates the target position of the suspended load in the transport yard. Between point P and point Q, point (R
ax, Ray), point (Rbx, Ray), point (Rax,
An obstacle R exists in a region surrounded by two horizontal straight lines and two vertical straight lines passing through Rby) and the point (Rbx, Rby). In the method of the present invention, the suspended load is transported in the transport yard at the transport start position P.
To the target position Q.

The transfer start position and the target position are represented by a point P (Px, Py, Pz) and a point Q (Qx) in three-dimensional coordinates.
, Qy, Qz) are input to the control circuit of the overhead crane. Further, in this control circuit, the range of the obstacle R is Ra (Rax, Ray) ≦ R ≦ Rb (Rbx, Rb
y). In the above control circuit, the moving distance M (Mx, My)
, Mz) are calculated. However, for the winding operation,
Assuming that the necessary amount is secured before the traversing operation and the traveling operation, that is, the winding moving distance Mz (= Pz-Qz)
= 0, it is assumed that only the traversing and running operations are controlled. Of course, it is desirable to attach a position detector to each of the drive shafts of the overhead traveling crane for traversing, traveling, and winding, and to always accurately manage the absolute position of the suspended load.

Under the conditions described above, when the suspended load is transported from the transport start position P to the target position Q, first, the first load
Perform the steps. The first step consists of calculating the swing period f of the suspended load based on the following equation (1).

[0013]

(Equation 1)

In the above equation (1), the suspended load height is
It refers to the distance from the upper end of the wire rope of the overhead crane, that is, the center of swing of the suspended load to the position of the center of gravity of the suspended load. When it is not necessary to completely stop the suspension of the suspended load, it is not necessary to use the above equation (1).
An appropriate fixed value may be determined in advance, and for example, a table corresponding to the suspended load height may be simply created and used.

Next, a second step is performed. The second step consists of calculating acceleration / deceleration times during traversing and traveling of the overhead crane to suppress the swing of the suspended load. The acceleration / deceleration time corresponds to an integral multiple of a half cycle of the swing cycle f of the suspended load obtained in the first step, and is represented by a · f / 2 (where a is an integer).

Next, a third step is performed. The third step is to move the suspended load from the transport start position P to the target position Q.
It consists of calculating a transport distance Mi (that is, Mx, My) in each of traversing and traveling on the transport reference route A (see FIG. 1B).

Next, a fourth step is performed. The fourth step is an acceleration / deceleration time in traversing and traveling of the overhead crane obtained in the second step, and a transfer start position of the suspended load obtained in the third step, for suppressing the swing of the suspended load. Based on the transport distance Mi (i.e., Mx, My) in each of the traverse and travel on the transport reference route A from P to the target position Q, the target maximum speed Vi (i.e., Vx, V) in each of the traverse and travel.
y).

Next, a fifth step is performed. The fifth step is a transport distance Mi (that is, M) in each of the traversing and traveling on the transport reference route A from the transport start position P of the suspended load to the target position Q obtained in the third step.
x, My) and obtained by the fourth step,
Based on the target maximum speeds Vi (i.e., Vx, Vy) in each of the traversing and traveling, the transport time Ti (i.e., Tx, Ty) in each of the traversing and traveling is calculated. The transport time Ti (that is, Tx, Ty) in each of the traversing and traveling is, for example, the following (2)
It is determined by the formula.

[0019]

(Equation 2)

In the above equation (2), the acceleration / deceleration time a · f / 2 in the traverse and traveling of the overhead crane for suppressing the swing of the suspended load is a minimum value in order to shorten the acceleration / deceleration time. By substituting a certain 1 into a, the acceleration / deceleration time f / 2 is adopted.

The transport time Ti (ie, Tx, Ty) in each of the traversing and traveling obtained by the fifth step
Is greater than or equal to the value of the swing period f of the suspended load obtained in the first step, the target maximum speed Vi is set to the maximum speed Vimax in the specification in order to improve the transport efficiency.
Set as When it is not necessary to improve the transport efficiency, a speed smaller than the maximum speed Vimax is set.

