| 摘要 |
PROBLEM TO BE SOLVED: To continuously and automatically convey cylindrical bodies in safety without man power by calculating the inclination of a cylindrical body on the basis of a center position of the cylindrical body, and executing the grasping motion in a state that a suspending position of the cylindrical body and a position of a suspending device are fitted to one another by the revolving function. SOLUTION: A cylindrical body position recognition device and a crane controller are provided. When the crane controller receives a result of the recognition from the position recognition device, it calculates the inclinationθof a truck 4 on the basis of center positions O of the cylindrical bodies 3a, 3c at both ends, that is, the inclinationθof each cylindrical body 3a-3c. A suspending position of the cylindrical body 3a-3c and a position of a suspending device are fitted to one another by the revolving function of a crane to execute the grasping motion. According to this construction, the automatic conveying of the cylindrical bodies 3a-3c can be continuously executed in safety without man power.
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