| 摘要 |
PROBLEM TO BE SOLVED: To provide a stacking control method and a stacking control device for a crane capable of executing the landing with high accuracy even in the cases when a position of a trolley of a hanger rope is variable because of the deformation and oscillation of a machine body, and when a hanger rope system can not be regarded as a single pendulum, and shortening a time necessary for the landing. SOLUTION: The periodical displacement of a horizontal position of a hoisting accessory is estimated, and a lowering speed of the hoisting accessory is controlled so that the hoisting accessory or a suspended load (suspended container Ca) gripped by the hoisting accessory is landed on a target stacking position (objective container Cb) at a time when the amplitude of the periodical displacement is maximized, to land the hoisting accessory or the suspended load.
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