| 摘要 |
PROBLEM TO BE SOLVED: To automatically transport a cylindrical object continuously and without loss time by operating the base position of the cylindrical object according to the distance distrubtion data, and comparing the operated base position with the actual installation height to again detect the position of the cylindrical object in the case of exceeding an allowable value from the comparison result. SOLUTION: On receiving the position detection result of a coil 3 from a position detector 1, a crane control device 2 calculates the base position Z of the coil end face from the detected outside diameter value D and the central axis position Z0. The calculated base position A of the coil is compared with the actual installation surface height T, and if the comparison result is out of the allowable error range, a wrong detection result that the coil is floated or the like is decided and the detection operation is again started. Thus, at the time of detecting the position of the coil 3, in the case where the comparison result exceeds the allowable value, abnormality is deciced to again detect the position, so that the coil 3 can be automatically transported continuously and without loss time always according to the accurate detected position.
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