KR20170097989A - Crane and method for controlling the crane - Google Patents

Abstract

A transversal trolley (13) movably supported by an upper beam (12) of a crane traveling base (10a) and a transversal trolley (13) holding a suspending container (Ca) A rope 15 for suspending the water pipe 16 in the transverse trolley 13 and a hoisting device 14 for raising and lowering the water pipe 16 by winding and feeding the rope 15, The crane 10 is constituted. Horizontal position shift detectors 20A and 20B for detecting a positional shift of at least two first and second corners A and B among the corners of the four corners of the suspender container with respect to the horizontal position of the target container Cb on the target container Cb ). And conception detectors 23A and 23B for detecting conception of the first and second corners A and B are provided.

Description

{CRANE AND METHOD FOR CONTROLLING THE CRANE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane and a crane control method for unloading a suspended object such as a box-like container in a port, and more particularly to a crane and a crane control method for conceiving a crane and a crane at a predetermined position in a short time .

For example, in yards such as harbors, loading and unloading operations are carried out using a crane to load a container on a ship or a trailer, or to lower a container from a ship or a trailer.

The crane used in this unloading operation will be described by taking the example shown in Fig. 10 as an example.

As shown in the figure, the crane 1 is a bridge type crane called a container transfer crane (hereinafter referred to as a crane) for stacking the suspending container Ca on the target container Cb.

The crane 1 of this type has a transversal trolley 4 which moves horizontally along the upper beam 3 of the crane traveling base 2 and a water outlet 5 called a spreader for supporting the water- The rope 6 is hoisted and drawn by the hoisting device 7 which is suspended in the trolley 4 through the rope 6 and mounted on the transversal trolley 4 or at an appropriate place on the crane traveling base 2, The cigarette 5 is raised and lowered and moved in parallel along the upper beam 3 of the crane traveling base 2 by the movement of the transversal trolley 4.

When the suspending container Ca is concealed on the predetermined target container Cb through the crane 1 and is mounted on the predetermined target container Cb, It is necessary to prevent the positional deviation in the horizontal direction from occurring.

In addition, when the suspending container Ca is suspended and raised, it is necessary to conceal the sewer port 5 in the horizontal direction position of the allowable range on the container Ca to be lifted. It is a time-consuming operation that requires the most function even in the operation of this type of container crane 1 in order to conceal the horizontal position displacement so as to satisfy the permissible range.

Accordingly, proposals have been made for a container control technique that uses automation of concealment operation as a main function, and disclosed in Japanese Patent Laid-Open No. 10-12036, Patent Application No. 2001-36015, and Japanese Patent No. 2813510 .

In the embedding control technique disclosed in Japanese Patent Application Laid-Open Nos. 10-120362 and 2001-36015, the amount of shaking in each horizontal direction of the suspending container Ca is measured through a detector, And predicts the future horizontal position of the container Ca by using the shaking speed of the container Ca computed by the control unit 4. The position and speed of the transverse trolley 4 are controlled as necessary. The lowering speed of the container Ca is adjusted so that the future position of the container Ca calculated in this manner is conceived at a timing predicted to be in conformity with the position of the target container Cb and control is performed so that the horizontal positional deviation of the conceptional moment is within the permissible range In addition, the technology centering on the fusing control disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 10-120362 and Patent Application No. 2001-036015 can be applied to a model showing the dynamic behavior of the container Ca and the rope 6 And predicting the future position of the suspended cargo.

However, the dynamic model can not cover all the factors affecting the position prediction of the suspending container Ca, and there is a possibility that an error occurs in the horizontal position shift prediction due to difficulty in modeling the influence of the disturbance. The influence of the wind, the weight distribution of the drop in the container Ca, and the tension imbalance of the rope 6 are influential disturbances. When these influences are large, there is a case in which the horizontal position deviation at the conception exceeds the allowable range have.

In addition, in the patent application No. 2001-36015, the lateral trolley 4 is moved to correct the horizontal positional deviation of the target container Cb. However, the positional deviation which can be corrected through the movement of the lateral trolley 4 is only the positional deviation in the moving direction of the lateral trolley 4. In fact, since the suspending container Ca often involves horizontal movement as well as horizontal movement with respect to the moving direction of the transverse trolley 4, in order to ensure that the positional deviation at the time of conception is within the permissible range, It is required that the two types of positional shifts, i.e., positional deviation with respect to the turning position and positional deviation with turning, converge at the same time in the allowable range.

That is, in the method disclosed in Japanese Patent Application No. 2001-36015, there is no means for correcting the positional deviation due to the turning of the suspended object, so that it is necessary to wait until the positional deviation due to the turning is converged, There is a problem in that it takes a long time.

On the other hand, in the technique disclosed in Japanese Patent No. 2813510, a mechanical guide is provided at the bottom of the suspending container Ca and the container Ca is positioned in the target container Cb along the guide, Since the mechanical guide is an addition device of the water dispenser 5, the weight of the hoisting weight is increased, and the driving capacity of the hoisting device 7 is increased. Further, there is a drawback that mechanical contact with the target container Cb can not be avoided and is easily broken.

In addition, the problem of the conception error due to the prediction error of the future position of the standing container Ca is conceived when the currently measured position shift amount is within the allowable conception accuracy, before the subsequent position deviation exceeds the allowable conception error range .

That is, if the currently measured horizontal position shift is within the permissible range, the time from the start of the suspension of the suspended cargo to the conception of the suspension can be shorter than the time until the position shift amount increases to exceed the allowable range (conception time) .

However, since the suspending cargo descending speed is restricted such that the impact at the time of the suspending cargo is not excessive, it is preferable that the height of the standing container Ca and the target container Cb The spacing needs to be small enough.

For example, assume that the current rope length is 10 m and a small number of ropes 6 are fed, that is, a state in which the suspension container Ca is in a state of congesting through the descent of the hanging container Ca. It is also assumed that the allowable horizontal positional deviation is 30 mm. Assuming that the period of the rope 6 in this state is about 6.3 seconds and that the suspending container Ca is oscillating in the moving direction of the transverse trolley 4 at the current amplitude (piece amplitude) of 100 mm, Ca) is about 63 mm per second.

Accordingly, the horizontal position deviation detection means detects the horizontal position of the target container

(Downward) of the suspending container Ca is started at the moment when the positional deviation of the container Cb is detected to be 0. When the allowable deviation (within 30 mm) at the conception time is satisfied, Time required for winding = 30 mm / 63 mm = 0.476 seconds per second Here, if the average speed of the roll is restricted to 100 mm per second,

(100 mm / sec × 0.48 sec = 48 mm) between the target container (Ca) and the target container (Cb).

