Abstract: A fixing device that fixes a lower end portion of a suspension belt to a holding portion is provided with a shaft-like portion with an axial direction aligned with a horizontal direction; a fixing portion where the lower end portion of the suspension belt is fixed is provided on an outer circumferential surface of the shaft-like portion; a region of the outer circumferential surface on one side of a virtual vertical surface that runs through an axial center of the shaft-like portion is defined as a first region and a region of the outer circumferential surface on the other side of the virtual vertical surface is defined as a second region; the fixing portion is provided in the first region; and the suspension belt extending from the fixing portion is disposed running through a lowest portion of the outer circumferential surface and running along the second region and upward.

Abstract: The hoisting arrangement of a hoist of a of a crane, includes a trolley arranged to move along a main support structure of the crane, whereby the trolley includes a support frame structure; bearing wheels which are fastened to the support frame structure and by means of which the trolley is arranged to move along said main support structure; a hoisting mechanism that has a rope drum for a hoisting rope, a rope pulley arrangement which has upper sheave arrangements and lower rope pulley arrangements and through which the hoisting rope may be guided from the rope drum to an attachment point, and a hoisting member in cooperation with the hoisting rope for hoisting a load; whereby the rope drum is supported to the support frame structure of the trolley so that the axle of the rope drum is parallel to the main support structure.

Abstract: A conveying device of the present invention includes a holding unit configured to hold a conveying object, a support member swingably supporting the holding unit, a plurality of hanging members, each distal end of which is connected to the support member so as to hang the holding unit via the support member, reel units to which each proximal end of the plurality of hanging members is connected so as to be capable of feeding and wounding, a base part on which the plurality of reel units are mounted, a guide unit configured to engage with the holding unit, and guide the holding unit to be elevated, and a control unit configured to perform operation control on the reel units so as to feed and wind the hanging member.

Abstract: The invention relates to a method for lowering an object in a water body from a vessel floating on the water body, the vessel comprising first hoisting means with second hoisting means arranged on or near the vessel, with at least a first anti-twist frame (ATF) being connected to a lower end of a first hoisting cable of the first hoisting means, the object being attached to the lower end of the first hoisting cable, below the ATF. The method allows for adjusting the vessel's heading prior to carrying out the method, allowing the vessel to remain substantially aligned with the wind/wave direction, and at the same time preventing the first hoisting cable from being subjected to excessive twist.

Abstract: A transport unit (1) for transporting at least one container (31) or another load, wherein the transport unit (1) has at least one trolley (2) and at least one load suspension device (3) and at least eight lifting cables (20-27), and the load suspension device (3) has connecting means (14) for fastening the container (31) or the other load and is suspended on the trolley (2) such that it can be lifted and lowered by the lifting cables (20-27), wherein the lifting cables (20-27) can be wound up on cable drums (4) which are rotatably mounted on the trolley (2), wherein each lifting cable (20-27) can be wound up and/or is wound up at least in part on a separate cable drum (4), and the rotational speed and/or the direction of rotation for all the cable drums (4) can each be set individually.

Abstract: A method for damping rotational oscillations of a load-handling element of a lifting device is created, wherein at least one controller parameter is determined by a rotational oscillation model of the load-handling element as a function of the lifting height (lH) and wherein, to damp the rotational oscillation of the load-handling element at any lifting height (lH), the at least one controller parameter is adapted to the lifting height (lH).

Abstract: An overhead crane supported by a derrick, comprising a frame coupled to the derrick and comprising a pair of rail members and a bridge member coupled between the rail members, and a trolley coupled to the frame and comprising a fairlead assembly and a cable guide movable in an X-Y plane within an inner perimeter of the frame.

Abstract: An overhead transport vehicle includes a vibration-proof portion disposed between a belt and a lift device. The vibration-proof portion includes a first connection mechanism disposed on a side where a first load acts in a width direction perpendicular or substantially perpendicular to both a travelling direction and a lifting direction of the lift device, and a second connection mechanism disposed on a side where a second load larger than the first load acts in the width direction, and which has a larger repulsive force than that of the first connection mechanism.

