PURPOSE: To automatically carry out a positioning operation for a suspended load adapted to be handled by a crane.
CONSTITUTION: A crane CR carries out a load handling work with the use of a wire rope wound on and paid off from a winch, a robot RB pushes the load to a desired position, a force sensor 58 detects a reaction force applied to the robot When the robot pushes the load. Accordingly, the direction in which the load is pressed toward the desired position is computed. Further, a microcomputer 55 computes an actuating value of each of sections of the crane for moving the load, and a microcomputer 8 and a control valve control the operation of the crane so that the crane is driven by the actuating values of the components of the crane which are radiotransmitted.
TANAKA YASUO
TSUTSUI SHINSAKU
