Mitsubishi Heavy Industries Limited

Mitsubishi Jukogyo Kabushiki Kaisha

Smk Corporation

Noriaki Miyata

Tadaaki Monzen

Takashi Toyohara

Yoshiaki Okubo

Kanji Obata

Susumu Kouno

Toshio Taguchi

Kenji Otsuka

Kouji Uchida

Ryuhei Noguchi

Koji Uchida

Masanori Masumoto

Masaki Nishioka

Hirohumi Yoshikawa

Nobuo Yoshioka

The rotation operation plane of the ring-shaped operation members that operate the rotation is inclined with respect to the horizontal plane so that the rotation operation of the ring-shaped operation member can be performed without holding a finger in the vertical direction. Furthermore, since the rotation operation plane is inclined with respect to the placement plane of the case, static friction on the placement plane is generated by a force component of the operation force acting on the rotation operation plane and is perpendicular to the placement plane, thus the case does not move toward the rotation operation direction during the rotation operation.

Stationary remote control transmitter

An annular operation unit is formed as an outer shape to cover entire outline of a surface of a case, and inputting switches and displaying unit are attached inside of an opening at the center side of the annular operation unit, allowing the annular operation unit to have a size to perform fine rotational operations in case the entire size of the remote control transmitting device is miniaturized.

Remote control transmitting device

When image data of a target container obtained by an image pickup unit such as a CCD installed on a hoisting accessory is processed, and a line approximating the arrangement of a pixel group which causes a change in luminance or hue larger than a set value can be fitted thereto, the pixel group having the arrangement that can be approximated by such a line is determined as a ridge of the container, that is, one representing the edge of the container held by the hoisting accessory, to detect the position of the target container. Thereby, edge extraction of the target container by the processing of the image data obtained by the image pickup unit such as a CCD camera installed on the hoisting accessory can be reliably and positively performed, while eliminating influences of various situations and conditions in the actual operating environment, and relative position detection of the target container and the suspended container can be performed accurately and reliably, by utilizing the edge extraction.

Container position measuring method and device for cargo crane and container landing/stacking method

A crane provided with a trolley, a hanging member, a rope member, and a hoisting device. The crane includes a horizontal position displacement detection unit which detects a horizontal positional displacement between at least two corners of the cargo and a landing place of the two corners; and a horizontal position displacement correction unit which corrects a horizontal positional displacement between the at least two corners of the cargo and the landing place of the two corners when the two corners have landed based on a detection signal from the horizontal position displacement detection unit. The horizontal position displacement correction unit corrects the position of a corner of the cargo so that the corner lands at the landing place of the corner, and then corrects the position of another corner so that the corner lands at the landing place of the corner.

Crane and method for controlling the crane

An apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Method of and apparatus for controlling stacking of a load by a crane

A transverse trolley,is transversally movable on a crane girder. A driver is provided for the transverse trolley,A pair of sheave blocks,which is movable relative to a transverse trolley,are disposed on both (right and left) sides of a transverse trolley,Drivers are provided for the sheave blocks. Detectors,through,are provided which detect the displacement and velocity of the transverse trolley,the sway displacement and velocity of a hoisted load-piece,on both (right and left) sides and the displacement and velocity of the two sheave blocks,A notch is disposed on an operation controlling panel of the transverse trolley,for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector,is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors,through,and,and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

Swaying hoisted load-piece damping control apparatus

A transverse trolley,is transversally movable on a crane girder. A driver is provided for the transverse trolley,. A pair of sheave blocks,which is movable relative to a transverse trolley,are disposed on both (right and left) sides of a transverse trolley,. Drivers are provided for the sheave blocks. Detectors,through,are provided which detect the displacement and velocity of the transverse trolley,, the sway displacement and velocity of a hoisted load-piece,on both (right and left) sides and the displacement and velocity of the two sheave blocks,. A notch is disposed on an operation controlling panel of the transverse trolley,for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector,is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors,through,and,, and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

A transverse trolley (11) is transversally movable on a crane girder. A driver is provided for the transverse trolley (11). A pair of sheave blocks (14, 15) which is movable relative to a transverse trolley (11) are disposed on both (right and left) sides of a transverse trolley (11). Drivers are provided for the sheave blocks. Detectors (31 through 38) are provided which detect the displacement and velocity of the transverse trolley (11), the sway displacement and velocity of a hoisted load-piece (23) on both (right and left) sides and the displacement and velocity of the two sheave blocks (14, 15). A notch is disposed on an operation controlling panel of the transverse trolley (11) for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector (40) is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors (31 through 38 and 40) and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

A cargo handling path setting method and apparatus determine arbitrary hoisting and lowering speeds of a suspended load and the times required for hoisting and lowering to set hoisting and lowering speed patterns, determine an arbitrary traversing speed of the suspended load and the time required for traversing to set a traversing speed pattern, set the positions and heights of obstacles present around the cargo handling path based on data from stacked load sensors, and further set an arbitrary waiting time for traversing and an arbitrary waiting time for lowering; then conduct a theoretical simulation test based on these set conditions to compute a cargo handling path, and if it is determined that the suspended load passing along the cargo handling path will collide with the obstacles, repeat the procedure of revising the set conditions and conducting a theoretical simulation test again. Thus, an optimum cargo handling path is set by which the suspended load can be carried to a predetermined place in the shortest time required by its simultaneous winding/traversing operation without its collision with the obstacles.

Cargo handling path setting method and apparatus for crane

A lowering collision avoidance device includes a hoisting accessory swing detector, a rope winding speed detector, an arithmetic unit, a rope winding speed controller, and if desired, a rope length detector. The arithmetic unit computes a command value for the lowering speed based on the results of comparison between the amount of swing of a hoisting accessory detected by the hoisting accessory swing detector and a predetermined threshold level or a plurality of predetermined threshold levels; the direction of changes in the amount of swing computed based on the amount of swing of the hoisting accessory; and the lowering speed detected by the rope winding speed detector. The rope winding speed controller controls the lowering speed based on this command value. The arithmetic unit also predicts maximum displacement by swing based on the amount of swing of the hoisting accessory, the positional change rate of the hoisting accessory computed based on this amount of swing, and the period of vibration of the hoisting accessory computed from the rope length detected by the rope length detector, and computes a command value for the lowering speed based on the results of comparison between the maximum displacement and a predetermined threshold level. The rope winding speed controller controls the lowering speed based on this command value as well.

Lowering collision avoidance device of crane

A lowering collision avoidance device includes a container detector, a rope winding speed detector, a rangefinder for detecting the distance to an adjacent container, a rope length detector, and a controller which controls a hoisting/lowering drive motor, thereby controlling the lowering speed, in such a manner that when the container detector becomes ON, a lowering stop action is performed to start decreasing the lowering speed at a predetermined rate; even during this period, the remaining lowering distance and a normal stopping distance are computed; and when the container detector becomes OFF for one period of swing computed from the rope length detected by the rope length detector, and after a judgment is made that the risk of collision of a lowered container with the adjacent container has vanished, lowering is resumed if the remaining lowering distance is larger than the normal stopping distance, or an emergency stop action is performed if the remaining lowering distance is not larger than the normal stopping distance. Thus, the container can be lowered rapidly to a place where obstacles such as containers stacked in layers are located, with the collision of the container with the obstacle being prevented.

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Hiroshima, Japan

Noriaki Miyata