Abstract: An electric winch device causes an operative part to perform an operation for hoisting work by winding up or letting out a rope connected to the operative part, the electric winch device including: a winch drum having an axis, provided on the mobile crane to be rotatable about the axis and wound with the rope therearound; a plurality of motors located on one side of the winch drum in an axial direction in which the axis of the winch drum extends, and arranged side by side in a direction perpendicular to the axial direction; a gear mechanism which combines torques output from the plurality of motors; and a transmitting part which transmits a resultant of torques combined by the gear mechanism to the winch drum to rotate the winch drum to thereby cause the winch drum to wind up or let out the rope.

Abstract: Disclosed is a cable-driven parallel robot capable of changing a workspace, in which the cable-driven parallel robot is provided with an end effector having a plurality of modules that can efficiently move to upper and side parts of an object without interference. Module-direction changing standby stations are provided on each of opposing sides of an upper frame such that the modules of the end effector are coupled to the module-direction changing standby station for direction change standby, so that the modules can efficiently move to upper and side parts of the workspace without interference, thereby maximizing work efficiency. To this end, there is provided a cable-driven parallel robot including: an installation frame, and upper and side frames; a plurality of driving units; a plurality of cables; the module-direction changing standby station; and an end effector provided with a plurality of modules.

Abstract: Coffee or other drink, for example a caffeine containing drink, is delivered to individuals that would like the drink, or who have a predetermined cognitive state, using an unmanned aerial vehicle (UAV)/drone. The drink is connected to the UAV, and the UAV flies to an area including people, and uses sensors to scan the people for an individual who has gestured that they would like the drink, or for whom an electronic analysis of sensor data indicates to be in a predetermined cognitive state. The UAV then flies to the individual to deliver the drink. The analysis can include profile data of people, including electronic calendar data, which can be used to determine a potentially predetermined cognitive state.

Abstract: An aerial camera system including a plurality of main reels, a camera interface/safety reel and a stabilized camera head. The camera head is supported from main cables from the main reels with a safety reel cable providing power, data and video communication between the camera head and a main computer system. Each of the main reels, the camera interface/safety reel and the camera head are in communication with the main computer system, which controls the feeding and reeling in of the main cables. Further, the computer system controls the feeding and reeling in of the safety reel cable, which typically only follows the camera head as it moves in three-dimensional space, but may in emergency mode support the weight of the camera head and be used to slowly pull the camera head up and out of the way so that it does not interfere with any activity below the flight area.

Abstract: A puller is provided with a number of advantages. Pullers are described that have a high power to weight ratio, and a high power to volume ratio. Examples of pullers and pulling systems include configurations that provide high cable friction in a small device volume. Examples of pullers and pulling systems also include constant force pulling which is desirable in particular for small diameter pipe replacement. Using pullers and pulling systems as described, minimally invasive pipe replacement operations are possible. Reversible pullers are also provided that decrease the amount of time needed to burst or split multiple segments of pipe.

Abstract: A system having a drone and a payload frame connected to the drone, wherein the payload frame includes a mechanism for attaching at least one payload module to the payload frame and electrically coupling the at least one payload module to the payload frame. The electrical coupling includes a communication interface for communicating with a controller of the drone, and is configured to communicate a relative location of the at least one payload module in the payload frame, a weight of the at least one payload module and a volume of the at least one payload module. The controller of the drone is configured to calculate a weight distribution within the payload frame, based on the relative location of the at least one payload module, the weight of the at least one payload module and the volume of the at least one payload volume.

Abstract: A load guiding arrangement realized for mounting to a crane, which load guiding arrangement comprises a number of load guides, wherein a load guide comprises a guide wire extending from a lower level of the crane to an upper level of the crane; a bridging connector realized to bridge a gap between the guide wire and a control wire, which bridging connector is free to travel along the guide wire and the control wire according to a vertical displacement of a load; and a control wire extending from a lower level of the crane, through the bridging connector to a lifting connector for connecting to the load (4), and through the bridging connector again to an upper level of the crane is provided.

