KR101044915B1 - Loading and unloading system for ship using the crane - Google Patents

Abstract

PURPOSE: A loading and unloading system using a crane is provided to perform loading and unloading using a crane used in both a fixed harbor and a mobile harbor. CONSTITUTION: A loading and unloading system using a crane comprise an operation part(10), a scan part(20), a memory unit(30), and a controller(40). The operation part operates the crane to direct loading or unloading of containers. The scan part is installed in a trolley of the crane. The scan part continuously checks ship profile data as the trolley moves. The memory unit continuously updates and stores the ship profile data checked by the scan part. The controller provides an optimized path through which the operation part controls the crane using the ship profile data stored in the memory unit. The controller moves the trolley to the top of the container loaded in a container ship by using the operation part.

Description

Loading and unloading system for ship using the crane}

The present invention relates to a loading and unloading system using a crane, which is equipped with a scanner on a trolley of a crane to grasp the loading state of the container loaded on the container transport vessel to automatically load and unload the container in the shortest path and the shortest time in the controller. It relates to a loading and unloading system using a crane to control the.

The requirements for container transportation and throughput at container wharf continue to increase worldwide, and the handling process for loading and unloading technology as well as container handling technology is becoming more and more demanding. Therefore, the development demand and the container design apparatus need to standardize, speed up, and automate the container transportation of the docks in order to process with high efficiency.

Since the 1990s, when the world economy and trade have grown, the cargo volume of containers has risen rapidly. Adequate high technology, especially automatic control technology, has been developed for the crane installation of containers for transportation conditions, technical and economic advantages.

Furthermore, recently, ships used for maritime transportation, such as container ships, have become larger in size, which is to secure economic feasibility by increasing the volume of ships transported. This requires ports with mooring and unloading facilities that can dock large vessels.

However, there are not many ports at home and abroad that can dock large container ships, and construction of such a port requires a lot of expenses. The construction of a port requires a large area, and in addition, a large area of land and supporting facilities for stocking many containers should be provided. Given the impact of large ports on the surrounding environment, the development of new ports becomes more difficult.

In addition, because the loading and unloading of cargo is concentrated in only a few large ports, roads near large ports cause traffic jams due to the increase of vehicles for transporting loading or unloading cargo. The increasing number of vehicles carrying heavy loads is a major source of damage to the roads, placing huge costs on the state or local governments.

That is, in recent years, there is a need for a crane mounted on a mobile port (mobile harbor) as well as a crane fixed to a dock, thereby increasing the need for a crane that can transfer containers more accurately and quickly.

The present invention seeks to provide a loading and unloading system using a crane that can be used in both fixed docks and mobile harbors (mobile harbors).

Furthermore, the present invention is to provide an automatic system for quickly and accurately loading or unloading a container in a container transport ship to automatically find the shortest path of container movement so that the loading and unloading can be made accurately in the shortest time.

In addition, in consideration of the recent increase in the amount of logistics transport using a container transport vessel to improve the utilization efficiency of the wharf.

The present invention relates to a system provided in a crane (1) for loading or unloading the container (7) in a container transport ship (6) anchored at the dock to facilitate the loading or unloading of the container (7) A steering unit 10 which directs the loading or unloading of the container 7 by manipulating the crane 1; and the trolley 2 of the crane 1 provided in accordance with the movement of the trolley 2; A scanning unit 20 which continuously grasps the loading state (ship profile data) of the container 7 of the container transport ship 6; and the loading state of the container 7 identified by the scanning unit 20 (ship profile) a storage unit 30 in which data is continuously updated and stored; And by using the ship state (ship profile data) of the container (7) stored in the storage unit 30 to provide the optimum path for operating the crane 1 in the control unit 10 automatically moves to the working position It provides a loading and unloading system using a crane comprising a control unit 40 to make.

Here, the scanning unit 20 is characterized in that the laser scanner 21 is mounted on the trolley (2) to continuously scan the loading state of the container (7) when the trolley (2) moves.

