| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller for plural cranes capable of widening a movable range for the cranes. SOLUTION: Each controller 1 (11,12) of two cranes 10, 20 recognizes positions of an arm tip and a suspended cargo in own crane in space coordinates based on information from each sensor 5 (51, 52), and controls to regulate at least one operation out of turning, derricking and winding-up/lowering of the own crane based on a recognition result such as the position of the arm tip of the own crane when the other crane exists within a common area found by computing. An operation in a quadrant within the common area is allowed thereby within a range where an attitude or a rope length prohibited from contact with the crane is realized, even in the common area.
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