Abstract: Proposed is a transport vehicle including a traveling unit being moved along a first direction, a slide unit being driven for sliding in a second direction vertical to the first direction, a hand unit ascending and descending by a hoist combined with the slide unit and gripping the goods, and a control unit controlling driving of the traveling unit for traveling or driving of the slide unit for sliding, wherein the control unit applies a filter signal to an initial slide control signal for driving for sliding and controls driving of the hand unit for sliding through a drive control signal for sliding to which the filter signal is applied, and the filter signal includes a plurality of impulse signals and an interval between the impulse signals is determined as a value corresponding to a length of the hoist in linear interpolation on pre-stored period values on a per-hoist-length basis.

Abstract: A crane, in particular a revolving tower crane or a bridge crane, and a method for controlling such a crane, having a hoist cable, which extends from a crane boom and carries a load-receiving means, drive devices for moving crane elements and displacing the load-receiving means, a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path, and a pendulum damping device for damping pendulum movements of the load-receiving means, wherein the pendulum damping device has a pendulum sensor for detecting pendulum movements of the hoist cable and/or of the load-receiving means and a controller component having a closed control circuit for influencing the control of the drive devices depending on pendulum signals that are indicated by pendulum movements detected by the pendulum sensor and are returned to the control loop.

Abstract: An air sanitizing apparatus for a vehicle comprising: an ozone generator; a negative ion generator; and an ultraviolet radiation source. The air sanitizing apparatus further includes a rotating feature and a motor operably connected to the rotating feature, the rotating feature configured to move the air sanitizing apparatus along a track system. The air sanitizing apparatus can includes a first end portion; a second end portion; a middle portion disposed between the first end portion and the second end portion, the middle portion rotatable relative to the first end portion and the second end portion about an axis that extends through both the first end portion and the second end portion. The ozone generator, the negative ion generator, and the ultraviolet radiation source are all disposed at the middle portion. The air sanitizing apparatus is disposed in an interior of a vehicle below but adjacent to a ceiling.

Abstract: A bridge crane anti-swing method based on first-order dynamic sliding mode variable structure includes steps of: constructing a two-dimensional bridge crane system model and a crane system control model, respectively; performing differentiation on two sliding mode surfaces containing swing angle dynamic change and rope length dynamic change to obtain a crane position dynamic sliding surface s1 and a rope length dynamic sliding mode surface s2, respectively; combining a displacement x, a length l and a swing angle ? in the two-dimensional bridge crane system model with the crane position dynamic sliding surface s1 and rope length dynamic sliding mod surface s2 in the crane system control model to obtain a relationship among a horizontal traction force f1, an along-rope traction force f2, the displacement x, the length l and the swing angle ?.

Abstract: One variation of a method for tracking lift events at a construction site includes: accessing a timeseries of load values output by a weight sensor, coupled to a crane hook, and a first geospatial location of the crane hook during a first time period; deriving a lifting profile at the first geospatial location from the timeseries of load values; deriving a weight of the object from the timeseries of load values; identifying a type of the object carried by the crane hook during the first time period based on the lifting profile; accessing a second geospatial location of the crane hook during unloading of the object from the crane hook; and generating a lift event record defining the type of the object, the weight of the object, a pickup location of the object at the first geospatial location, and a drop-off location of the object at the second geospatial location.

Abstract: A method for controlling command of lifting a load suspended from a boom, carried by a mast of a crane, includes determining: depending on the mass of the suspended load, a specified load factor quantifying an acceptable exceedance with respect to a predetermined maximum allowable load for said crane; a maximum permitted lifting acceleration, depending on the mass of the suspended load, on the specified load factor and on the distribution position of the load suspended on the boom with respect to the mast; from lifting speed setpoints, optimized lifting speed setpoints intended to be executed by a motor device for displacing the suspended load according to a lifting movement so that the acceleration related to the lifting movement remains, in absolute value, less than or equal to the maximum permitted acceleration.

Abstract: A wireless transmitter includes a pair of control sticks, circuitry coupled to control sticks, and an antenna coupled to the circuitry. The circuitry is configured to process signals produced by the control sticks to provide control inputs for the speed, direction, and other flight characteristics of the model aircraft being controlled by the transmitter. The transmitter is configured for multiple operational modes in which the pair of control sticks engage or disengage functionality, such as return-to-center functionality, vertical or horizontal position limiting functionality, or position select functionality.

Abstract: The heuristic fuzzy controller for gantry cranes provides for controlling the position of the cart of a gantry crane while suppressing the swing angle of the payload. The rules of the controller are obtained taking into account the knowledge of an experienced crane operator. The controller uses only one fuzzy system to achieve the two control objectives.