The transport time Ti (ie, Tx, Ty) in each of the traversing and traveling obtained by the fifth step
Is smaller than the value of the swing period f of the suspended load obtained in the first step, the target maximum speed Vi is calculated again according to the above equation (2) with Ti = f.
Here, if it is not necessary to improve the transport efficiency, a speed smaller than the maximum speed Vi obtained by performing the calculation again may be set.

Next, a sixth step is performed. In the sixth step, the transport distance Mi (Mx, M) in each of the traversing and traveling on the transport reference route A from the transport start position P to the target position Q of the suspended load obtained in the third step.
y), the target maximum speed Vi (Vx, Vy) in each of the traversing and traveling obtained by the fourth step, and the transport time Ti (Tx, Ty) in each of the traversing and traveling obtained by the fifth step )On the basis of,
It consists of setting a traversing pattern and a running pattern.

The traversing pattern and the running pattern set in the sixth step are shown in FIGS. 2 and 3, respectively. FIG. 2A is a graph showing the relationship between the transport speed and the time of the traversing pattern in the transport reference route,
FIG. 2B is a graph showing the relationship between the transport distance and the time in the traversing pattern on the transport reference route.
FIG. 3A is a graph showing the relationship between the transport speed and the time in the traveling pattern on the transport reference route, and FIG.
Is a graph showing the relationship between the transport distance and the time in the traveling pattern on the transport reference route.

In the traversing pattern set in the sixth step as described above, as is apparent from FIG. 2A, the traversing speed is set to a predetermined value from the start of the traversing to f / 2 hours. When the transport time in the traverse is f / 2 hours, the target maximum speed Vx
The maximum target speed Vxmax is maintained until reaching the maximum speed and f / 2 hours before the end of the transport in the traverse,
The traversing speed decreases at a predetermined rate during a period from f / 2 time before the end of the transport in the traverse to the transport end time Tx. Here, f / 2 is an acceleration / deceleration time for suppressing the swing of the suspended load, which corresponds to a half cycle of the swing period of the suspended load, so that the anti-sway control is performed when the suspended load traverses.

In the traveling pattern set in the sixth step as described above, as is apparent from FIG. 3 (a), the traveling speed is a predetermined value during the period from the start of transport in traveling to f / 2 hours. When the transport time during traveling is f / 2 hours, the target maximum speed Vy
The maximum target speed Vymax is maintained until the time reaches fmax and reaches f / 2 hours before the end of conveyance in traveling,
Then, during a period from the time f / 2 before the end of the transport in the travel to the end of the transport Ty, the travel speed decreases at a predetermined rate. In this case as well, f / 2 is an acceleration / deceleration time for suppressing the swing of the suspended load, which is equivalent to a half cycle of the swing period of the suspended load, so that the steady rest control in the traveling of the suspended load is performed. .

Next, the seventh to tenth steps relating to the first detour means for preventing a collision between the suspended load and the obstacle R will be described below with reference to FIGS. FIG. 4 is a schematic plan view showing a first transport detour route based on coordinate axes, and FIG. 5 (a) is a graph showing a relationship between a transport speed and time in a traversing pattern in the first transport detour route. FIG. 5 (b) is a graph showing the relationship between the transport speed and the time in the traveling pattern on the first transport detour route, and FIG. 5 (c) is a graph showing the transverse pattern on the first transport detour route. FIG. 5D is a graph showing the relationship between the transport distance and the time in the traveling pattern in the first transport detour route.