In addition, the laser scanner 21 is mounted on the boomside end of the trolley 2, and is characterized in that the scanning toward the vertical bottom.

In addition, the laser scanner 21 is characterized by being installed at a distance of 1.5m or more in the horizontal direction at the boom side end of the spreader 4 of the crane (1).

In addition, the control unit 40 moves the trolley 2 to the upper portion of the container 7 loaded on the container transport ship 6 by using the control unit 10 to move the scan unit 20. All of the loading state of the container (7) is used to store and store in the storage unit (30), but the control unit (40) has the container (7) in the container transport vessel (6) in the scanning unit (20) The separation distance H _o to the floor, which is a stacked portion, and the height H _c of the container are input, and the scan unit 20 is formed in the plane coordinates (Block, Slot, Row) where the scan unit 20 is located. ) Is stored as the separation distance (H _d ) data from the upper surface of the uppermost container (8) located in the vertical lower portion of the scanning unit 20, the data stored in the storage unit 30 is stored in each container (7) The position is stored in the form of a spatial coordinate of (Block, Slot, Row, Level).

(Where Block = a group of containers on top of a container shipping vessel, Slot = container arrangement from left to right in a container shipping vessel, Row = container arrangement in a stern direction from the head of a container shipping vessel, Level = Height (floor) of upper and lower container shipping vessels

In addition, the control unit 40 moves the trolley 2 to predetermined plane coordinates (Block, Slot, Row) to move the trolley 2 to the plane coordinates (Block, Slot, Row) scanned by the scan unit 20. When the separation distance (H _d ) data does not match the data stored in the storage unit 30, the data of the storage unit 30 (spaced distance H _d and spatial coordinates) is automatically updated. do.

In addition, the control unit 40 moves the trolley 2 to predetermined plane coordinates (Block, Slot, Row) to unload the container 7 from the container transport vessel 6, the container (7) It characterized in that the plane coordinates cargo plus the spacing distance _(d H) in height (H _c) of the container in the data values of (Block, Slot, Row) that is automatically updated with the new separation distance _(d H) data.

In addition, the control unit 40 loads the container 7 on the container transport ship 6 by loading the container 7 on the trolley 2 and moving it to a predetermined plane coordinate (Block, Slot, Row). In this case, the value obtained by subtracting the height H _c of the container from the separation distance H _d data of the plane coordinates (Block, Slot, Row) is automatically updated with the new separation distance H _d .

In addition, when the trolley 2 lowers the hoist 3 at predetermined plane coordinates (Block, Slot, Row), the controller 40 considers the separation distance H _d from the uppermost container 8. The deceleration height (H _vd ) for decelerating the falling speed of the hoist (3) is characterized by reducing the falling speed of the hoist (3) below the deceleration height (H _vd ).

In addition, the control unit 40, the top container (8) when the trolley (2) loads the container (7) to the spreader (4) in a predetermined plane coordinates (Block, Slot, Row) to lower the hoist (3) In consideration of the separation distance (H _d ) and the height of the container (H _c ) and the deceleration height (H _vd ) for decelerating the falling speed of the hoist (3), the hoist below the deceleration height (H _vd ) It is characterized by reducing the descending speed of (3).

In addition, the hoist (3) is characterized in that it is lowered at a speed of 10% or less of the maximum speed of the hoist (3) lower than the deceleration height (H _vd ).

In addition, the controller 40 automatically calculates the slot clear height H _sc when the trolley 2 mounts the container 7 on the spreader 4 and performs loading or unloading operation. ), The trolley 2 is horizontally moved along the horizontal rail 1a of the crane 1 after raising the container 7 to the slot clear height H _sc .

Using the present invention, it is possible to provide a loading and unloading system using a crane that can be used in both fixed docks and mobile harbors (mobile harbors).

In addition, it is equipped with an automatic system for quickly and accurately loading or unloading containers on container transport vessels to automatically find the shortest path of container movement, enabling accurate loading and unloading in the shortest time, thereby saving cost and time. .

In addition, it is possible to maximize the utilization efficiency of the wharf considering the recent increase in the amount of logistics to transport by using a container transport vessel.