Abstract: A highly efficient Automated Material Handling System (AMHS) that allows an overhead hoist transport vehicle to load and unload Work-In-Process (WIP) parts directly to/from one or more WIP storage units included in the system. The AMHS includes an overhead hoist transport subsystem and at least one vertical carousel stocker having a plurality of storage bins. The overhead hoist transport subsystem includes an overhead hoist transport vehicle traveling along a suspended track defining a predetermined route, which runs adjacent to the carousel stocker, thereby allowing the overhead hoist transport vehicle to access a WIP part directly from one of the storage bins. At least one of the storage bins includes a movable shelf operative to move laterally from a first position along the carousel path to a second position near the overhead hoist transport vehicle.

Abstract: A device for controlling a swinging of a load suspended from a motorized slidable element is described. The controlling device includes a control unit and an inertial platform. The control unit is provided with means to measure and control the speed of the motorized slidable element and is able to process the values representative of the inclination angle of the cable with respect to the vertical to calculate and to impart control actions in order to dynamically control the speed of the motorized slidable element as a function of a desired inclination angle of the cable with respect to the vertical.

Abstract: The present invention shows a crane controller for the semi-automatic control of a rotary crane, the crane comprising at least a slewing actuator for creating a slewing motion of the crane and/or a luffing actuator for creating a luffing motion of the crane, the crane controller comprising an input unit which can be operated by a operator to provide a desired slewing speed and/or a desired luffing speed as an operator input and a model-predictive reference trajectory planning module comprising an optimization unit for calculating a reference trajectory that obeys the system dynamics and follows the operator input, and a feedforward-controller using the reference trajectory for controlling the slewing actuator and/or the luffing actuator. Further, the optimization unit takes into account the deflection of the rope in the tangential and/or radial direction when solving the optimization problem that provides the reference trajectory.

Abstract: A fast crane and an operation method for the same are provided. The operation method includes calculating a pendulum period and moving the object. The pendulum period of the cable is calculated. The object is moved with an acceleration during an active time based on the pendulum period.

Abstract: A load is handled by a load handling device comprising gripping means for gripping at least one fastening point of the load, comprising determining, in the gripping means, a distance map within the area of which are described a part of the area of the load to which the gripping means attach and/or on which another load is stacked, as well as surroundings of the load.

Abstract: A system for determining the horizontal location and skew of a grappling member of a crane includes at least two types of reflectors arranged on the grappling member, the relative locations and shapes of which are known; at least one scanning distance sensor mounted on the crane to measure the distance and direction from the crane to the reflectors; and a data processing device arranged to store in its memory the relative locations and shapes of the reflectors; and to determine the horizontal location and skew of the grappling member on the basis of at least the relative locations and shapes of the reflectors and measured distances and directions from the crane to the reflectors.

Abstract: A control device using image tracking technology for controlling overhead crane system is disclosed, in which a plurality of image capturers are used to monitor a operating space and a position of the hoisted load, a respective image of two of which are used to establish a 3D coordinate data, so that an image processor calculates parameters including a hoisted load position (P), a swing angle (?) and a cable length (l) by referring to the images received, and generates a feedback signal to a crane controller. The crane controller issues a drive signal according to the feedback signal to drive the overhead crane system.

Abstract: The present invention relates to a crane control apparatus for a crane where a load is suspended on a crane cable from a cable suspension point of the crane, comprising an observer for estimating at least the position and/or velocity of the load from at least one sensor input of a first sensor by using a physical model of the load suspended on the crane cable, whereby the physical model of the observer uses the load position and/or the load velocity as a state variable.

Abstract: A system for determining a position of a vehicle and/or in a trailer. The at least one container is loaded and unloaded into the vehicle and/or trailer by a crane. The crane includes a container spreader for gripping the containers and a positioning system for the crane and container spreader. The vehicle and trailer have locking pins that lock into pin holes in the corners of the container. A laser scanner determines the position of the locking pins in the vehicle and/or the trailer and the position of the container depending on the position of the locking pins. The laser scanner is arranged to determine positions in relation to the ground of the locking pins. The position information is relayed to the crane. Based on the position information, the positioning system calculates the position of the locking pins in relation to the crane.

Abstract: A method of swing stopping control of a suspended load of a crane including a hoist and a trolley solves an equation of motion, given as an equation with respect to the deviation angle of a suspended load from the vertical direction when the trolley travels, for the trolley acceleration to thereby obtain the value of the acceleration or deceleration of the trolley, obtains speed patterns corresponding to the values of the acceleration or deceleration, drives the trolley according to the obtained speed patterns, and carries out control so that the deviation angle of the suspended load from the vertical direction becomes zero at the time when the acceleration or deceleration of the trolley is ended. Thus, even if the length of a rope holding the suspended load up is changed, a required speed pattern is produced to permit highly accurate positioning.

