Transcript Document 7410218

Seismic Damage for Quayside Crane
in the case of Hanshin(Japan) Earthquake
Buckling of Legs
Derailing
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Purpose ・ Principle
Purpose
■ Reduce the stress to the crane legs
→ No need to strengthen the crane body
■ Restrain the locking motion
→ Prevention of derailing
■ Reduce the reaction force to the ground, container yard
■ Maintain the function and ensure the safety to crane after earthquake
Principle
Natural vibration period of QC is much longer than conventional one
↓
Seismic acceleration is much smaller in this frequency band
↓
Response to seismic applied worked to the crane can be dramatically
reduced
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Seismic Isolation System
VTR
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Automated RTG
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Automated RTG by Mitsubishi
Mitsubishi Heavy Industries, Ltd. offers the world first automated RTG.
Automated Gantry travel / positioning
Automated Container picking / stacking
Remote operation from Control Room
→
Multiple RTGs operation possible by one operator !
Sway sensor
MagicEye
Anti-collision sensor
Stack profile sensor
Bay sensor
Controller
Gantry travel
anti-collision sensor
Magic Eye achieves automated picking /
stacking
Bay sensor
Gantry travel
anti-collision sensor
Sway sensor
target
MagicEye
Gantry Travel & Positioning
Bay mark
Autosteering
magnetic line
Gantry travel
anti-collision sensor
Auto steering sensor
Bay mark
Image sensors installed at corners of spreader detect the
target container edge to find accurate container position
directly.
Gantry travel encoder
Gantry travels on magnetic lane line within
±2" auto-steering with magnetic sensors.
Gantry positioning is achieved on Bay mark
with positioning sensor.
Auto steering sensor
Stack profile sensors achieve
Fast / Safe / Reliable Operation
Stack profile sensors installed on the girder detect the
stack profile.
The optimized path control for Hoisting / Lowering and
Trolley Travel is achieved with the measured stack profile.
Remote operation
Remote operation from control room can be
achieved with help of these automated
technology.
An operator can operate Multiple RTGs by
monitoring CRT.
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Automated RTG System
＜Automated Operation Zone＞
Chassis with driver
Automated guided vehicle
Automated Operation
Automated
Operation
Manual
Operation
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Automated RTG System
Camera for monitoring under trolley
(Sway sensor)
Girder accelerometer
Guide line
for auto steering
1. Magic Eye
（Automated picking and stacking）
－ Relative position sensing device
based on Image processing
－ Fast positioning and landing of
the container to the target slot
2. Auto steering system
－ Gantry travel
3. Stack Profile System
Stack profile sensor
Magic Eye
Magnetic sensor
for auto steering
－ Safety operation for preventing to
interfere stacked container
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1. Magic Eye
Sensing Device
Magic Eye
Detection of lower container position
by Image processing technique.
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1. Magic Eye
Magic Eye View during operation
Target container
Lifted container
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