1 is a block diagram of a loading and unloading system using a crane according to the present invention,
2 is a reference diagram showing the utilization of the loading and unloading system using a crane according to the present invention,
3 is a view illustrating a position where the laser scanner is mounted in the loading and unloading system using a crane according to the present invention,
4 is a view showing a state in which a loading and unloading system using a crane according to the present invention generates a shipping state (ship profile data) of the container,
5 is a view for explaining a method for estimating the deceleration height to slow down the hoisting speed of the hoist loading and unloading system using a crane according to the present invention,
6 is a view illustrating a slot clearing height according to the height of a container loaded with a loading and unloading system using a crane according to the present invention,
7 is a view showing an example of the coordinate setting of the container loaded on the vessel to explain the coordinates utilized in the loading and unloading system using a crane according to the present invention,
8 is a reference diagram for explaining the crane operation height in the loading and unloading system using a crane according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in this specification and claims should not be construed in a common or dictionary sense, and the inventors will be required to properly define the concepts of terms in order to best describe their invention. Based on the principle that it can, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various equivalents may be substituted for them at the time of the present application. It should be understood that there may be water and variations.

1 is a configuration diagram of a loading and unloading system using a crane according to the present invention, Figure 2 is a reference diagram showing the utilization of the loading and unloading system using a crane according to the present invention, Figure 3 is a crane according to the present invention 4 is a view illustrating a position where the laser scanner is mounted in the used loading and unloading system, and FIG. 4 is a view showing a loading and unloading system using a crane according to the present invention to generate a shipping profile data of a container. 5 is a view for explaining a method of calculating the deceleration height to reduce the hoisting speed of the hoist loading and unloading system using a crane according to the present invention, Figure 6 is a loading and unloading system using a crane according to the present invention FIG. 7 is a diagram illustrating finding a slot clear height according to a height of a loaded container, and FIG. In order to explain the coordinates used in the loading and unloading system using the lanes is a view showing an example of the coordinate setting of the container loaded on the ship, Figure 8 is a description of the crane operation height in the loading and unloading system using a crane according to the present invention For reference only.

As shown in FIG. 1, the present invention includes a control unit 10, a scan unit 20, a storage unit 30, and a control unit 40 that operate the crane 1.

The control unit 10 corresponds to a configuration for instructing the loading or unloading of the container 7 by operating the crane 1 in the present invention. In the present invention, the control unit 10 is similar to the conventional control unit 10 except for operating in conjunction with the control unit 40 and the storage unit 30 to be described later, detailed description thereof will be omitted.

As shown in FIG. 2, the scanning unit 20 is provided in the trolley 2 of the crane 1 so that the container 7 of the container transportation ship 6 is loaded according to the movement of the trolley 2. profile data) so that it can be utilized in the control unit 40 to be described later. In the present invention, the scanning unit 20 may be a laser scanner 21 mounted on the trolley 2 and continuously scanning the loaded state of the container 7 when the trolley 2 moves. In addition, the laser scanner 21 is mounted at the boomside end of the trolley 2 to scan vertically downward to determine a separation distance H _d between the laser scanner 21 and the uppermost container 8. Will be measured. Of course, there is no limitation on the number of laser scanners 21 to be installed. According to the utilization of the crane (1) used, a plurality of laser scanners 21 are mounted to more clearly check the shipping state (ship profile date).

Here, the laser scanner 21 may be a means for measuring the distance in various ways and there is no limitation on the selection of the method and the device. In addition, the laser scanner 21 is preferably mounted so that the laser scanning device faces vertically downward to enable accurate measurement of the separation distance H _d , and reciprocates the horizontal rail 1a of the crane 1. The front of the moving trolley 2, that is, the boomside (boomside) end should be able to grasp all the state of the container (7) loaded in accordance with the movement of the trolley (2).