Abstract: A fast crane and an operation method for the same are provided. The operation method includes calculating a pendulum period and moving the object. The pendulum period of the cable is calculated. The object is moved with an acceleration during an active time based on the pendulum period.

Abstract: A turning device for a hoist is disclosed, in which a weight thing with a narrow width can be stably turned with a stable support. A rope end unit or an upper sheave unit is easily installed at a hoist frame. A rope end unit or an upper sheave unit is installed in a hoist frame and is freely movable in opposite positions.

Abstract: The invention relates to a method for controlling a crane, the method comprising comparing velocity requests (Vref) given by a crane control system with a previous velocity request and, if the velocity request is changed, forming and storing an acceleration sequence for the corresponding velocity change, summing the velocity changes defined by the stored acceleration sequences at a particular time and adding the obtained sum (dV) to the previous velocity request to achieve a new velocity request (Vref2), which is set as a new control and velocity request for the crane drives (11, 12), and performing some of the velocity changes defined by the summed acceleration sequences at the definition time of each selected sequence on each program round, i.e. control step, and performing the rest of them as delayed in such a manner that the stored sequence parts to be performed as delayed are read and summed on a plurality of program rounds.

Abstract: A method of swing stopping control of a suspended load of a crane including a hoist and a trolley solves an equation of motion, given as an equation with respect to the deviation angle of a suspended load from the vertical direction when the trolley travels, for the trolley acceleration to thereby obtain the value of the acceleration or deceleration of the trolley, obtains speed patterns corresponding to the values of the acceleration or deceleration, drives the trolley according to the obtained speed patterns, and carries out control so that the deviation angle of the suspended load from the vertical direction becomes zero at the time when the acceleration or deceleration of the trolley is ended. Thus, even if the length of a rope holding the suspended load up is changed, a required speed pattern is produced to permit highly accurate positioning.

Abstract: Disclosed are various embodiments of methods and systems related to double-pendulum crane control. In one embodiment for determining a specified insensitivity (SI) input shaper for a double-pendulum crane, the method using a processor system to implement the steps including determining a plurality of insensitivity ranges based upon operational parameters associated with the double-pendulum crane; and determining SI input shaper parameters based upon tolerances corresponding to the plurality of insensitivity ranges, the SI input shaper parameters including an amplitude and a time corresponding to each impulse of the SI input shaper.

Abstract: The present invention relates to a method and an associated device for automatically jettisoning an external load (4) that is reversibly suspended from a release-hook (12) of an aircraft fuselage (2) by a sling (13), which method comprises: measuring the angle (?) between said sling (13) and a vertical axis in elevation of the aircraft; and activating automatic jettisoning when firstly said angle (?) exceeds an upper limit (LSUP), and secondly said sling (13) is directed towards the rear (4?) of the aircraft, thereby making it possible, optionally, to proceed with jettisoning said external load (4).

Abstract: A method and a system for controlling a crane drive unit so as to suppress sway of a load suspended by a rope of a crane, which sway occurs when the load has been transported from a first position to a second position, the control being made by operating a controller having a filter unit by using a feedforward control program.

Abstract: An assembly has a mechanically movable element (1), by the movement of which an oscillatory system (2) can be excited to perform an oscillation which has a resonant frequency (f) and a corresponding oscillatory period (T). First of all, a control device (4) moves the mechanically movable element (1) at a first speed (v1). If the control device (4) is stipulated a second speed (v2) by an operator (7), the control device (4) determines a jolt profile, by means of which the speed (v) of the mechanically movable element (1) is changed to the second speed (v2), and moves the mechanically movable element (1) according to the determined jolt profile. Said control device (4) determines the jolt profile in such a way that an oscillation of the oscillatory system (2) which is excited at the beginning of the speed change is calmed at the end of the speed change.

Abstract: This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (16). The device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator (33) for outputting a sway angle estimation calculated value ?e obtained by multiplying a sway angle calculator factor by the output signal TRFLHPF.

Abstract: A system and method for using a gantry crane to efficiently and safely transport loads such as containers and ship hatch covers from one location to another along a known path while avoiding collisions between the loads and obstructing objects which may be situated in the known path. A transceiver emitting laser beams may be used to establish both the position of the spreader and its load and the profile of the known path. Continuous comparisons are made by computer between the location of a dynamic digital protective envelope constructed around the crane spreader and its load, if any, and a digital representation of the profile of the known path to be traveled by the spreader and its load, if any. In the event, the comparison indicates intersection of the protective envelope and the path profile, a speed limit is imposed on the motor controlling the movement in the X axis of the trolley or in the Z axis of the spreader, as required to prevent a collision.