Abstract: A method, medium, and system to receive a mathematical model representation of performance characteristics for an aircraft and an engine combination; perform a projection based model order reduction on the mathematical model representation; eliminate, based on the projected model, fast dynamics components of the mathematical model representation; determine a reduced order model, as a differential algebraic equation, wherein algebraic equations replace the fast dynamics; set a flight path angle and a throttle level angle as a control to minimize fuel consumption for the modeled aircraft and engine combination; discretize equations of motion for the modeled aircraft and engine combination and formulate optimization equations as a nonlinear programming problem; and determine an optimal open loop control that minimizes fuel consumption for the modeled aircraft and engine combination to climb to a prescribed cruise altitude and airspeed.

Abstract: An apparatus for performing a supporting and/or a lifting operation to a wind turbine component inside the wind turbine nacelle is provided. The apparatus comprises at least a tool which comprises a manually operated linear actuator and a mounting device of said linear actuator in an element of the nacelle frame so that said linear actuator can be duly located with respect to the wind turbine component for performing said supporting and/or lifting operation.

Abstract: Disclosed in the present invention is a monitoring apparatus of crane hoisting vertical deviation angle. The monitoring apparatus uses a dual-axis inclinometer to measure the vertical deviation angle of the lifting pulley block of a crane, wirelessly transmits the angle signal, and dynamically displays the angle by a control display. The control method adopts the monitoring apparatus mentioned above. The monitoring apparatus thereof fixes a measuring platform on the outside of the guard plate of the movable pulley of the lifting pulley block, and the dual-axis inclinometer is fixed on the measuring platform surface, which becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree. The present invention can detect and monitor the verticality of the lifting pulley block in real time, and avoid the risk of non-vertical crane hoisting.

Abstract: Gantry crane vehicle for performing one or more tasks in a photovoltaic array and method thereof. The gantry crane vehicle includes one or more base plates, and one or more tracks above the one or more base plates. Additionally, the vehicle includes one or more gantry assemblies configured to slide along the one or more tracks, and one or more first support trusses configured to support the one or more tracks above the one or more base plates. Moreover, the vehicle includes one or more second support trusses connected to at least some of the one or more first support trusses, and one or more storage cabinets located on the one or more base plates. The one or more storage cabinets include one or more top surfaces and one or more side surfaces, and the one or more top surfaces are located below the one or more tracks.

Abstract: A system for tracking movable crane components to assist maneuvering the crane within a jobsite includes a computing device having a processor which calculates a 3D geospatial location and orientation of a 3D coordinate system for an upperworks that has an origin chosen along an axis of rotation between the upperworks and a lowerworks. The processor calculates a 3D position of the origin of the upperworks based on local coordinates and transforms the 3D position of the origin of the upperworks from the local coordinates to global 3D coordinates using absolute position sensing data from first and second positioning sensors attached to the crane (for instance on the upperworks and the hook, respectively) and using global 3D coordinates specific to the jobsite where the crane is located. The upperworks 3D coordinate system is useable to determine line segments in the upperworks 3D coordinate system for various movable components.

Abstract: A power assist device includes: holder holding a workpiece; a pair of wires each having one end connected to the holder to suspend the holder; a pair of wind-up wheels winding up respective other ends of the wires; a pair of motors rotationally driving the respective wind-up wheels; a pair of rotation detectors detecting rotation information of the respective motors; a pair of torque detectors detecting drive torque in the respective motors; and controller controlling drive of the motors. The controller calculates operating force to the workpiece based on the rotation information detected by the rotation detectors and the drive torque of the motors detected by the torque detectors, and controls the motors to assist the operating force that is calculated, to move up and down the holder.

Abstract: A method of controlling a crane and a manipulator including determining the relative motion between a first platform including the crane and a second platform, determining the current position of the manipulator, and repositioning the manipulator to compensate for the relative motion between the first platform and the second platform and in accordance with operator commands.