It is necessary to perform correction of the positional deviation or wait until the positional deviation is converged within the allowable value. However, whether the positional deviation correction control is performed or not, It is necessary that the suspension container Ca and the target container Cb are brought into contact with each other so as not to restrict the motion of the suspension container Ca.

That is, there is a need to have a height gap between the suspending container Ca and the target container Cb, and the gap needs to be maintained at the above-mentioned level or less.

It is presupposed that the same interval can be measured to maintain the interval. Conventionally, various methods for measuring the height interval between the standing container Ca and the upper surface of the target container Cb have been proposed. However, there are problems in measuring the interval of the above-mentioned degree.

For example, if the height of the top surface of the target container Cb is already known, there is a method of detecting the position of the standing container Ca from the feeding rope length or detecting the position of the standing container Ca through a light wave distance meter, The error due to the height error of the appropriate container, the error due to the elongation of the rope 6, the error due to the structural deformation of the crane 1, and the like are cumulatively accumulated, Do.

DISCLOSURE OF THE INVENTION The present invention has been made in view of the above circumstances, and has an object of providing an apparatus and a method for controlling the stacking control of a container, in which an error caused by a suspension model of a suspended cargo position in a stacking control of a container and a positional deviation caused by movement of a suspended cargo in a direction other than the moving direction of the transverse trolley And it is an object of the present invention to provide a control method of a crane and a crane capable of reducing a conception error (a horizontal position shift amount between a suspension position and a target position at the time of conception) and a shortening of a conception time.

In addition, the gap between the suspending position and the target position is ensured by a practical method, and the embedding is terminated before the displacement between the suspending position and the target position becomes excessive. In addition, the suspending member is moved in two directions of the moving direction and the turning direction of the trolley Provides a control method of a crane and a crane that can be conceived in a short time while satisfying the allowable positional deviation without using a special device such as a device capable of controlling the left and right support rope independently in the control of the suspension of the suspension cargo .

It is included in the detailed contents for carrying out the invention.

As described above, according to the control method of the crane and the crane of the present invention, when the suspending container is conceived, the control is performed by paying attention to the horizontal positional deviation between one corner of the standing container and a predetermined position of the concealing place, And the position of the remaining corners is controlled after the corner is concealed so as to conceal the whole of the suspending container. The following effects can be obtained.

1) Even when the standing water container moves in the moving direction and the turning direction of the transverse trolley, it is reliably positioned in the horizontal direction without using a special mechanical guide or other additional device, Can be performed.

2) Even when the suspending container moves in the moving direction and the turning direction of the transverse trolley, it is not necessary to add a special device to the crane, Can be performed in a short time.

3) It can be applied to the landing site or other container stably without being influenced by the positional prediction error due to disturbance such as the offset load of the suspended cargo, Can be performed.

The effects of the above-mentioned 1) to 3) are extremely effective in realizing the stable crane and the efficient automated stacking system at a low cost.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a crane illustrating a structure and a structure of a crane according to an embodiment of the present invention; Fig.
2 is a schematic cross-sectional view of a vicinity of a watercontainer illustrating a conception detecting means of a standing container in a crane according to an embodiment of the present invention;
3 is a functional block diagram illustrating a control system of a crane according to an embodiment of the present invention.
4 (a) and 4 (b) are control block diagrams illustrating control of a crane according to an embodiment of the present invention.
5 is a schematic plan view for explaining a positional displacement of a standing container in a horizontal direction with respect to a target container in a control method of a crane according to an embodiment of the present invention;
6 is a flowchart for explaining a control method of a crane according to an embodiment of the present invention.
7 is a flowchart illustrating a control method of a crane according to an embodiment of the present invention.
8 is a schematic perspective view of a target container and a suspension container for explaining a control method of a crane according to an embodiment of the present invention.
9 is a schematic perspective view of a target container and a suspension container for explaining a control method of a crane according to another embodiment of the present invention.
10 is a perspective view of a crane for explaining the structure and structure of a general transfer crane;

In order to achieve the above object, a crane according to claim 1 is characterized in that it comprises: a trolley which is supported so as to be movable in a horizontal direction from above; a pendulum which holds a pendulum of a container in a lower side; And a hoisting device for lifting and lowering the sewer port by winding and discharging the rope, and a crane for conceiving the suspended cargo held by the water outlet at a predetermined conception place, wherein a corner of four corners of the suspended cargo Horizontal position shift detection means for detecting a positional shift of at least two first and second corners in the horizontal direction between the first and second corners and a conception position of the conception site corresponding to each of the first and second corners, When the first corner is fused and when the second corner is fused, based on the detection signal from the means, And a horizontal position shift correcting means for correcting a horizontal position shift with respect to the concealed position corresponding to each of the first and second corners, wherein the first and second corners are inclined, The first corner is positioned and raised by the horizontal position shift correcting means to the fusing position corresponding to the same corner in a state in which the second corner is relatively lower than the other corner, The fusing position of a predetermined fusing position corresponding to a specific corner of the suspended object is a position where the fusing position is already positioned on the ground To the corner of the container placed on the ground in the case of the container top fitted to the specific corner of the suspended cargo It means that being.

Further, in the case of embedding the suspension cargo at a predetermined place on the ground, the same mark and the specific corner of the suspension cargo are positioned with a predetermined positional relationship with a mark or the like set to specify the landing position of the predetermined landing place on the ground Is placed at a predetermined position so as to be concealed at a specific corner of the suspension.

The horizontal position displacement correction means may include a method of moving the trolley so that the horizontal position displacement amount is reduced on the basis of a detection signal from the horizontal position displacement detection means, A method of performing the same type of correction by turning the watercourse through the swing device, or a method of performing the swing by using a combination of the trolley movement and the swinging of the watercraft.

