CRANE WITH SPREADER POSTRURE CONTROL AND METHOD FOR SPREADER POSTRURE CONTROL USING WIRE REGULATION

摘要

PURPOSE: A spreader pose control crane by wire control and a spreader control method is provided to control and stabilize the pose of a spreader automatically measuring the movement of the spreader in real time. CONSTITUTION: A spreader control method includes processes below. The measured movement information is sent to a crane control unit(500) measuring six degree-of-freedom(DOF) of the spreader(140) through use of a spreader sensor unit(300) which includes a tilt sensor and/or a vibration sensor(320). Control elements are determined based on the movement information received in a crane control portion. Operational information which restrains the movement of the spreader is automatically generated according to the control elements. In a spreader driving unit(200), position or pose is controlled by the control of the wire length or tension receiving the operational information and the restrain of the movement of the spreader. [Reference numerals] (120) Trolley; (140) Spreader; (200) Wire; (AA) X axis movement control; (BB) Y axis movement control; (CC) Roll, Pitch, Skew, Heave control