If the obstacle R exists on the transport reference route A (see FIG. 1B), first, the seventh
Perform the steps. In the seventh step, according to the traversing pattern and the traveling pattern set in the above-described sixth step, the time zone Si in each of the traversing and traveling when the suspended load passes through the region where the obstacle R exists is provided.
(Sx, Sy). In the control circuit of the overhead crane, as described above, the range of the obstacle R is Ra (Rax, Ray) ≦ R ≦ Rb (Rbx, Rb).
y), according to the traversing pattern and the running pattern set by the sixth step,
When the suspended load passes through the area where the obstacle R exists,
Time zone Si (Sx, S
y), that is, Sa (Sax, Say) ≦ S (S
x, Sy) ≦ Sb (Sbx, Sby) (see FIG. 1B) is obtained from the following equation (3) using equation (5).

[0029]

(Equation 3)

[0030]

(Equation 4)

[0031]

(Equation 5)

Next, an eighth step is performed. The eighth step consists of calculating collision avoidance time differences D1 and D2 in traversing and traveling, respectively, which are necessary to avoid a collision between the suspended load and the obstacle R. The collision avoidance time difference D1 is a range of the time zone Sx in the traverse when the suspended load passes through the area where the obstacle R exists, which is obtained in the seventh step, that is, Sax ≦ S
It is obtained by the following equation (6) based on x ≦ Sbx.

[0033]

(Equation 6)

The collision avoidance time difference D2 is determined by the time zone Sy in traveling when the suspended load passes through the area where the obstacle R exists, obtained in the seventh step.
, That is, based on Say ≦ Sy ≦ Sby, is obtained by the following equation (7).

[0035]

(Equation 7)

Next, a ninth step is performed. The ninth step includes changing at least one of the traversing pattern and the traveling pattern set in the sixth step based on the collision avoidance time differences D1 and D2 obtained in the eighth step. I have. Here, the ninth step is to delay the operation start time of the traversing pattern by a time corresponding to the collision avoidance time difference D1 or more, or to delay the operation start time of the traveling pattern by a time corresponding to the collision avoidance time difference D2. Consists of That is, when the value of the collision avoidance time difference D1 is less than the value of the collision avoidance time difference D2, after the start of the traveling operation, a time corresponding to the collision avoidance time difference D1 or more has elapsed (D1 <
The traversing operation is started at D1 = 0 when 0 (see FIGS. 5A to 5D). Also, the collision avoidance time difference D1
Is greater than the value of the collision avoidance time difference D2, the running operation is started after a lapse of a time corresponding to the collision avoidance time difference D2 or more after the start of the traversing operation (D2 = 0 when D2 <0). I do.

In the ninth step, the operation start time of the traversing pattern is delayed by a time corresponding to the collision avoidance time difference D1 or more, or the operation start time of the running pattern is delayed by a time corresponding to the collision avoidance time difference D2. However, the traveling speed and / or the traveling speed are changed based on the collision avoidance time difference D1 and / or D2 so that the suspended load does not pass through the area where the obstacle R exists. May be.

Next, a tenth step is performed. The tenth step controls the traversing and traveling of the suspended load based on the traversing pattern or the traveling pattern changed in the ninth step, thereby moving the suspended load from the transport start position P in the transport yard to the target position. Transport detour route B
(See FIG. 4).

When the solution of the collision avoidance time differences D1 and D2 cannot be obtained in the eighth step, the second detour means is employed. This second detour means will be described below with reference to FIGS. FIG.
FIG. 7A is a schematic plan view illustrating a second transport bypass route based on coordinate axes, and FIG. 7A is a graph illustrating a relationship between transport speed and time in a traversing pattern in the second transport bypass route; 7) is a graph showing the relationship between the transport speed and the time in the traveling pattern on the second transport bypass route. FIG. 7C is a graph showing the relationship between the transport distance and the time in the traverse pattern on the second transport bypass route. FIG. 7D is a graph showing the relationship between the transport distance and the time in the traveling pattern on the second transport bypass route.

