| 摘要 |
PROBLEM TO BE SOLVED: To quickly land a container on a target position, while preventing a collision of the container and these obstacles in an existing place of the obstacle such as the container adjacently stacked in a stage shape, without busing a stacking guide. SOLUTION: The obstacle existing in the vicinity on an extension line of a side surface of the container C is detected by a first infrared beam sensor 11, and the obstacle 15 existing outside of the extension line of the side surface of the container C is detected by a second infrared beam sensor 12. Thus, when lowering the container C gripped by a hoisting accessory 45, the lower end of the container C can be prevented from colliding with the obstacle, and even when the hoisting accessory 45 is slantingly suspended by a wire 46, the obstacle 15 existing downward in the substantially vertical direction can be detected. Thus, for example, the hoisting accessory 45 and the container C can be prevented from colliding with the obstacle 15. COPYRIGHT: (C)2006,JPO&NCIPI
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