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: This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (16). The device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator (33) for outputting a sway angle estimation calculated value ?e obtained by multiplying a sway angle calculator factor by the output signal TRFLHPF.

Abstract: A lift system for lifting and moving heavy parts in an assembly environment. The system includes an overhead cart that travels along a rail. A cable connected to the cart is coupled to the part to lift and move the part. The cart includes a braking device and a controller that controls braking of the cart on the rail. When the cart is moving along the rail, and the worker wishes to stop the part at the assembly location, the worker can initiate the braking operation of the cart by pressing a button. The braking device and the controller control the braking of the cart by applying and releasing the brake in a manner determined by the mass of the cart and the mass of the part so that as the cart is being stopped, the part is prevented from swinging.

Abstract: Disclosed are various embodiments of methods and systems related to double-pendulum crane control. In one embodiment for determining a specified insensitivity (SI) input shaper for a double-pendulum crane, the method using a processor system to implement the steps including determining a plurality of insensitivity ranges based upon operational parameters associated with the double-pendulum crane; and determining SI input shaper parameters based upon tolerances corresponding to the plurality of insensitivity ranges, the SI input shaper parameters including an amplitude and a time corresponding to each impulse of the SI input shaper.

Abstract: An assembly has a mechanically movable element (1), by the movement of which an oscillatory system (2) can be excited to perform an oscillation which has a resonant frequency (f) and a corresponding oscillatory period (T). First of all, a control device (4) moves the mechanically movable element (1) at a first speed (v1). If the control device (4) is stipulated a second speed (v2) by an operator (7), the control device (4) determines a jolt profile, by means of which the speed (v) of the mechanically movable element (1) is changed to the second speed (v2), and moves the mechanically movable element (1) according to the determined jolt profile. Said control device (4) determines the jolt profile in such a way that an oscillation of the oscillatory system (2) which is excited at the beginning of the speed change is calmed at the end of the speed change.

Abstract: The invention relates to a method for controlling a crane, the method comprising defining, at each time, the distance (s) the crane moves before stopping and without swinging of the load fastened to it by summing up a stopping distance (s1), which is calculated on the basis of the internal target velocity, i.e. the velocity which the control of the algorithm implementing this has after the stored velocity changes are entirely implemented, by using the selected deceleration ramp; and a distance (s2), which is calculated on the basis of stored velocity change requests stated before the stopping decision and on the basis of remaining performance times.

Abstract: A servo motor driven hoist includes a float mode in which a load is raised lowered in response to manually applied forces on the load exerted by an operator in which forces applied to the load as a result of accelerations of the load generated by hoist movement of said load are compensated for by sensing the accelerations and computing the forces resulting therefrom, and subtracting those forces from the sensed total magnitude of forces acting on the load to eliminate the effects of dynamically generated forces when in the float mode.

Abstract: A method and a system for controlling a crane drive unit so as to suppress sway of a load suspended by a rope of a crane, which sway occurs when the load has been transported from a first position to a second position, the control being made by operating a controller having a filter unit by using a feedforward control program.

Abstract: The present disclosure relates to a method of operating a crane whose safe working load depends on one or more changeable parameters, with the change of at least one of the parameters being made such that the speed of the parameter change is reduced continuously or step-wise before a parameter value is reached at which the safe working load corresponds to the actual working load.

Abstract: A method and a device for determining the rotary oscillation of a load suspended from a lifting gear are disclosed. The lifting gear includes a trolley equipped with a camera that can be oriented towards the load. The load includes at least two spaced apart markers, with one marker located on or near the axis of rotation, which extends in the lifting direction. A rotary oscillation of the load can be determined from the position of two markers, whereby at least one marker is recorded by the camera and its position is determined. At least at certain points in time, the rotary oscillation is determined by including a virtual position of a marker.

Abstract: A container crane includes a movable trolley and a load-carrying frame pendantly connected to the trolley and comprised of a spreader and a head block, for transfer of a container from or to a transport vehicle. Plural optical detectors are mounted on the trolley for identifying longitudinal and transversal edges of the head block or spreader and the transport vehicle. Operatively connected to the detectors is a processing device for determining a spatial position of the edges and calculating a position of longitudinal and transversal center lines of the head block or spreader and the transport vehicle and their spatial positions in relation to one another. In this way a possible offset of the center lines of the head block or spreader with regard to those of the transport vehicle in longitudinal and transversal directions as well as a rotation angle of the center lines can be determined, whereby a detected offset or rotation angle is compensated by displacing the spreader relative to the head block.