Abstract: This invention relates to a crane, in particular a telescopic crane, with a frame suspended on the load hook for taking up a special load, in particular for taking up a rotor blade of a wind turbine. In accordance with the invention a single guide cable without guying function is provided, which proceeding from the boom foot is tensioned parallel to the direction of the longitudinal axis of the boom system and is attached to the boom system at its end, wherein a frame suspended on the load hook is connected with the guide cable via at least two control cables.

Abstract: A device, method and system for automatic calibration of a container crane, the container crane being controlled by a system including a first sensor (LPS) and/or a second sensor (TPS), are provided. A calibration rig is arranged in a fixed position and includes a plurality of markers, each arranged at a known and fixed position and distance relative to one another. The markers may include a first marker with a first visual appearance, or active marker and/or a second marker with a second visual appearance, or passive marker. The active marker is preferably an illumination source, such as an IR source. A method for calibrating a container crane using the calibration device and a container control system including the calibration device and one or more computer programs are also described.

Abstract: This invention performs relative positioning, predictive control, and ballast control to achieve very heavy-lifting tasks on land or sea. Such tasks allow station keeping and precise transfer of very heavy payloads between ships underway. This scalable multibody system features three subcomponents: Airship, Skycrane and Loadframe. This semi-autonomous system combines aerodynamic (kinetic) and aerostatic (buoyancy force) lift with efficient power and propulsion. During low-speed flight, the Airship and Skycrane are decoupled but linked via a reelable Tether Control Line. Beneath the Skycrane, centered on its hull, a patented NIST (National Institute of Standards and Technology) RoboCrane, featuring a computer controlled six degrees of freedom (DoF) cabling system, is attached, to precisely suspend and control a Loadframe, with or without payload. During subsonic forward flight, these Airship and Skycrane are coupled as a single airframe: fuselage and delta wing.

Abstract: The lifting gear comprises two motors (1, 1?) that are connected to a transmission (6) via respective drive shafts (2, 2?), couplings (3, 3?), with fitted brake disks (4, 4?) or brake drums, brakes (14, 14?) and transmission input shafts (5, 5?). The transmission (6) drives cable drums (9, 9?) via transmission output shafts (7, 7?) and couplings (8, 8?). The cable drums have a cable pull (12, 12?) and fitted brake disks (10, 10?) or brake drums and safety brakes (11, 11?). The inventive lifting gear is characterized by comprising, in the drive shafts (2, 2?), devices (13, 13?) that completely or partially disconnect the motors (1, 1?) from the transmission (6) when an excess load exceeds the predetermined load. They are monitored on both sides of the devices (13, 13?) and the brakes (14, 14?) and/or safety brakes (11, 11?) are activated in the event of disconnection.

Abstract: A bottom block assembly includes a block having a central vertical axis, a hook secured to the block for attaching a load to the block, a first pair of sheaves rotatably attached to the block, a first rope reeved about the first pair of sheaves, a second pair of sheaves rotatably attached to the block, and a second rope reeved about the second pair of reeves. The first and second pairs of sheaves are each equally spaced about the central vertical axis. The first pair of sheaves are located higher on the block than the second pair of sheave so that a portion of the first rope located between the first pair of sheaves crosses over a portion of the second rope located between the second pair of sheaves. If either rope fails, the other rope ensures the block remains level with a full load attached to the hook.

Abstract: A control device and system for controlling a suspended load of a container crane with a trolley, a spreader and load lines arranged in a four point suspension for lifting a load and an optical sensor for sensing a deflection position of an orthogonal axis of a container suspended under the spreader. Two or more actuators are arranged attached to at least one load for moving at least one said suspension point closer to or farther away from an imaginary center line by shortening and/or lengthening the at least one load line.

Abstract: An apparatus for assembling a wind turbine includes a crane boom having a main bearing cable coupled to a component for lifting the component during assembly of the wind turbine, and a control mechanism coupled to the crane boom for controlling the orientation of the wind turbine component during the lift. The control mechanism includes a guide member coupled to the crane boom, a movable member coupled to the guide member and configured to be movable relative to the crane boom, a coupling member configured to couple the movable member to the wind turbine component being lifted by the crane boom, and a drive mechanism configured to actively move the movable member relative to the crane boom independent of the movement of the main bearing cable. A method for assembling a wind turbine includes using the coupling member to change the orientation of the component.