The crane according to claim 2 is characterized in that the crane includes a trolley which is supported so as to be movable in the horizontal direction from above, a pendulum which holds the pendulum of the container at the lower side, a rope which suspends the pendulum at the trolley, And a lifting device for lifting and lowering the sewer port by carrying out the discharge of the suspension, wherein the suspension comprises at least two of the four corners of the four corners of the suspension, Horizontal position shift detection means for detecting a positional shift in a horizontal direction between a second corner and a concealed position of the conception site corresponding to each of the first and second corners; At the time of conception of the first corner and the conception of the second corner, the first and second corners and the first and second corners, respectively, And a horizontal position shift correcting means for correcting a horizontal positional deviation with respect to the concealed position, wherein one function including the first corner of the suspended water retained in the watercourse by tilting the watercourse, The first corner is positioned by the horizontal position discrepancy correcting means at the concealed position corresponding to the same corner so that the first corner is positioned at the second corner, Is positioned at the fusing position corresponding to the same corner by the horizontal position discrepancy correcting means and the other function including the second corner

Is conceived.

A control method for a crane according to claim 3 is a control method for a crane including a trolley supported in a horizontal direction so as to be movable in a horizontal direction, a pendulum for holding a pendulum of a container at a lower side, a rope for suspending the pendulum at the trolley, And a hoisting device for hoisting the hoistway by winding and discharging the hoistway so that the hoistway held in the hoistway is concealed at a predetermined conception site. The first corner is positioned in the horizontal direction with respect to the fusing position of the fusing place corresponding to the same corner in a state in which one of the corners of the four corners of the suspended cargo held is relatively lower than the other corners by the first corner A first positioning step of positioning the first corner at a conception position corresponding to the same corner A first concealing step of lowering the suspended article through the hoisting device to bring the first corner into contact with the conception site; and a second concealing step of moving at least one corner of the other corner of the suspension to the second corner Which is positioned at the same corner as the landing position of the landing position,

A second cornering step of lowering the suspended article through the hoisting device in a state where the second corner is positioned at the fusing position corresponding to the same corner and bringing the remaining corner together with the second corner into contact with the fusing place And a second conception step of conceiving the entire bottom surface of the suspended cargo at the conception site is performed.

A control method for a crane according to claim 4 is a control method for a crane, comprising: a trolley supported in a horizontal direction to be movable in a horizontal direction; a suspension for holding a suspension in a container; a rope for suspending the suspension in the trolley; And a hoisting device for lifting and lowering the sewer port by carrying out winding and discharging of the suspension device, wherein the suspending mechanism is tilted so that the suspending device One side of the lower side is made to be a lower side relative to the other side by making one side of the lower side relatively lower than the other side, A first positioning step of performing positioning in a horizontal direction with respect to a concealed position of the conception site, A first concealing step of bringing the suspended article down through the hoisting device in a state of being positioned at a concealed position corresponding to the same corner so as to contact the cone at a lowered position; A second positioning step of horizontally positioning a concealed position of the fusing place corresponding to the same corner with the corner as a second corner and a second positioning step of positioning the second corner at the fusing position corresponding to the same corner Wherein said suspending means is lowered through said hoisting device in a state of being positioned so that an opposite side surface is brought into contact with said landing place,

And a second fusing step of fusing the entire surface to the conception site.

A control method for a crane according to claim 5 is a control method for a crane, comprising: a trolley supported in a horizontal direction so as to be movable in a horizontal direction; a pendulum for holding a pendulum of a container on a lower side; a rope for suspending the pendulum on the trolley; And a hoisting device for lifting and lowering the sewer port by performing winding and discharging of the suspension, wherein the suspending means holds the suspended article held in the water outlet at a predetermined conception place, When one of the corners of the four corners of the suspension water held in the watercourse is made to be the first corner and the first corner is relatively lower than the other corners, And the hoist water is hoisted through the hoisting device so that the corners other than the first corner A positioning step of horizontally aligning at least one corner of the other corners as a second corner with respect to the fusing position corresponding to the same corner after the winding step, And the second corner is positioned in the above-described manner,

And lowering the water to bring the remaining corners together with the second corners into contact with the landing site to conceal the entire bottom surface of the suspension in the landing site.

A control method of a crane according to claim 6 is a control method for a crane, comprising a trolley which is supported so as to be movable in a horizontal direction from above, a pendulum which holds a pendulum of a container on the lower side, a rope which suspends the pendulum on the trolley, And a hoisting device for lifting and lowering the sewer port by performing winding and discharging of the suspension, wherein the suspending means holds the suspended article held in the water outlet at a predetermined conception place, The length of the rope is adjusted so that the capacity of one of the suspensions held in the watercourse is lower than the other capacity when the watercount is hoisted in the state of being concealed on the hoistway, A hoisting step of moving the opposite side of the one function from the conception site, A positioning step of performing positioning in the horizontal direction with respect to the fusing position corresponding to the same corner with a corner of one end of the opposite side face spaced apart from the fusing position as a positioning corner; And a concealing step of lowering the suspension product through the hoisting device in the positioned state so that the opposite side surface is brought into contact with the conception site to conceal the entire bottom surface of the suspension product at the conception site.

According to a seventh aspect of the present invention, in the control method of a crane according to the fifth or sixth aspect of the present invention, the rope supporting point on the trolley and the rope supporting point on the trolley are horizontally positioned And suspending hoisting in the hoisting step when it is detected that the suspension is moved by horizontal displacement of the rope supporting point in the hoisting step.

The control method for a crane according to claim 8 is characterized in that, in the control method for a crane according to any one of the third to seventh aspects, the upper surface of another container is used as the above-mentioned landing place and the above-

In the control method of the crane and the crane according to the present invention, the suspension of the container is adjusted by an appropriate method, for example, one of the four ropes which normally supports the suspension, The height of one corner of the bottom of the suspended cargo is set to be relatively lower than the other corners through a mechanism tilting apparatus (referred to as a heel apparatus or a trim apparatus, respectively), and one corner (Hereinafter referred to as a corner A and the other corner is referred to as a corner B), the measurement of the horizontal positional deviation with respect to the corresponding corner of the upper surface of the target container and the prediction of the future displacement are performed, Through the movement of the trolley, or when the pendulum of the suspended cargo is installed, the suspended cargo is turned At the point where it is adjusted so that the deviation is reduced art horizontal position displacement between the corner of the tolerances both corner thereby lowering the contact, the suspension cargo to implantation.

A means (conception detecting means) for individually detecting that each corner of the suspended cargo is conceived is provided in the watercourse, and conception of the corner A is detected. Here, the corner A is constrained at the corresponding corner portion of the target container, and the other corner (corner B) is in a state capable of turning the corner A to the point while maintaining the interval corresponding to the relative height difference from the corner A to the target container do. This state is shown in Fig. Fig. 8 shows a state in which the corner A of the suspending container Ca is conceived at the corresponding corner of the target container Cb and the other corner is not conceived. In addition, the same effect can be obtained even if the short side bottom surface of the suspending container Ca is conceived as shown in Fig. 9 without the first conceiving position as a corner of the suspending container Ca.

