Buckling of Legs Derailing

Seismic Damage for Quayside Crane in the case of Hanshin(Japan) Earthquake

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Purpose

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

Purpose ・ Principle

■ 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

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Seismic Isolation System

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　　　　　 VTR

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 !

MagicEye

Anti-collision sensor

Sway sensortarget

MagicEye

Sway sensor

Auto steering sensor

Bay sensor

Bay sensor

Autosteeringmagnetic line

Bay mark

Bay mark

Gantry travel encoder

Auto steering sensor

Gantry travelanti-collision sensor

Gantry travelanti-collision sensor

Gantry travelanti-collision sensor

Controller

Stack profile sensor

Magic Eye achieves automated picking / stacking Image sensors installed at corners of spreader detect the target container edge to find accurate container position directly.

Stack profile sensors achieveFast / 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.

Gantry Travel & Positioning Gantry travels on magnetic lane line within ±2" auto-steering with magnetic sensors. Gantry positioning is achieved on Bay mark with positioning sensor.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

Manual Operation

Automated Operation

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Automated RTG System

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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 －　 Safety operation for preventing to interfere stacked container

Girder accelerometer

　 Camera for monitoring under trolley (Sway sensor)

Magnetic sensor for auto steering

Guide line for auto steering

Magic Eye

Stack profile sensor

Magic Eye

Sensing Device

1. Magic Eye

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Detection of lower container position by Image processing technique.

Magic Eye View during operation

Target containerLifted container

1. Magic Eye

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