As described above, when the solution of the collision avoidance time differences D1 and D2 cannot be obtained in the eighth step, as shown in FIG. 6, the provisional target position U (Ux ₃ , Uy)
₃ ) is set. As described above, the control circuit of the overhead crane receives the transfer start position P (Px ₁ , Py ₁ ), the target position, that is, the final target position Q (Qx ₂ , Qy ₂ ) and the range of the obstacle R. Therefore, by giving a predetermined condition to this control circuit, in the eighth step, the above-mentioned tentative target position U (Ux ₃ , Uy ₃ ) is set so that the solution of the collision avoidance time differences D1 and D2 is obtained. It is automatically set to the appropriate position.

The transport start position P (Px ₁ , Py ₁ ) and the tentative target position U (Ux ₃ , Uy ₃ ) set in this way.
By performing the first to tenth steps described above, the suspended load is transferred to the transport start position P (Px ₁ , Px ₁₎ on the first half route C1 of the second transport detour route C.
Py ₁ ) to a temporary target position U (Ux ₃ , Uy ₃ ). In this transfer, the transfer start position P (Px ₁ ,
If no obstacle exists between Py ₁ ) and the tentative target position U (Ux ₃ , Uy ₃ ), the traversing pattern set by the sixth step without performing the seventh to tenth steps. The traveling and traveling of the suspended load are controlled based on the traveling pattern.

Next, the temporary target position U (Ux_Three, U
y_Three) And the final target position Q (Qx_Two, Qy _Two)
Then, by performing the above-described first to tenth steps,
Therefore, the suspended load is the second half of the second transport bypass route C.
On C2, the provisional target position U (Ux_Three, Uy_Three) Or
From the final target position Q (Qx_Two, Qy_Two).

As is clear from FIGS. 7A and 7B.
At the transfer start position P (Px₁, Py ₁) And temporary target position
U (Ux_Three, Uy_Three) And the tentative target position U
(Ux_Three, Uy_Three) And the final target position Q (Qx_Two, Q
y_Two), The traversal and travel of the suspended load
Is performed in each case. FIG. 7 (a)
In (c) and (c), D1 is for collision avoidance in traversing.
It is a difference.

In the transfer method of the above-mentioned embodiment of the present invention of the suspended load by the overhead crane, the winding operation of the overhead crane is such that the necessary amount is secured before the traversing operation and the traveling operation, that is, , The winding movement distance Mz (= Pz−Qz) = 0 is controlled only for the traversing and running operations. However, the present invention is not limited to this. Control can be performed in the same manner as each of the above-described controls.

[0045]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for transporting a suspended load by an overhead crane according to the present invention will be described below with reference to embodiments.

The same method as that of the above-described embodiment of the present invention for transporting a suspended load by an overhead crane was carried out under the following conditions. (1) Vertical distance between Px and Qx in FIG. 1A: 100 m (2) Horizontal distance between Py and Qy in FIG. 1A: 50 m (3) Between Rax and Rbx in FIG. 1A Vertical distance: 20 m (4) Horizontal distance between Ray and Rby in FIG. 1A: 30 m (5) Vertical distance between Rax and Px in FIG. 1A: 10 m (6) Ray in FIG. 1A Horizontal distance between -Py: 30 m (7) Suspended load height: 10 m As a result, the suspended load becomes the first transport bypass route B shown in FIG.
On the same route as to avoid collision with obstacles,
The suspended load was automatically transported from the transport start position to the target position in a stable state substantially without the swing of the suspended load. The target maximum speed in the traverse at this time is 40 m /
Minutes, the target maximum speed in running was 120 m / min, and the collision avoidance time difference D1 in traversing was 15 seconds.

Accordingly, by carrying out the method of transferring a suspended load by an overhead crane according to the present invention, when the suspended load is automatically transported from the transport start position to the target position, the suspended load is prevented from swinging. It was confirmed that it was possible to safely transport the vehicle in a stable state while avoiding collision with an obstacle.

[0048]

As described above, according to the present invention, in addition to performing the steadying control of the suspended load, when the obstacle exists on the transport route, the collision with the obstacle can be avoided. Thus, it is possible to provide a method of transporting a suspended load by an overhead crane, which can efficiently transport a suspended load from a transport start position to a target position in a stable state, and thus a useful effect is provided.