Attention is paid to the horizontal positional deviation from the corresponding corner of the target container Cb with respect to any one of the unconstrained corners B following the detection of the conception of the corner A and the standing container Ca is moved in the same manner as the above- Imagine. Since the container is assumed to be a box-shaped (rectangular parallelepiped), the whole of the standing container Ca is conceived within the allowable deviation range with respect to the target container Cb by the conception of the two corners within the permissible deviation. In this case, if the difference in height between the corner A and the corner B is sufficiently small as described above, it can be conceived within the permissible deviation without being influenced by the shift amount prediction error.

In the above description, effects other than the effect of performing the fusing control by paying attention only to the horizontal positional deviation of one corresponding corner of the standing container Ca and the target container Cb are that the suspending container Ca is moved in the moving direction of the trolley The amount of movement component of the trolley in the moving direction of the trolley can be reduced or the amount of the moving direction component of the trolley in the turning movement can be conceived at a timing at which the amount of movement becomes the allowable range. .

In other words, in the case where the trolley is moved or the suspending device is provided, the deviation can be corrected through any one of them, thereby facilitating the control. Even if it is attempted to converge the misalignment of the plurality of corners to the allowable range simultaneously, it is extremely difficult for the movement of the corner caused by the turning motion to be reversed with respect to the corner located on the opposite side.

Fig. 5 shows the relationship between the motion of the standing water container Ca and the horizontal positional deviation with respect to the target container Cb.

The horizontal positional deviation between the standing container Ca and the target container Cb can be detected by combining the positional deviation DL parallel to the moving direction of the trolley and the moving direction component DS of the trolley, .

If the length of the container in the longitudinal direction (length at a right angle to the direction of movement of the trolley) is 12 m, the shift amount in the direction perpendicular to the movement of the trolley due to the turning motion is It is practically advantageous to approximate the movement amount of the turning motion to the trolley moving direction component.

Further, as described above, only the corner A is conceived at first and the cone A is constrained, only the other unconstrained corner B is focused on, and the control of the amount of displacement and conception are performed, so that easy and stable concealing control is possible.

In other words, if the corner A is not constrained, it can not be used as a point of movement of the corner B. Therefore, even if an attempt is made to control the positional deviation by paying attention to one corner, the positional deviation of the other corner is eventually affected, It is difficult to achieve the object that the front corners of the target containers Cb and Ca are conceived within the allowable position deviation range at the corresponding corners of the target container Cb.

In the above description, when the corner A set lower than the other corners is conceived in advance, it is impossible to converge within the permissible deviation range for any reason, and the concealment detecting means of the corner A hoists the cargo again, ), The hoisting operation is stopped, and thereafter the embedding control is performed again. In this case, the height interval between the corner A and the target container Cb is sufficiently small,

It is possible to complete the implantation before generating a large deviation by lowering the suspending container Ca when it is detected that the deviation of the cup Ca from the corresponding corner is within the permissible range. If it is determined that the concealment displacement amount is out of the permissible range for some reason later, the concealment control is performed again as follows when the corner A is concealed in the permissible deviation and when the cone A deviates from the permissible range as follows.

1) Corner A is within the allowable range

Suspension cargo is hoisted. Since the corner A is set lower than the other corner B, it is detected that the corner B is separated from the target container Cb, and when the hoisting is stopped, the corner A is in the conception state. Therefore, the whole of the suspending container Ca is conceived through the conception control for the corner B as described above.

2) If corner A deviates from the allowable range, corner A becomes the target container

The suspending container Ca is hoisted until it is detected that it is separated from the container Cb. Since the corner A is set lower than the other corner B, the corner B is also separated from the target container Cb. Therefore, by carrying out the concealment control for the previously described corner A and the concealment control already described for the corner B,

.

As described above, according to the control method of the crane and the crane of the present invention, even when the suspending container is moving in the moving direction and the swinging direction of the trolley, it is reliably positioned in the horizontal direction without using an additional mechanical guide or the like, It is possible to perform lamination on the place or another container as a place.

Further, even when the suspending container is moving in the moving direction and the turning direction of the trolley, it is not necessary to add a special device to the crane, It is possible to stabilize the landing position without being influenced by the positional prediction error due to the disturbance such as the wind load or the load of the load, Or stacking on other containers can be performed.

These are extremely effective in realizing the stable and efficient stacking automation system of the crane at a low cost.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a crane and a crane control method according to the present invention will be described with reference to the drawings.

First, the overall structure of a transfer crane to which the control method of the present invention is applied will be described.

Reference numeral 10 in Fig. 1 is a crane called a container transfer crane (hereinafter referred to as a crane) for stacking the suspending container Ca on the target container Cb.

This crane 10 is a tire-type bridge-type crane for stacking containers, and has a gate-type crane traveling vehicle 10a running on a track surface by a tire-type traveling device 11. [ The horizontal upper beam 12 of the crane traveling vehicle 10a is provided with a transversal trolley 13 which moves horizontally along the upper beam 12. The transversal trolley 13 is provided with a hoisting device 14, The hopper 16 for a container is suspended from the hoisting device 14 through four ropes 15 for hoisting and hoisting.

The water outlet 16 is capable of retaining the standing water container Ca in a detachable manner. Here, the container Cb is the target container, and the case where the suspension container Ca is placed on the target container Cb is shown.

The transversal trolley 13 is provided with a head suspension transcription apparatus 17, 18 composed of a heel apparatus and a trim apparatus for adjusting the length of four ropes 15 and adjusting the inclination of the standing water container Ca in front of and behind, have. The current waterborne scriptural apparatuses 17 and 18 are provided with a mechanism for changing the position of the support point on the transversal trolley 13 of the rope 15 through the electric cylinder. .

In the corner portion of the water outlet 16, a mark indicating the container proper position of the target container Cb or the ground, that is, a landing position of the landing position, and a mark A, B, C, Horizontal position shift detectors 20A, 20B, 20C and 20D for detecting the position are provided.

One example of the horizontal position shift detectors 20A, 20B, 20C and 20D includes a CCD camera for simultaneously capturing the distance between the bottom surface of the suspending container Ca and the upper surface of the target container Cb, The edge of both containers is detected by processing the image data and the positional deviation of the standing container Ca and the target container Cb in the horizontal direction is detected according to the relative positional relationship between these edges.

