PURPOSE: To enable full automation of a crane for moving a container by compensating effects of disturbances such as wind in operating the crane, and sensing the position and attitude of a spreader and the crane for automatically attaching and detaching the container.
CONSTITUTION: A crossing angle of one side of an initial spreader 40 indicated by a dot line 40a to one side of the spreader 40 having skew indicated by a continuous line 40b is a skew angle. This skew angle is determined based on a displacement quantity of an edge of the spreader 40 at a specified point and a distance to the center of the spreader 40 at the point. For determining if oscillation is generated at the spreader 40 or not, displacement quantity of the edge at two parts of a right and a left ends need be detected. A position detection device also detects oscillation information of the spreader 40 during traveling of a trolley to be provided to a fuzzy control part. When the trolley reaches a target position, the position and attitude of the spreader 40 and a container are detected, thereby the spreader 40 is correctly capable of attaching and detaching the container.
KIMU JIYAEEFUUN
KAN MUUNNHIYUN
| JPH05505788A | 1993-08-26 | |||
| JPH05319779A | 1993-12-03 | |||
| JPH04116093A | 1992-04-16 | |||
| JPH02112691U | 1990-09-10 | |||
| JPH0218296A | 1990-01-22 | |||
| JPH0356395A | 1991-03-11 |
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