In the present invention, the scan unit 20 is a distance (H _d ) between the top container 8 and the scan unit 20 located in each plane coordinate (Block, Slot, Row) in the trolley (2), respectively. Measure and measure all the separation distance H _d between the uppermost container 8 and the scan unit 20 in the plane coordinates (Block, Slot, Row) and store it in the storage unit 30, using the block (Block). The location of each container 7 is stored as data in the form of spatial coordinates (Slot, Row, Level). This will be described later in the description of the controller 40. Here, Block = refers to the group of containers on the top of the container shipping vessel, Slot = container arrangement from the left to the right side of the container shipping vessel, Row = container arrangement in the stern direction from the head of the container shipping vessel, and Level = It refers to the height (floor number) of the upper and lower portions of the container transport vessel, the same term is also described in the section described below.

As shown in FIG. 3, the laser scanner 21 is preferably installed at a boomside end of the spreader 4 of the crane 1 spaced 1.5 m or more in the horizontal direction. This is to prevent the error caused by obstructing the field of view of the laser scanner 21 by interference due to the shaking of the spreader 4. In addition, since the laser scanner 21 needs to be continuously maintained, it is preferable that the laser scanner 21 be mounted at an easily accessible position.

In addition, the boomside means a direction in which the trolley 2 extends outward along the horizontal rail 1a of the crane 1. That is, it means the direction going outward along the horizontal rail (1a) in the vertical frame (1b) for supporting the crane (1).

The storage unit 30 is continuously updated and stored in the shipping state (ship profile data) of the container 7 identified by the scanning unit 20, various kinds of control generated by the control of the controller 40 to be described below The data will be saved.

As shown in FIG. 4, in order to utilize the present invention, first, the trolley 2 is moved to an upper portion of a container 7 loaded on a container transport ship 6 by using the control unit 10, and the scan is performed. The loading state of the container 7 should be grasped using the unit 20 and stored in the storage unit 30.

To this end, as shown in FIG. 7, under the control of the controller 40, the entire crane 1 moves in the direction of Gantry travel, and the trolley 2 moves in the direction of the trolley travel in each slot line in the horizontal rail 1a. The row position of each container 7 is determined while moving in the air, and the distance from the plane coordinates (Block, Slot, Row) to the upper surface of the uppermost container 8 located at the vertical bottom of the scan unit 20 ( H _d ) is measured by the scan unit 20 and stored as data. Of course, before moving of the crane 1, which block of the container 7 loaded on the container transport vessel 6 is selected to be scanned and stored in the storage unit 30, the crane (1) Gantry travel Direction information, and the information on each slot line that the trolley 2 moves on the horizontal rail 1a in the Trolley Travel direction is also stored in the storage unit, and the trolley 2 in each slot line has the horizontal rail 1a. In the direction of the Trolley Travel by riding in the direction of the distance to the distance (H _d ) by the scanning unit 20 to store the row line in the storage unit 30 also.

The calculation of the level coordinates to be stored in the storage unit 30 is based on Equation 1 below using the separation distance H _d measured by the scan unit 20.

[Equation 1]

H ₀ = H _c × N _s + H _d

Where H ₀ : Separation distance from the scanning unit 20 to the bottom, which is a portion where the container 7 is loaded in the container transport vessel 6 (height from the bottom of the transport vessel to the scanning unit), H _c : height of the container, N _s : number of containers 7 loaded at the corresponding coordinates, H _d : distance from the scanning part 20 to the upper surface of the uppermost container 8 positioned vertically below the scanning part 20)

That is, in the control unit 40, the separation distance H _o and the height H _c of the container from the scanning unit 20 to the bottom, which is a portion in which the container 7 is loaded, are loaded. When inputted, since N _s value corresponding to the number of containers 7 loaded in the corresponding coordinates can be calculated by Equation 1, the level coordinates of each container can be grasped. As a result, the storage unit 30 stores the positions of the containers 7 in a spatial coordinate format of (Block, Slot, Row, Level). Hereinafter, the space coordinates are stored as four coordinate values of (Block, Slot, Row, Level), and the plane coordinates are stored as three coordinate values of (Block, Slot, Row) excluding Level coordinates in the space coordinates. It is called.