The cone detectors 23A, 23B, 23C and 23D of the standing water container Ca are provided at the four corners A, B, C and D in the water catch 16.

As shown in Fig. 2, the conception detectors 23A, 23B, 23C and 23D are constituted by a rod 23a slidably mounted on the water outlet 16 so as to be slidable up and down,

And proximity switches 24A and 24B which are operated by the switch 23b.

When the rod 23a is moved upward, the proximity switch 24A is switched to the ON state. When the rod 23a is lowered, the proximity switch 24B is positioned to be switched to the ON state.

2 (a) shows a case where the suspending container Ca is conceived on the target container Cb. The rod 23a is arranged above the proximity switch 24A, and the proximity switch 24A is switched to the on state . 2 (b) shows a case where the suspending container Ca is not conceived on the target container Cb. The rod 23a is disposed below and the proximity switch 24B is switched to the on state .

In the drawing, reference numeral 22 denotes a twist lock pin,

(Ca) is engaged with the water outlet (16).

Next, the control system of the crane 10 having the above structure will be described.

FIG. 3 shows a control system for performing control for performing the stacking operation of the crane 10.

In the drawing, reference numeral 32 denotes a lamination controller. To the lamination controller 32, a winding motor 30 for driving the winding apparatus 14 is connected via a winding motor drive unit 30A.

The laminating controller 32 is also provided with a trolley motor drive device 31A,

A trolley truck transverse motor 31 for transversely driving the trolley truck 13 is connected.

The laminating controller 23 is connected to the deposition detector 23A corresponding to one corner A of the suspending container Ca and the embedding detector 23B corresponding to the other corner B. The lamination controller 32 is also connected to the hoisting device 14 A suspension height detector 25C composed of a rotary encoder and the like provided on a winding motor 30 for driving the lamination controller 32. Horizontal position deviation detectors 20A and 20B are connected to the lamination controller 32, Of the transverse trolley 13

A trolley position detector 26A for detecting the position and a trolley speed detector 26B for detecting the moving speed of the transverse trolley 13 are connected.

The stacking controller 32 controls the horizontal direction of the corners A and B of the standing container Ca and the corners A and B of the target container Cb based on a signal from the horizontal position shift detectors 20A and 20B A horizontal positional deviation determining unit for determining whether or not the positional deviation

The horizontal positions of the corners A and B of the suspending container Ca based on signals from the horizontal position shift detectors 20A and 20B and the trolley position detector 26A and the trolley speed detector 26B The trolley speed command signal is outputted to the rotary motor driving device 31A so as to coincide with the corners A and B of the target container Cb so that the trolley speed transverse motor 31

And a horizontal position deviation correcting section 28B for controlling the driving.

The stacking controller 32 also controls the stacking controller Ca based on signals from the fusing detectors 23A and 23B, the suspender height detector 25C and the horizontal position shift discriminating section 28A to lower the suspending container Ca at a desired speed A suspending cargo descending speed determining unit 27A for determining a suspending cargo descent speed and a suspension cargo descending speed determining unit 27A for determining a timing for starting the descent at a suspension cargo descending speed determined by the suspending cargo descending speed determining unit 27A When the drive command signal is output from the suspension start point determiner 27B to the take-up motor drive device 30A, the take-up motor 30 is driven by the suspension speed reduction determiner 27A, Is driven at a timing determined by the suspending start point determining section 27B at a speed determined by the suspension determining section 27B so that the suspending container Ca held in the water outlet 16 is lowered.

The stacking controller 32 also has a suspending standstill stop determination portion 27C for determining the timing of stopping the descent of the suspending container Ca descending based on the signals from the conception detectors 23A and 23B The suspended cargo hold stop point determination section

The winding motor 30 is stopped at the timing determined by the suspension determination unit 27C and the suspension held in the suspension 16 is output to the winding motor drive unit 30A, The descent of the container Ca is stopped.

Figs. 4A and 4B show the state of the device of the horizontal position shift correction unit 28B of Fig. 3. Fig.

Here, the horizontal positional deviation of the standing container Ca with respect to the target container Cb is a positional deviation in parallel with the moving direction of the lateral trolley 13 as shown in Fig. 5 when the corner A of the standing container Ca is focused on (DL) and a transverse trolley 13, which is a shift due to turning,

(DS) of the moving direction component of the moving direction component.

If the length of the container in the longitudinal direction (the length perpendicular to the moving direction of the transverse trolley 13) is 12 m, the transverse trolley (or the trolley It is practically advantageous to approximate the amount of movement of the turning motion to the moving direction component of the transverse trolley 13 because the amount of shift in the direction perpendicular to the movement of the transverse trolley 13 is about 4 mm.

4A is one of the corners of the bottom of the suspending container Ca when all the corners A, B, C and D of the bottom of the suspending container Ca are not conceived on the upper surface of the target container Cb (Ca), which is relatively lower than the other corners,

And the target container Cb in the horizontal direction.

As shown in Fig. 4 (a), the position shift amount of the moving direction component of the transverse trolley 13 with respect to the corners A and B detected by the horizontal position shift detectors 20A and 20B is summed up as a trolley position correction signal It becomes a trolley position correction signal when the positional deviation is occurring from the target container Cb in both of the raised corners A and B. The trolley position correction signal is transmitted via the control gain 28D or via the control gain 28D and the differential element 28E The control gain 28D and the derivative element 28E are inputted to the regulator 28F of the horizontal position shift correction unit 28B by the trolley position correction signal inputted through the control gain 28D, And outputs a trolley speed command signal on the basis of the trolley position correction signal inputted via the trolley speed command signal.

The trolley position correction signal accompanying the positional shift amount with respect to the corner A is input to the regulator 28F through the integral element 28C and the trolley position correction control according to the positional shift amount with respect to the corner B becomes the control gain K The positional deviation of only the corner A is continuously reduced by the operation by the integral element 28C even after the end of the normal deviation range determined by the integral element 28C.

The control centered on the position correction for the selected corner A is thus performed.

4B shows a state where the corner B of the target container Cb corresponding to the corner B in the state of maintaining the conical state of the corner A after the corner A of the standing water container Ca is conceived on the target container Cb And corrects the horizontal position displacement amount.

That is, Fig. 4 (b) shows that the relationship between corner A and corner B in Fig. 4 (a) is reversed, and as in the description of the operation in Fig. 4 (a) B positional shift correction control is performed.

