Crane and control method for crane

Abstract

To land a container being a suspending cargo on a floor in a short time without inconvenience such as a floor landing error. This crane 10 is composed of a traversing trolley 13 movably supported by upper beams 12 of a crane traveling machine body 10a, a hoisting accessory 16 for holding the cargo suspending container Ca on the lower side, a suspending rope 15 for suspending the hoisting accessory 16 by the traversing trolley 13, and a hoist 14 for lifting the hoisting accessory 16 by winding and sending out the suspending rope 15. Horizontal positional dislocation detectors 20A and 20B are arranged for detecting dislocation between a position on a floor landing place on a target container Cb of at least two first and second corners A and B in the four corners of the cargo suspending container and a horizontal directional position. Floor landing detectors 23A and 23B are arranged for detecting floor landing of the first and second corners A and B.

Description

technical field [0001] The present invention relates to, for example, a crane for loading and unloading cargo such as box-shaped containers in a port and a control method for the crane, and more particularly, a crane and a control method for the crane that seat to a predetermined position with high accuracy and in a short time . Background technique [0002] For example, at ports such as ports, loading and unloading operations such as loading and unloading containers from ships or trailers are performed by cranes. As a crane for such loading and unloading operations, it can be used by Figure 10 An example is shown to illustrate. [0003] As shown in the figure, the crane 1 is an overhead crane called a container handling crane (hereinafter referred to as a crane) for stacking a container Ca serving as hoisted cargo to a target container Cb. [0004] This form of crane 1 includes a traverse block 4 that moves horizontally along the upper beam 3 of the crane traveling frame...

AI Technical Summary

Problems solved by technology

[0024] For example, the height of the upper surface of the target container Cb is known, and the length detection from the released rope or the position of the lifting load container Ca can be detected by an optical distance meter, and then the method of taking the difference between the two, etc., and the actual It is very difficult to measure in accordance with the purpose due to the cumulative accumulation of the height error at the target container Cb for stacking, the height error of the stacked container, the elongation error of the sling 6, and the error caused by the structural deformation of the crane 1.

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