In addition, the control unit 40 moves the trolley 2 to a predetermined horizontal coordinate (Block, Slot, Row) to scan the top container 8 positioned at the vertically lower portion of the corresponding coordinates by the scanning unit 20. In the horizontal coordinates (Block, Slot, Row), if the separation distance (H _d ) data of the container does not match the data stored in the storage unit 30 automatically the data (separation distance) of the storage unit 30 (H _d ) and spatial coordinates) can be updated. In other words, it is to minimize the damage caused by errors that may occur in the system by continuously updating the data stored by the scan of the scan unit 20.

In addition, the control unit 40 moves the trolley 2 to predetermined horizontal coordinates (Block, Slot, Row), and when the container 7 is unloaded from the container transport ship, the horizontal where the container 7 is unloaded. The height H _c of the container from the distance H _d of the coordinates (Block, Slot, Row) may be automatically updated with the new distance H _d . On the contrary, the control unit 40 loads the container 7 on the trolley 2 and moves it to a predetermined horizontal coordinate (Block, Slot, Row) to ship the container 7. The value obtained by subtracting the height H _c of the container from the separation distance H _d data of the block, slot, and row may be automatically updated with the new separation distance H _d data. That is, although the data will be continuously updated by the scan unit 20, the control unit 40 itself is to prevent errors that may occur by calculating the height by automatic arithmetic.

In addition, as shown in FIG. 5, the control unit 40 has a separation distance from the uppermost container 8 when the trolley 2 lowers the hoist 3 at a predetermined horizontal coordinate (Block, Slot, Row). Taking into account H _d ), the lowering speed of the hoist 3 should be reduced at a predetermined height.

That is, when the hoist 3 is lowered, the lowering speed is lowered when the position to be loaded is approached, and the lowering speed is lowered. When the hoist 3 is approached closer, the hoist 3 is generally lowered to prevent the risk of collision. It will slow down to about 5% of the speed. The present invention proposes that the hoist 3 is lowered at a speed of 10% or less of the maximum speed of the hoist 3 descending below a predetermined height.

For this purpose, it is preferable that a specific height is presented to slow down the hoist 3 lowering speed. Further, the deceleration height H _vd is calculated in consideration of the speed of the container 7 loading operation as much as possible in consideration of the safety factor.

Furthermore, even when the hoist 3 is lowered, when the spreader 4 loads the container 7, the height H _c of the container must be taken into consideration when the deceleration height H _vd is specified.

Furthermore, as shown in FIG. 6, the controller 40 automatically _{adjusts the} slot clear height H _sc when the trolley 2 loads or unloads the container 7 on the spreader 4. After the hoist 3 raises the container 7 to the slot clear height H _sc , the trolley 2 moves horizontally along the horizontal rail 1a of the crane 1. You can do that. Here, the slot clear height H _sc corresponds to a height such that when the trolley 2 moves a specific slot line, the slot clear height H _sc is positioned slightly above the uppermost container 8 loaded highest in the corresponding slot line. The height so as to slightly above the position can be variously calculated according to the safety factor.

This is to secure the trolley and hoist safety work area according to the height of the loaded container as shown in Figure 8 for the rapid progress of work. That is, in the prior art, the distance between the container loaded on the spreader and the top container loaded on the container transport ship during the operation of the trolley while the spreader is loaded with the container was not known. In this case, the collision with the top container was required to proceed with the work. In consideration of the concern, for safety reasons, the container was moved by pulling the hoist to the maximum height and raising the container to the maximum height. However, this type of operation takes a lot of time and wastes energy, which is a disadvantage of reducing the efficiency of the operation. In the present invention, in order to prevent this, the slot is cleared by using the ship profile data of the container transport ship. The slot clear height is calculated so that the trolley and hoist work in the optimal path safely and quickly.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1: crane
1a: Horizontal rail
1b: vertical frame
2: trolley
3: hoist
4: spreader
6: container shipping vessel
7: container
8: top container
10: control unit
20: scan unit
21: laser scanner
30: memory
40: control unit

Claims (12)