Abstract: The invention is a container lifter which is able to lift two 40 foot containers at a time. It includes two sets of the crane main lifting mechanisms with the wire rope winding systems being separate. Pulleys arranged at the crane upper frame cooperate with two lifting pulley groups arranged on the carrier. The first crane lifting mechanism and the second crane lifting mechanism are equipped with a barrel, a crane lifting mechanism motor, a brake and a crane lifting reduction gear box respectively The two sets of the crane lifting mechanisms are synchronously operated. By using the container lifter of the invention, the efficiency of the load and unload is increased, high repayment is obtained with less increasing the equipment cost, the larger beneficial result is occurred, also it has the wider applicable prospect.

Abstract: A crane having an upper block, a lower block, a drum, and two ropes. The upper block includes an equalizer having a yoke to which the ropes are connected. The connections between the ropes and the yoke include load cells that measure the forces carried by each of the ropes. The upper block includes a fail-safe system that prevents failure of the upper block in overload conditions.

Abstract: A crane having an upper block, a lower block, a drum, and two ropes. The upper block includes an equalizer having a yoke to which the ropes are connected. The connections between the ropes and the yoke include load cells that measure the forces carried by each of the ropes. The upper block includes a fail-safe system that prevents failure of the upper block in overload conditions.

Abstract: A crane having an upper block, a lower block, a drum, and two ropes. The upper block includes an equalizer having a yoke to which the ropes are connected. The connections between the ropes and the yoke include load cells that measure the forces carried by each of the ropes. The upper block includes a fail-safe system that prevents failure of the upper block in overload conditions.

Abstract: A single wire rope reeving system for a twin lift cargo container handling crane for hoisting and lowering a pair of containers in side-by-side relation independently or simultaneously.

Abstract: The invention relates to a lifting machinery of two reel differential type for two 40 feet container shore crane, comprising: a motor, a reductor and its high speed brake, reels and reel brakes; wherein at least one motor is provided; a planetary differential reductor is used as the reductor connected to the motor output end, the planetary differential reductor has a high speed input shaft, a low speed output shaft and a differential project shaft; the high speed input shaft connects to the motor output shaft, at least one high speed brake is provided on the high speed input shaft; two four project rope reels connect to two low speed output shaft; at least one reel brake is provided on each reel; and the lifting machinery comprises a differential shaft brake consisting of at least two differential shaft brakes provided on two differential project shaft; the revolution of the two differential project shaft of the planetary differential reductor is controlled by the two differential shaft brakes so that power o

Abstract: A height sensor 26 and an image recognizing section 28 are installed in a teaching unit 24; the height sensor 26 contacts a pin 30a on a load port 4 to detect the height position of the pin 30a and the image recognizing section 28 recognizes a pin 30c and thus its horizontal plane position. A platform 16 of an overhead travelling carriage 8 grips and lowers the teaching unit 24 toward the load port 4. The height sensor 26 then detects the height of the load port 4. Then, the teaching unit 24 is slightly raised. The horizontal plane position of the pin 30c is recognized and averaged over a time equal to at least the vibration period of the platform 16. As a result, the position of the load port can be accurately taught to the overhead travelling carriage 8 without preparations such as the installation of marks on the load port.

Abstract: The present invention utilizes a hoist drum with a number of different diameter sections upon which the different ends of a lifting cable simultaneously spool on and off of as a function of counterclockwise and clockwise cable spooling. This combination reduces the amount of shaft torque required to raise or lower a load while increasing the number of hoist drum rotations required to raise or lower that load. These two features are incorporated into the operation of a main crane cable length adjusting device since they offer precise and rapid adjustment capabilities to be made with smaller sized electric motors and clutches.