[Brief description of the drawings]

FIG. 1 (a) is a diagram illustrating a transfer start position of a suspended load in a method of transporting a suspended load by an overhead crane according to the present invention;
FIG. 4 is a schematic plan view illustrating a positional relationship between a target position and an obstacle based on coordinate axes. FIG. 1B is a schematic plan view showing a transport reference route based on coordinate axes in the method of the present invention.

FIG. 2A is a graph showing a relationship between a transport speed and a time of a traversing pattern on a transport reference route in the same method of the present invention. FIG. 2B is a graph showing the relationship between the transport distance and the time in the horizontal pattern on the transport reference route in the same method of the present invention.

FIG. 3A is a graph showing a relationship between a transport speed and time in a traveling pattern on a transport reference route in the same method according to the present invention. FIG. 3B is a graph showing the relationship between the transport distance and the time in the traveling pattern on the transport reference route in the same method of the present invention.

FIG. 4 is a schematic plan view showing a first conveyance bypass route based on coordinate axes in the method of the present invention.

FIG. 5 (a) is a graph showing the relationship between the transport speed and the time of the traversing pattern on the first transport bypass route in the same method of the present invention. FIG. 5B is a graph showing the relationship between the transport speed and the time in the traveling pattern on the first transport bypass route in the same method of the present invention. FIG. 5C is a graph showing the relationship between the transport distance and the time in the traversing pattern on the first transport bypass route in the same method of the present invention. FIG. 5D shows a traveling pattern of the first transport detour route in the method of the present invention.
It is a graph which shows the relationship between conveyance distance and time.

FIG. 6 is a schematic plan view showing a second transfer bypass route based on coordinate axes in the method of the present invention.

FIG. 7A is a graph showing a relationship between a transport speed and a time in a traversing pattern on a second transport bypass route in the same method according to the present invention. FIG. 7B is a graph showing the relationship between the transport speed and the time in the traveling pattern on the second transport bypass route in the same method of the present invention. FIG. 7C is a graph showing the relationship between the transport distance and time in the traversing pattern on the second transport bypass route in the same method of the present invention. FIG. 7D is a graph showing the relationship between the transport distance and the time in the traveling pattern on the second transport bypass route in the same method of the present invention.

[Explanation of symbols]

 P: Transport start position Q: Target position R: Obstacle U: Temporary target position A: Transport reference route B: First transport detour route C: Second transport detour route

Claims (1)

[Claims] 1. An acceleration / deceleration time in each of traversing and traveling of an overhead crane for calculating a swing cycle of a suspended load conveyed by an overhead crane and for suppressing the swing of the suspended load based on the swing cycle. Is calculated from the transport start position of the suspended load to the target position, the transport distance in each of the traverse and travel on the transport reference route, and based on the acceleration / deceleration time and the transport distance, the traverse and travel are calculated. Calculate the target maximum speed in each, based on the transport distance and the target maximum speed, calculate the transport time in each of traversing and traveling, based on the transport distance, the target maximum speed and the transport time, traverse A pattern and a traveling pattern are set, and the traversing and traveling are performed based on the traversing pattern and the traveling pattern thus set. And transporting the suspended load from the transport start position to the target position in the transport yard, wherein the overhead crane transports the suspended load, wherein an obstacle is present on the transport reference route. In the case, according to the traversing pattern and the traveling pattern, when the suspended load passes through the area where the obstacle is present,
Calculating a time zone in each of the traverse and the travel, and calculating a collision avoidance time difference in each of the traverse and the travel necessary to avoid a collision between the hanging load and the obstacle; Changing at least one of the traversing pattern and the traveling pattern based on the time difference, and thus transporting the suspended load from the transport start position to the target position on a transport bypass route. To transport suspended loads using overhead cranes.