Abstract: In a method for recognition of the position of a load on a lifting gear, an active light source and a camera are mounted to a trolley of the lifting gear. Both, the light source and the camera are directed towards the load. The load has attached thereto at least one marker used for the recognition of the load position and including an active light source. In response to incoming light from the light source on the trolley, the light source of the marker transmits a light signal to the camera.

Abstract: The invention relates to a crane that comprises an electronic control for actuating drives for at least one lifting gear and for crane movements, which can be operated by an operator via manual input devices. Said manual input devices can be adjusted as regards their sensitivity (definition). In order to adapt the system behavior of the crane to the needs of different operators and different lifting requirements in an optimum manner, the electronic control is provided with at least two adjustments, selectable by the operator, that set for the manual input devices respective different sensitivities defined for the crane operation.

Abstract: Methods and apparatus for eliminating instability in intelligent assist devices are disclosed. The intelligent assist device includes an overhead motorized moveable trolley, a support that extends downwardly from the trolley to a payload, and a sensor operatively coupled to the support to sense a characteristic of motion imparted by a human operator to the device. A controller is operatively coupled with the sensor and the trolley to control movements of the trolley. The controller estimates an amount of oscillation in the support that does not correspond to the motion imparted by the human operator and adjusts movements of the trolley based thereon.

Abstract: The invention concerns a method for stabilizing the motion of an articulated chain of a chain block, especially to prevent the formation of resonance oscillation of the chain, in which an articulated chain is led across a polygonal chain wheel with non-uniform pitch, which is driven by an electric motor. In order to create a method to prevent the formation of a resonance oscillation of the articulated chain, it is proposed that a periodic and/or stochastic and dampening actuating variable is superimposed on the velocity of the chain wheel (4) and the dampening actuating variable produces a change in the chain velocity so as to prevent a formation of a resonance oscillation. The chain drive with reduced polygon effect is characterized in that an electronic damper (8) is hooked up in front of the electric motor (2), which produces a control of the electric motor (2) such that a formation of a resonance oscillation of the articulated chain (5) is prevented.

Abstract: This crane control system with swing control and variable impedance is intended for use with overhead cranes where a line suspended from a moveable hoist suspends a load. It is responsive to operator force applied to the load and uses a control strategy based on estimating the force applied by the operator to the load and, subject to a variable desired load impedance, reacting in response to this estimate. The human pushing force on the load is not measured directly, but is estimated from measurement of the angle of deflection of the line suspending the load and measurement of hoist position.

Abstract: An apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Abstract: A control system for reducing cargo pendulation. The control system calculates a correction factor and adds the correction factor for the operator input motions in addition to the motion of the platform in order to provide a reference position of the suspension point of the hoisting cable. The reference position is then provided to a tracking controller so that the crane can be forced to track the needed motions for reducing the cargo pendulation.

Abstract: A system is disclosed for eliminating sway of a load in a crane or crane-like system subject to operator's command. The load is suspended by a cable from a horizontally movable trolley and can be hoisted vertically. The system uses the principle of cancellation to eliminate sway even when the crane has simultaneous horizontal trolley and vertical hoisting motions. The system takes into account the full dynamical effect in computing cancellation signals. The use of a family of ordinary differential equations for the computation of the cancellation controls is a key component of the invention. In computing these controls, the differential equations are solved in real time using sensory measurement of the cable length and its time derivative.

Abstract: The invention provides a load measurement in a crane hoist system. A parameter adaptation process uses a model of the system in order to measure the lifted load. A controller monitors hoist speed and hoist torque feedbacks that are input into the model and processed using a filter, as well as a previously determined load value. The model adapts automatically to determine the weight of the lifted load.

Abstract: A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

Abstract: A system is disclosed for eliminating sway of a load in a crane or crane-like system subject to operator's command. The load is suspended by a cable from a horizontally movable trolley and can be hoisted vertically. The system uses the principle of cancellation to eliminate sway even when the crane has simultaneous trolley and hoisting motions. The system takes into account the full dynamical effect in computing cancellation signals. The use of a family of ordinary differential equations for the computation of the cancellation controls is a key component of the invention. In computing these controls, the differential equations are solved in real time using sensory measurement of the cable length and its time derivative. The cancellation controls handle the sway induced by the operator's command. Sway can also be induced by other factors, like wind load and external disturbances. This system also includes a feedback mechanism for eliminating sway due to such factors.