4B is configured to be performed only when the corner A is in the congestion state and the horizontal positional deviation from the corner A of the target container Cb corresponding to the corner A is within the allowable range.

In this case, since the horizontal position shift amount with respect to the corner A is equal to or lower than the level requiring trolley position correction control and the corner A does not move due to the contact with the target container Cb, As a result, only the position of the corner B is corrected with the corner A as a supporting point.

Next, the laminating control by the crane 10 having the control system having the above-described configuration will be described with reference to the pros chart shown in Figs. 6 and 7. Fig.

Steps S1 to S9 shown in Fig. 6 are floors of the congestion control of the corner A of the suspending container Ca, and steps S10 to S18 shown in Fig. 7 correspond to the corner B of the suspending container Ca ).

In addition, this conception control is performed such that the corner A, which is one of the corners of the bottom portion of the suspending container Ca, is set relatively lower than the other corners B, C and D in advance and that no corner is conceived on the target container Cb Lt; / RTI >

That is, before the control is performed, the position of the support point on the transversal trolley 13 of the rope 15 is changed by the waterborne orthodontic apparatus 17, 18 to give a slope to the water outlet 16, Only the corner A of FIG.

As a method of lowering the corner A, for example, any one of the four ropes 15 engaged with the four corners of the water outlet 16 may be adjusted in advance longer than the other.

Here, the suspending container Ca is carried to the vicinity of the target container Cb by normal operation control. In this case, the vicinity of the target container Cb depends on the dimensions of the container. However, in the case of the marine container of the ISO standard, the height interval between the bottom of the standing container Ca and the upper surface of the target container Cb is about 0.5 mm, The horizontal positional deviation is assumed to be about 0.2 m, but these changes depending on the situation.

(Conception control of corner A: steps S1 to S9)

Step S1

It is first determined whether or not the lower end of the corner A is concealed on the target container Cb based on the detection signal from the conception detector 23A corresponding to the corner A of the suspension container Ca. That is, The other corners B, C, and D are not conceived, and the suspension container Ca is separated from the target container Cb.

Step S2

The horizontal position shift correction control of the corner A shown in Fig. 4 (a) described above is performed in a state in which the lower end of the corner A of the suspending container Ca is conceived on the target container Cb .

That is, in order to align the corner A of the suspension container Ca with the corner A of the target container Cb, the horizontal position deviation correction section 28B of the stacking controller 32 receives signals from the horizontal position deviation detectors 20A and 20B And outputs a trolley speed command signal to the trolley motor driving device 31A based on a signal from the trolley position detector 26A and the trolley speed detector 26B to drive the trolley truck driving motor 31. [

Therefore, the transverse trolley 13 is driven so that the corner A of the suspending container Ca approaches the corner A of the target container Cb.

Step S3

The horizontal positional deviation determining unit 28A of the stacking controller 32 determines whether or not the positional deviation of the corner A of the suspending container Ca with respect to the corner A of the target container Cb is within a permissible drop allowable range Or not.

Here, in the case where it is out of the tolerable allowable range, the horizontal position deviation correction control (step S2) by the horizontal position deviation correction section 28B of the stacking controller 32 is performed.

Step S4

When the positional deviation of the corner A of the standing container Ca with respect to the corner A of the target container Cb is within the allowable descent start range, a signal is sent from the horizontal position shift determination section 28A to the suspension determination device 27A The suspension determination unit 27A sets the descent speed of the suspension container Ca and outputs a signal to the suspension start point decision unit 27B, The controller 27B determines the timing of the drop start and drives the take-up motor 30 by outputting a control signal to the take-up motor driving device 30A at the start of the drop. Therefore, the descent of the suspending container Ca starts at the descending speed determined by the suspending descent speed determining section 27A.

The descending speed determined by the suspending cargo descending speed determining section 27A is determined at a maximum permissible speed at which the shock at the time when the suspending container Ca is concealed on the target container Cb is allowed to be maximum, The descent start timing set by the start timing determiner 27B is set to the time point when the positional deviation of the corner A falls within the predetermined descent tolerance range.

Thereafter, it is judged whether or not the lower end of the corner A is conceived on the target container Cb (step S1) based on the detection signal from the conception detector 23A corresponding to the corner A of the standing water container Ca .

Step S5

When the signal from the conception detector 23A is inputted to the suspension car stop down decision point decision section 27C of the stacking controller 32,

And outputs a control signal to the winding motor driving device 30A to stop the descent of the caulking Ca. Thus, the driving of the winding motor 30 is stopped by the winding motor driving device 30A.

Step S6

The horizontal positional deviation determining unit 28A of the stacking controller 32 determines whether or not the positional deviation of the corner A of the standing container Ca with respect to the corner A of the target container Cb is within the preset allowable positional deviation range, And performs conception A (steps S10 to S18) of corners B, C, and D.

Step S7

When the positional deviation of the corner A is out of the permissible position shift range, the horizontal position shift determination unit 28A drives the winding motor 30 via the winding motor driving device 30A to raise the suspension container Ca.

Step S8

Based on the signal of the conception detector 20A of the corner A of the standing water container Ca,

A determination is made as to whether or not the corner A of the target Ca is deviated from the target container Cb.

Step S9

When it is determined that the corner A of the standing water container Ca is separated from the target container Cb, the driving of the winding motor 30 is stopped by the winding motor driving device 30A.

Thereafter, conception control of the corner A again (control after the step S1) is carried out again.

(Conception control of corner B: step S10 to step S18)

Step S10

It is determined whether or not the lower end of the corner B is concealed on the target container Cb based on the detection signal from the conception detector 23B corresponding to the corner B of the standing water container Ca.

In addition, in the case where the processing is performed for the first time, only the corner A is conceived and the other corners B, C, and D are not conceived since the processing is continued from the step S6.

Step S11

The horizontal positional deviation correction control of the corner B shown in Fig. 4 (b) is carried out in a state in which the lower end of the corner B of the standing container Ca is conceived on the target container Cb.

That is, in order to align the corner B of the suspension container Ca with the corner B of the target container Cb, the horizontal position deviation correction section 28B of the stacking controller 32 receives signals from the horizontal position deviation detectors 20A and 20B And outputs a trolley speed command signal to the trolley motor driving device 31A based on a signal from the trolley position detector 26A and the trolley speed detector 26B to drive the trolley truck driving motor 31. [

Therefore, when the transverse trolley 13 is driven so that the corner B of the suspending container Ca becomes the target container

(Cb).

