Method of and apparatus for controlling stacking of a load by a crane

A method of controlling stacking of a load by a crane, said crane having a trolley which moves in a horizontal direction, and a tool which is hung down using a rope from said trolley and which ascends and descends by a reeling or an unreeling operation and which holds a load to be stacked on a stacking target position, the method comprising:

• estimating periodical displacement of said tool in a horizontal position,
• positioning and stopping said trolley at a trolley stop position which is deviated from a stacking target position by a distance corresponding to a maximum amplitude of the periodical displacement, and
• controlling a speed with which said tool descends in such a manner said tool or a load held by said tool lands on the stacking target position when an amplitude of the estimated periodical displacement becomes maximum, and
• landing said tooll said load.

A method of controlling stacking of a load by a crane, said crane having a trolley which moves in a horizontal direction, a tool which is hung down using a rope from said trolley and which holds said load, and a rope reeling unit which reels or unreels said rope and thereby ascends or descends said load and stacks said load or said tool to a desired position, the method comprising:

• estimating periodical displacement of said tool in a horizontal position,
• positioning and stopping said trolley at a trolley stop position which is deviated from a stacking target position by a distance corresponding to a maximum amplitude of the periodical displacement,
• estimating a speed with which said tool descends in such a manner that said tool or said load lands on the desired position while an amplitude of the estimated periodical displacement becomes maximum, and
• controlling reeling or unreeling of said rope by said rope reeling unit in such a manner that said tool or said load descends at the estimated speed.

An apparatus for controlling stacking of a load by a crane, said crane having a trolley which moves in a horizontal direction, a tool which is hung down using a rope from said trolley and which holds said load, and a rope reeling unit which reels or unreels said rope and thereby ascends or descends said load and stacks said load or said tool to a desired position, said apparatus comprising:

• an estimating/calculating unit which estimates or calculates periodical displacement of said tool in a horizontal position,
• a trolley stopping unit which positions and stops said trolley at a trolley stop position which is deviated from a stacking target position by a distance corresponding to a maximum amplitude of the periodical displacement,
• a speed estimating unit which estimates a speed with which said tool descends in such a manner that said tool or said load lands on the desired position while an amplitude of the estimated periodical displacement becomes maximum, and
• a rope reeling control unit which controls reeling or unreeling of said rope by said rope reeling unit in such a manner that said tool or said load descends at the speed estimated by said speed estimating unit.