A boom extension monitoring system is provided that uses a combination of sensors to determine an absolute location and a relative location of the boom. As the boom extends or retracts, the monitoring system can determine the absolute location of the boom as the sum of the absolute at relative distances. These distances can be obtained through a combination of a grid, low-resolution sensors, high-resolution sensors, counters, processors, and other components according to various embodiments described herein. A process to obtain the total boom extension of multiple telescoping beams by monitoring the extension of a single beam element is also described.

A boom extension monitoring system is provided that uses a combination of sensors to determine an absolute location and a relative location of the boom. As the boom extends or retracts, the monitoring system can determine the absolute location of the boom as the sum of the absolute at relative distances. These distances can be obtained through a combination of a grid, low-resolution sensors, high-resolution sensors, counters, processors, and other components according to various embodiments described herein. A process to obtain the total boom extension of multiple telescoping beams by monitoring the extension of a single beam element is also described.

Equipment for self-positioning handling of aluminum profiles for rail vehicle, including a handling and lifting mechanism, a steel beam fixed on and being driven to lift by the mechanism, 2-DOF spatial mechanisms fixed on the steel beam and mechanical clamping jaws fixed on a clamping jaw connecting seat; the 2-DOF spatial mechanisms includes a cylinder supporting seat, four connecting members on an outer ring of the cylinder supporting seat hinged respectively to four first connecting rods; wherein, two of the first rods are hinged to first ends of two ball joint connecting rods of which second ends are hinged to the clamping jaw connecting seat; the other two first rods are hinged to first ends of two second connecting rods of which second ends are hinged to the clamping jaw connecting seat; a piston rod of a cylinder center of the cylinder supporting seat driving the clamping jaw connecting seat.

The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity v.sub.m and maximum acceleration a.sub.m of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity v.sub.m and maximum acceleration a.sub.m of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

A cargo crane including an arm turning mechanism that turns a crane arm; an arm luffing mechanism that adjusts the luffing angle; an arm extension and contraction mechanism that adjusts the arm length; and a control device that calculates a trajectory in which a suspended cargo is conveyed, and that controls the mechanisms. The control device calculates the trajectory so as to be a straight line trajectory as viewed from at least the vertical direction; calculates a turning angle θ, a luffing angle φ, and an arm length L so as to cause the trajectory to be the straight line trajectory by using the cargo start position, the cargo target position, a maximum speed v.sub.max, a suspended cargo swing cycle T, and a start-up time T.sub.1; and controls the mechanisms so as to achieve the calculated turning angle θ, luffing angle φ, and arm length L.

When performing the conveyance from an arbitrary cargo start position to an arbitrary cargo target position, it is possible to control swing prevention without constraint condition and with a simple control system. There is provided a cargo crane including an arm turning mechanism (4) that turns a crane arm (2); an arm luffing mechanism (3) that adjusts the luffing angle; an arm extension and contraction mechanism (5) that adjusts the arm length; and a control device that calculates a trajectory in which a suspended cargo (7) is conveyed, and that controls the arm turning mechanism (4), the arm luffing mechanism (3), and the arm extension and contraction mechanism (5). The control device calculates the trajectory so as to be a straight line trajectory as viewed from at least the vertical direction, according to the cargo start position and the cargo target position; calculates a turning angle θ, a luffing angle φ, and an arm length L so as to cause the trajectory to be the straight line trajectory by using the cargo start position, the cargo target position, a maximum speed v.sub.max, a suspended cargo swing cycle T, and a start-up time T.sub.1; and controls the arm turning mechanism (4), the arm luffing mechanism (3), and the arm extension and contraction mechanism (5) so as to achieve the calculated turning angle θ, luffing angle φ, and arm length L.

A cargo crane including an arm turning mechanism that turns a crane arm; an arm luffing mechanism that adjusts the luffing angle; an arm extension and contraction mechanism that adjusts the arm length; and a control device that calculates a trajectory in which a suspended cargo is conveyed, and that controls the mechanisms. The control device calculates the trajectory so as to be a straight line trajectory as viewed from at least the vertical direction; calculates a turning angle θ, a luffing angle φ, and an arm length L so as to cause the trajectory to be the straight line trajectory by using the cargo start position, the cargo target position, a maximum speed v.sub.max, a suspended cargo swing cycle T, and a start-up time T.sub.1; and controls the mechanisms so as to achieve the calculated turning angle θ, luffing angle φ, and arm length L.

When performing the conveyance from an arbitrary cargo start position to an arbitrary cargo target position, it is possible to control swing prevention without constraint condition and with a simple control system. There is provided a cargo crane including an arm turning mechanism (4) that turns a crane arm (2); an arm luffing mechanism (3) that adjusts the luffing angle; an arm extension and contraction mechanism (5) that adjusts the arm length; and a control device that calculates a trajectory in which a suspended cargo (7) is conveyed, and that controls the arm turning mechanism (4), the arm luffing mechanism (3), and the arm extension and contraction mechanism (5). The control device calculates the trajectory so as to be a straight line trajectory as viewed from at least the vertical direction, according to the cargo start position and the cargo target position; calculates a turning angle θ, a luffing angle φ, and an arm length L so as to cause the trajectory to be the straight line trajectory by using the cargo start position, the cargo target position, a maximum speed v.sub.max, a suspended cargo swing cycle T, and a start-up time T.sub.1; and controls the arm turning mechanism (4), the arm luffing mechanism (3), and the arm extension and contraction mechanism (5) so as to achieve the calculated turning angle θ, luffing angle φ, and arm length L.

An overhead hoist transfer system and an overhead hoist transfer. The overhead hoist transfer system includes a plurality of lower rails, a plurality of upper rail sets, and a plurality of overhead hoist transfers. The overhead hoist transfer includes a moving kit and a frame. The moving kit includes a control module, a drive wheel set, and a plurality of upper guide wheels. The control module controls the upper guide wheels to move between an upper position and a lower position. Before the overhead hoist transfer makes a turn along the lower rail and the upper rail set, the control module controls the upper guide wheels to move to the upper position or the lower position. When the plurality of upper guide wheels abut against the adjacent upper rail set, the overhead hoist transfer turns along the upper rail set.

An overhead hoist transfer system and an overhead hoist transfer. The overhead hoist transfer system includes a plurality of lower rails, a plurality of upper rail sets, and a plurality of overhead hoist transfers. The overhead hoist transfer includes a moving kit and a frame. The moving kit includes a control module, a drive wheel set, and a plurality of upper guide wheels. The control module controls the upper guide wheels to move between an upper position and a lower position. Before the overhead hoist transfer makes a turn along the lower rail and the upper rail set, the control module controls the upper guide wheels to move to the upper position or the lower position. When the plurality of upper guide wheels abut against the adjacent upper rail set, the overhead hoist transfer turns along the upper rail set.

A crane includes a carrier unit having a chassis, tires connected to the chassis, a carrier deck and outriggers. A superstructure is mounted on the carrier unit, the superstructure includes a telescoping boom. A slope sensor is operably connected to the carrier unit and configured to detect a pitch and/or a roll of the carrier unit during a lift operation. The crane further includes a system for monitoring a load lifted by the telescoping boom. The system is configured to determine the current load lifted by the telescoping boom, receive pitch and/or roll information of the carrier unit from the slope sensor, adjust coordinates of the crane in a coordinate system based on the pitch and/or roll information, determine a transformed operating radius using the adjusted coordinates; and compare the load lifted to a rated capacity at the transformed operating radius.