Step S12

The horizontal positional deviation determining unit 28A of the stacking controller 32 determines whether or not the positional deviation of the corner B of the standing container Ca with respect to the corner B of the target container Cb is within a permissible range Or not.

Here, in the case where it is out of the permissible range of descent start, the horizontal position shift correction control (step S11) by the horizontal position shift correction unit 28B of the stacking controller 32 is performed.

Step S13

When the positional deviation of the corner B of the standing container Ca with respect to the corner B of the target container Cb is within the allowable descent start range, a signal from the horizontal position shift determination section 28A to the suspension determination device 27A The suspending cargo descending speed determining section 27A sets a descending speed of the suspending container Ca and outputs a signal to the suspending cargo descending start timing determining section 27B to determine the suspension starting point The unit 27B determines the descent start timing and outputs a control signal to the coiling motor driving device 30A at the start of the descent to drive the coiling motor 30. [ Therefore, the descent of the suspending container Ca starts at the descending speed determined by the suspending descent speed determining section 27A.

Also in this case, the descending speed determined by the suspending cargo descending speed determining section 27A is determined as the maximum permissible speed at which the impact at the time when the suspending container Ca is conceived on the target container Cb, The descent start timing set by the cargo descent start timing determiner 27B is set to a time point when the positional deviation of the corner B falls within a predetermined descent tolerance range.

Thereafter, it is judged whether or not the lower end of the corner B is conceived on the target container Cb (step S10) based on the detection signal from the conception detector 23B corresponding to the corner B of the suspension container Ca .

Step S14

When the signal from the conception detector 23B is inputted to the suspension car stop down stop determination portion 27C of the stacking controller 32, the suspension stop determination portion 27C determines that the suspension car

And outputs a control signal to the winding motor driving device 30A to stop the descent of the caulk Ca. Thus, the driving of the winding motor 30 is stopped by the winding motor driving device 30A.

Step S15

The horizontal positional deviation determining unit 28B of the stacking controller 32 determines whether or not the positional deviation of the corner B of the standing container Ca with respect to the corner B of the target container Cb is within the preset allowable positional deviation range, Is regarded as being conceived in a state in which the corners A to D coincide with the upper portion of the target container Cb with high precision, and the conception control is terminated.

Step S16

When the positional deviation of the corner B deviates from the allowable position shift range, the horizontal position shift determination unit 28A drives the winding motor 30 via the winding motor driving device 30A to raise the suspension container Ca.

Step S17

Based on the signal of the conception detector 20A of the corner B of the standing water container Ca,

It is determined whether or not the corner B of the target Ca is deviated from the target container Cb.

Step S18

The driving of the winding motor 30 is stopped by the winding motor driving device 30A if the corner B of the standing water container Ca is separated from the target container Cb.

The concealment control of the corner B is again performed (control after step S10).

As described above, by performing the concealing control steps S1 to S18,

(Ca) is conceived on the upper portion of the target container (Cb) with extremely high precision and in a short time.

In the above example, in the step S17, the corner B of the suspending container Ca is the target container

It is judged whether or not the corner B, C and D other than the corner A have been raised based on the signal from the conception detector 20B provided in the current collector 16 , It is possible to perform this determination without depending on the conception detector 20B.

For example, a sensor such as a CCD camera for detecting the motion of the water pipe 16 is provided and, for example, in a state in which all the corners A to D are conceived, the transversal trolley 13 is slightly moved in the horizontal direction So that the rope 15 is supported on the trolley 13

Point, that is, the point on the trolley 13 of the same rope, the support point on the side of the water outlet 16 of the rope, that is, the point where the rope is connected to the water outlet 16, 14, when the other corners B, C, D other than the corner A are separated from the target container Cb, the horizontal positional deviation between the rope support point on the trolley and the rope support point Is detected by a sensor. If the determination is made in this way, the elevation height can be suppressed as much as possible compared with the case of using a flock detector composed of a limit switch or the like, and the subsequent alignment control is performed It is possible to greatly shorten the time required for the operation.

In the above example, another corner (corner B) is conceived after the corner A is concealed. However, as shown in FIG. 9, the short capacity R1 of one side of the standing container Ca is made low, It is possible to carry out the high-precision implantation in the same manner by first implanting the first polysilicon film R1 and subsequently implanting another short polysilicon R2.

In the conception control in this case, the function R1 is positioned while positioning one corner A of the function R1 according to the above-mentioned concealment control of the corner A. Then, according to conception control of the corner B, (R2) while positioning B with respect to the reference position.

In the above example, the suspending container Ca is stacked on the target container Cb. However, the present embodiment can be applied not only to stacking the container on the container but also to the container It goes without saying that the present invention can also be applied to a case where it is applied to a concealed position of a floor surface of a compartment.

In addition, in the case where the upper surface of the container container Ca is mounted on the upper surface, the horizontal positional deviation between the standing container Ca and the designated position on the upper surface, as well as the means for detecting the horizontal positional deviation between the standing container Ca and the target container Cb, It is necessary to provide a means for detecting the signal. It goes without saying that the horizontal position shift detectors 20A to 20D used for stacking on the target container Cb can also be used as means for detecting the horizontal position shift.

Further, in the above example, after positioning of the corner A, the corner B adjacent to the corner A is positioned while being positioned, but the other corner positioned after the positioning focused on the corner A is not limited to the corner B, D of course.

In the above example, the embedding detectors 23B, 23C and 23D and the horizontal position deviation detectors 20B, 20C and 20D are provided at the other corners B, C and D, And D, the embedding control can be sufficiently performed.

According to the crane and crane control method of the embodiment, when the suspending container Ca is conceived, the horizontal position between the one corner A of the standing container Ca and the corner A of the target container Cb, By focusing only on the discrepancy

And the position of the remaining corner B is controlled by concealing one side corner A of the suspending container Ca to conceal the whole of the suspending container Ca, the following effects can be obtained have.

1) Even when the standing water container Ca moves in the moving direction and the swing direction of the transversal trolley 13, it is surely positioned in the horizontal direction without using an additional mechanical guide or the like, It is possible to perform stacking on another container as the target container Cb.

2) Even when the standing water container Ca moves in the moving direction and the turning direction of the transverse trolley 13, it is not necessary to add a special device to the crane 10, Or on another container, which is the target container Cb, in a short period of time.

3) It has a large influence on the implantation control method by predicting the position of the standing water container Ca, is not influenced by the positional prediction error due to the disturbance such as the offset load of the suspended cargo, Lt; RTI ID = 0.0 > (Cb). ≪ / RTI >

The above is extremely effective in realizing the stable and efficient stacking automation system of the crane 10 at a low cost.