Abstract: An apparatus associated with a cable robot system is provided. In one embodiment, the apparatus includes: an end-effector platform adapted to be positioned and maneuvered within a three-dimensional (3D) workspace, three vertical support members adapted to be positioned outside the 3D workspace, and three adjustable cables adapted to be routed from each vertical support member and releasably secured to the end-effector platform to apply upward and downward tension to the end-effector platform. The adjustable cables are adapted to be adjustably extended and retracted in a coordinated fashion to maneuver the end-effector platform such that an adjustable portion of each adjustable cable spans from the corresponding vertical support member to the end-effector platform. At least two of the adjustable portions associated with each vertical support member are generally in parallel relation to each other.

Abstract: The present invention utilizes a hoist drum with a number of different diameter sections upon which the different ends of a lifting cable simultaneously spool on and off of as a function of counterclockwise and clockwise cable spooling. This combination reduces the amount of shaft torque required to raise or lower a load while increasing the number of hoist drum rotations required to raise or lower that load. These two features are incorporated into the operation of a main crane cable length adjusting device since they offer precise and rapid adjustment capabilities to be made with smaller sized electric motors and clutches.

Abstract: A hoist for positioning a load (40) includes a plurality of lift cylinders (15), a plurality of position sensors, a plurality of electronically controlled valves, a user input device (22), and a hoist controller (20). Each of the hydraulic hoist cylinders is coupled at one end to the hoist and at an opposite end to the load at a lifting point (45). Each of the position sensors is associated with one of the hoist cylinders and operable to provide position data for the associated hoist cylinder. The electronically controlled valves are hydraulically coupled to the hoist cylinders for extending and retracting the associated hoist cylinders. The user input device is operable by a user to specify load data. The hoist controller is operable to receive the load data from the input device and the position data from the position sensors and in response thereto to control the electronically controlled valves so as to position the load according to the load data.

Abstract: The invention relates to a lifting machinery of four reel differential type for two 40 feet container shore crane comprising: motors, reductors, high speed brakes, reels and reel brakes; wherein at least one motor is provided; the reductor connected at the motor output end is a planetary differential reductor having a plurality of high speed input shafts, low speed output shafts and the differential project shafts; the high speed input shaft connects to the motor output shaft, at least one high speed brake is provided on the high speed input shaft; four two-project rope reels are connected to the four low speed output shaft; at least one reel brake is provided to each reel; and a differential shaft brake consisting of at least two differential shaft brakes provided on two differential project shaft is also included; the revolution of the two differential project shaft of the planetary differential reductor is controlled by the two differential shaft brakes so that power of the planetary differential reductor

Abstract: A platform 12 is supported by four belts 22 to 25. Of the belts 22 to 25, a pair of belts 24, 25 is attached to a pivoting arm 26 so that the pivoting arm 26 is pivotable around a pivoting shaft 28. Pivoting of the pivoting arm 26 absorbs, for example, the difference in length between the belts 24, 25. The present invention makes it possible to simplify an elevate and lower driving mechanism of the platform 12 and to easily adjust the lengths of the belts 22 to 25. The present invention also makes it possible to prevent vibration during elevation or lowering and to allow the belts 22 to 25 to stand long use.

Abstract: A twin lifting machinery for two 40 feet container shore crane is disclosed, comprising motors, high speed shaft brakes, two reductors, a plurality of multiple-project rope reels, and a plurality of reel brakes; wherein at least two motors and two reductors are provided; the input shafts of said two reductors connect to one of the output shafts of the motors respectively, and the output shafts of each reductor connect to the reels, the reel brakes are provided on each reel respectively. The synchronous operation or individual operation of two sets of lifting machineries under electrical control can be carried out, achieving the lifting and lowering operation of two hanger tools of sea side and land side The twin lifting machinery thus can carry out both the synchronous operation of two hanger tools and the individual operation of a single hanger tool, increasing the loading and unloading efficiency of the container crane by more than 60%.

