公开(公告)号：US06644485B2

公开(公告)日：2003-11-11

申请号：US10067313

申请日：2002-02-07

Applicant: Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Tadaaki Monzen

Inventor： Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Tadaaki Monzen

IPC: B66C1318

CPC classification number: B66C19/007 ,  B66C13/085 ,  B66C13/46

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 translation: 用于控制起重机的载荷的堆叠的装置估计了工具的水平位置的周期性位移。 控制工具下降的速度，使得当周期性位移的振幅变得最大时，由刀具保持的工具或负载着陆在所需位置。

公开(公告)号：US06880712B2

公开(公告)日：2005-04-19

申请号：US10195387

申请日：2002-07-16

Applicant: Koji Uchida ,  Nobuo Yoshioka ,  Kanji Obata ,  Noriaki Miyata ,  Masaki Nishioka ,  Tadaaki Monzen

Inventor： Koji Uchida ,  Nobuo Yoshioka ,  Kanji Obata ,  Noriaki Miyata ,  Masaki Nishioka ,  Tadaaki Monzen

IPC: B66C13/08 ,  B66C13/22 ,  B66C13/46 ,  B66C13/48 ,  B66C19/00

CPC classification number: B66C13/46

Abstract: A crane provided with a trolley, a hanging member, a rope member, and a hoisting device. The crane includes a horizontal position displacement detection unit which detects a horizontal positional displacement between at least two corners of the cargo and a landing place of the two corners; and a horizontal position displacement correction unit which corrects a horizontal positional displacement between the at least two corners of the cargo and the landing place of the two corners when the two corners have landed based on a detection signal from the horizontal position displacement detection unit. The horizontal position displacement correction unit corrects the position of a corner of the cargo so that the corner lands at the landing place of the corner, and then corrects the position of another corner so that the corner lands at the landing place of the corner.

Abstract translation: 具有手推车，悬挂构件，绳索构件和起重装置的起重机。 起重机包括水平位置位移检测单元，其检测货物的至少两个角落与两个角落的着陆部位之间的水平位置偏移; 以及水平位置位移校正单元，其基于来自水平位置位移检测单元的检测信号，校正货物的至少两个角部与两个角落的落地位置之间的水平位置偏移，当两个角落已经降落时。 水平位置位移校正单元校正货物拐角的位置，使得角落落在角落的着陆处，然后校正另一角的位置，使角落落在角落的着陆处。

公开(公告)号：US07106883B2

公开(公告)日：2006-09-12

申请号：US10149438

申请日：2001-10-22

Applicant: Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Hirohumi Yoshikawa

Inventor： Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Hirohumi Yoshikawa

IPC: G06K9/00

CPC classification number: B66C19/007 ,  B66C13/085 ,  B66C13/46

Abstract: When image data of a target container obtained by an image pickup unit such as a CCD installed on a hoisting accessory is processed, and a line approximating the arrangement of a pixel group which causes a change in luminance or hue larger than a set value can be fitted thereto, the pixel group having the arrangement that can be approximated by such a line is determined as a ridge of the container, that is, one representing the edge of the container held by the hoisting accessory, to detect the position of the target container. Thereby, edge extraction of the target container by the processing of the image data obtained by the image pickup unit such as a CCD camera installed on the hoisting accessory can be reliably and positively performed, while eliminating influences of various situations and conditions in the actual operating environment, and relative position detection of the target container and the suspended container can be performed accurately and reliably, by utilizing the edge extraction.

公开(公告)号：US06161887A

公开(公告)日：2000-12-19

申请号：US26151

申请日：1998-02-19

Applicant: Hiroshi Shiota ,  Masaki Nishioka ,  Kanji Obata ,  Ken Murakami

Inventor： Hiroshi Shiota ,  Masaki Nishioka ,  Kanji Obata ,  Ken Murakami

IPC: B66C1/10 ,  B66C1/66 ,  B66C13/22 ,  B66C13/46

CPC classification number: B66C13/46 ,  B66C1/663 ,  Y10S294/907

Abstract: A spreader for multistage container stacking comprising a flipper beam having a pair of corner flippers upwardly and downwardly movable along the end surface of an end beam of the spreader; a couple of right and left wires paid out from a pair of drums on the end beam, guided vertically downwardly along the opposite ends of the end beam, and tied at the ends thereof to positions straddling the center of gravity of the cross sections of the flipper beam and the corner flipper to support the flipper beam; a flipper lock pin mounting/removing device provided on the vertical side surface of the corner flipper, the flipper lock pin mounting/removing device having a lock pin insertible into and removable from a side surface opening of the spreader or a lower corner fitting of a container; a rotary encoder provided in association with the drums for detecting the amount of upward or downward movement of the flipper beam; and a lower end detecting sensor provided on the flipper beam for detecting the lower end of the container with a layout in which its light is transmitted obliquely in a horizontal plane beside each of the lower corners of the container.

Abstract translation: 一种用于多级容器堆叠的扩展器，包括一个脚踏板，其具有沿着所述扩展器的端梁的端表面向上和向下移动的一对拐角凸缘; 一对右线和左线从端梁上的一对滚筒中支出，沿着端梁的相对端垂直向下引导，并且在其端部处被绑定到横跨该横梁的横截面的重心的位置 脚蹼梁和拐杖支撑襟翼梁; 一种设置在拐角挡板的垂直侧表面上的挡板锁定销安装/拆卸装置，所述挡板锁定销安装/拆卸装置具有可插入并从所述吊具的侧面开口移除的锁定销或 容器; 与所述滚筒相关联地设置的旋转编码器，用于检测所述推杆梁的向上或向下运动的量; 以及下端检测传感器，其设置在引导板上，用于检测容器的下端，其布置使得其光在水平面中倾斜地传送到容器的每个下角附近。