10: Crane
13: transverse trolley (trolley)
14: hoisting device
20A to 20A
20D: Horizontal position shift detector (horizontal position shift detection means)
23A to 23D: a conception detector (conception detecting means)
Ca: Suspension container (container)
Cb: Target Container (Container)

Claims (8)

A suspending rope for suspending the suspending member in the trolley; and a suspending rope for suspending the suspending rope in the trolley, And a hoisting device for hoisting the hoistway, the hoisting hoisting device holding the hoistingway held by the hoistway at a predetermined conception site, the hoistway comprising: at least two first and second corners of four corners of the suspension, Horizontal position shift detection means for detecting a positional shift in the horizontal direction from a concealed position of the conception site corresponding to each of the first and second corners; At the time of concealment of the corner and the conception of the second corner, the first and second corners and the conception position corresponding to the first and second corners, respectively, Wherein the first corner is inclined with respect to the first corner and the first corner of the suspended object held by the first water pipe is relatively lower than the other corner, And the second corner is positioned by the horizontal position deviation correcting means to the concealed position corresponding to the same corner in order to be positioned by the horizontal position discrepancy correcting means at the same position corresponding to the same corner Wherein the crane is conceived. A suspending rope for suspending the suspending member in the trolley; and a suspending rope for suspending the suspending rope in the trolley, The above-
The crane is provided with a strong hoisting device and floats the suspension cargo held by the water outlet at a predetermined landing position. The crane includes at least two first and second corners of four corners of the suspension, Horizontal position shift detection means for detecting a horizontal positional deviation from a concealed position of the conception site corresponding to each of the second corners,
And a detection unit for detecting a position of the first corner and a position of the second corner in accordance with detection signals from the horizontal positional deviation detection unit when the first corner and the second corner are conceived, And a horizontal position shift correcting means for correcting a horizontal positional deviation of the suspension with respect to the horizontal position of the suspension, The first corner is positioned by the horizontal position shift correcting means at the first predetermined position corresponding to the same corner, and the first corner is positioned at the same corner Characterized in that a different function including the second corner is positioned by the horizontal position shift correction means at the corresponding fusing position, lane. A suspending rope for suspending the suspending member in the trolley; and a suspending rope for suspending the suspending rope in the trolley, And a hoisting device for hoisting the hoistway and hoisting the hoistway held by the hoistway at a predetermined conception site, the method comprising the steps of tilting the hoistway, A first position for performing horizontal positioning with respect to a fusing position of the fusing place corresponding to the same corner of the first corner in a state where one of the corners of the corner is relatively lower than the other corner by the first corner, A crystallization step,
A first concealing step of lowering the suspended article through the hoisting device in a state where the first corner is positioned at a concealed position corresponding to the same corner to bring the first corner into contact with the concealing place; A second positioning step of horizontally positioning the concealed position of the concealed position corresponding to the same corner with at least one corner of the other corners of the suspended cargo as a second corner;
The suspension is lowered through the hoisting device in a state in which the second corner is positioned at the concealed position corresponding to the same corner so that the remaining corner is brought into contact with the concealing place together with the second corner, And a second conception step of conceiving the cone in the conception site. A trolley which is supported so as to be able to move in a horizontal direction from above, a pendulum which holds a pendulum of a container at a lower side, a rope which suspends the pendulum at the trolley, A control method of a crane that includes a hoisting device for lifting a watercourse and conceals the watercraft held by the watercourse at a predetermined conception site, characterized in that the watercourse is tilted and a single function of the suspended watercraft The lower corner is positioned at the first corner and the horizontal corner is positioned with respect to the fusing position of the fusing place corresponding to the same corner as the first corner, And a second positioning step
A first concealing step of bringing the suspended article down by lowering the suspended article through the hoisting device in a state where the first corner is positioned at a concealed position corresponding to the same corner; A second positioning step of positioning the second corner in the same corner with a first corner of the opposing side function as a second corner and performing positioning in a horizontal direction with respect to a fusing position of the fusing place corresponding to the same corner; And a second frosting step of lowering the suspension product through the hoisting device in a state where the suspension device is positioned at the fusing position and bringing the counter side function into contact with the frosting site to conceal the entire bottom surface of the suspension product at the frosting site Wherein the control means controls the crane so as to control the crane. A suspending rope for suspending the suspending member in the trolley; and a suspending rope for suspending the suspending rope in the trolley, A method of controlling a crane that includes a hoisting device for hoisting up the hoistway and hoisting the hoistway held by the hoistway at a predetermined conception site, The length of the suspending rope is adjusted so that one of the corners of the four corners of the suspension is held as a first corner and the first corner is relatively lower than the other corners, When the watercount is hoisted through the hoisting device so that the corners other than the first corner are separated from the conception site A positioning step of horizontally aligning at least one corner of the other corners after the hoisting step to a position of the landing position corresponding to the same corner with the second corner as a second corner; The second corner is lowered through the hoisting device in a state where the second corner is positioned as described above and the remaining corner is brought into contact with the conception site together with the second corner to conceal the entire bottom surface of the suspension in the conception site And a conception process is carried out. A suspending rope for suspending the suspending member in the trolley; and a suspending rope for suspending the suspending rope in the trolley, A method of controlling a crane that includes a hoisting device for hoisting up the hoistway and hoisting the hoistway held by the hoistway at a predetermined conception site, The length of the suspending rope is adjusted so that one function of the suspending material held in the water pipe is relatively lower than other functions when the water pipe is hoisted and the water pipe is hoisted through the hoisting device, A step of hoisting an opposed side surface of the fusing place A positioning step of horizontally positioning the position of the fusing place corresponding to the same corner with the corner of one end of the opposite side face spaced apart from the positioning corner, And a lowering step of lowering the suspended cargo through the hoisting device in a state where the opposite side surface is brought into contact with the landing place to conceal the entire bottom surface of the suspended cargo to the landing place . 7. The method as claimed in claim 5 or 6, wherein the rope support point on the trolley and the rope support point on the watercourse are displaced in the horizontal direction before performing the hoisting step of the suspender, And the hoisting operation in the hoisting step is stopped when the hoisting operation is detected by the horizontal shift of the development rope support point. 8. The control method of a crane according to any one of claims 3 to 7, wherein the upper surface of the other container is used as the landing place and the suspension product is fused and laminated.

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