Abstract: The invention refers to a crane or excavator for the transaction of a load, which is carried by a load cable with a turning mechanism for the rotation of the crane or excavator, a seesaw mechanism for the erection or incline of an extension arm and a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system. The crane or excavator has, in accordance with the invention, a track control system, whose output values are entered directly or indirectly as input values into the control system for position or speed of the crane or excavator, whereas the set points for the control system in the track control are generated in such a way that a load movement results from it with minimized oscillation amplitudes.

Abstract: Certain exemplary embodiments provide for an overhead lift storage device comprising a longitudinal track for overhead mount and a pulley system for guiding at least one cable-like element therethrough. Each cable-like element has a connection end configured for connection with an article to be stored in a suspended storage position. An activation system is used to operate the pulley system causing the cable-like element to raise or lower a connected article between a lowered connecting position and a suspended storage position. A weight limiting clutch is used to limit the maximum force which can be used to lift a load thereby decreasing the risk of failure of the pulley system or cable-like element. A safety catch may be incorporated into the overhead lift storage device for taking the load off of the pulley system and/or cable-like element when the article is in the suspended storage position.

Abstract: The invention proposes a hoisting-cable drive for a mobile crane, which hoisting-cable drive uses a single bottom-hook block (15) instead of a known double bottom-hook block. However, to prevent this single bottom-hook block (15) from tilting in the two cable lines (9, 10), for example due to possible variations in the elongation of the two cable drives, the hoisting-cable drive according to the invention comprises a kinematic force equilibrium device (17, 21), which can equalize such differences. To this effect, another embodiment of the hoisting-cable drive according to the invention uses a hoisting-cable load pickup (21) within each cable line arrangement so that the rotary speed of the winches (7, 8) can be varied, taking into account any load differences in the individual hoisting-cable lines (9, 10). Furthermore, the invention also proposes that the rotary speed of the winches (7, 8) be adjusted, taking into account the geometric winch states and crane states.

Abstract: The invention relates to a method for controlling swaying and swinging of a spreader in a crane and the load attached thereto, the crane comprising: a trolley, hoist gears, hoisting ropes, on which the spreader is suspended from the trolley, auxiliary gears provided with motors and motor control equipment and auxiliary ropes, and in which method the forces of the auxiliary ropes exerted on the spreader are controlled by moving the auxiliary ropes using the auxiliary gears by means of torque instructions (Tcontrol) obtained on the basis of the rope forces (Frope) of the auxiliary ropes and the rotating speed data of the auxiliary gears, and whereby the rotating speed data of each auxiliary gear is formed gear-specifically as the difference between the measured rotating speed (nact) of the auxiliary gear and the calculated rotating speed (ncalc) of the auxiliary gear.

Abstract: The invention relates to a method for controlling swaying and swinging of a spreader in a crane and the load attached thereto, the crane comprising: a trolley, hoist gears, hoisting ropes, on which the spreader is suspended from the trolley, auxiliary gears provided with motors and motor control equipment and auxiliary ropes, and in which method the forces of the auxiliary ropes exerted on the spreader are controlled by moving the auxiliary ropes using the auxiliary gears by means of torque instructions (Tcontrol) obtained on the basis of the rope forces (Frope) of the auxiliary ropes and the rotating speed data (n) of the auxiliary gears, and whereby the torque instruction of the motor control equipment in each auxiliary gear is formed gear-specifically as a sum of a static (Tstat) and a dynamic (Tdyn, calc) term.

Abstract: A method for controlling the orientation of a crane load is described, wherein a manipulator 416 for manipulating the load is connected by a rotator unit to a hook suspended on ropes 410 and the rotational angle ?L of the load is controlled by a control unit using the moment of inertia JL of the load as most important parameter. The control unit is an adaptive control unit wherein the moment of inertia JL of the load is identified during operation of the crane based on data obtained by measuring the state of the system.

Abstract: A control device and system for controlling a suspended load of a container crane with a trolley, a spreader and load lines arranged in a four point suspension for lifting a load and an optical sensor for sensing a deflection position of an orthogonal axis of a container suspended under the spreader. Two or more actuators are arranged attached to at least one load for moving at least one said suspension point closer to or farther away from an imaginary center line by shortening and/or lengthening the at least one load line.