The present invention relates to a system installed in a crane (1) for loading or unloading a container (7) in a container transport ship (6) anchored at a pier to facilitate loading or unloading of the container (7),
A steering unit (10) for manipulating the crane (1) to instruct loading or unloading of the container (7);
The scanning unit 20 provided in the trolley 2 of the crane 1 to continuously grasp the shipping state (ship profile data) of the container 7 of the container transport ship 6 as the trolley 2 moves. ;
A storage unit 30 which continuously updates and stores the ship profile data of the container 7 identified by the scan unit 20; And
By using the ship state (ship profile data) of the container 7 stored in the storage unit 30 to provide an optimum path for operating the crane 1 in the control unit 10 to automatically move to the working position It includes; the control unit 40,
The control unit 40,
The trolley 2 is moved to the upper portion of the container 7 loaded on the container transport vessel 6 by using the control unit 10, and the container 7 is loaded by using the scan unit 20. While grasping all the state stored in the storage unit 30,
The control unit 40 inputs a separation distance H _o and a height H _c of the container from the scanning unit 20 to the bottom, which is a portion where the container 7 is loaded in the container transport vessel 6. Become,
The separation distance H from the plane coordinates (Block, Slot, Row) in which the scan unit 20 is positioned to the top surface of the uppermost container 8 positioned in the vertical lower portion of the scan unit 20 in the scan unit 20 _d ) stored as data,
The data stored in the storage unit (30) is loading and unloading system using a crane, characterized in that the position is stored in the form of spatial coordinates (Block, Slot, Row, Level) for each container (7).
(Where Block = a group of containers on top of a container shipping vessel, Slot = container arrangement from left to right in a container shipping vessel, Row = container arrangement in a stern direction from the head of a container shipping vessel, Level = Height (floor) of upper and lower container shipping vessels The method of claim 1, wherein the scan unit 20,
Loading and unloading system using a crane, characterized in that the laser scanner (21) mounted to the trolley (2) to continuously scan the loading state of the container (7) when the trolley (2) moves. The method of claim 2, wherein the laser scanner 21,
A loading and unloading system using a crane, characterized in that mounted on the boomside end of the trolley (2) to scan toward the vertical bottom. The method of claim 3, wherein the laser scanner 21,
Loading and unloading system using a crane, characterized in that installed in the horizontal direction at least 1.5m from the boom side (boomside) end of the spreader (4) of the crane (1). delete The method of claim 1, wherein the control unit 40,
By moving the trolley 2 to predetermined plane coordinates (Block, Slot, Row), the separation distance (H _d ) data of the container from the plane coordinates (Block, Slot, Row) scanned by the scanning unit 20 is If it does not match the data stored in the storage unit 30, the loading and unloading system using a crane, characterized in that for automatically updating the data (spaced distance (H _d ) and spatial coordinates) of the storage unit (30). The method of claim 1, wherein the control unit 40,
When the trolley 2 is moved to predetermined plane coordinates (Block, Slot, Row) to unload the container 7 from the container transport ship 6, the plane coordinates (Block, Slot) at which the container 7 is unloaded , Row) distance (H _d) height of the container from the data (H _c) a value obtained by adding the new separation distance (H _d) loading and unloading system using a crane, characterized in that is automatically updated with the data. The method of claim 1, wherein the control unit 40,
When the container 7 is loaded on the trolley 2 and moved to predetermined plane coordinates (Block, Slot, Row) to ship the container 7 to the container transport ship 6, the plane coordinates (Block, Slot) Loading and unloading system using a crane, characterized in that the value obtained by subtracting the height (H _c ) of the container from the separation distance (H _d ) data of the row) is automatically updated with the new separation distance (H _d ) data. The method of claim 1, wherein the control unit 40,
When the trolley 2 lowers the hoist 3 at predetermined plane coordinates (Block, Slot, Row), the lowering speed of the hoist 3 is determined in consideration of the separation distance H _d from the uppermost container 8. deceleration deceleration height (H _vd) specific to the reduced height of the following (H _vd) using a crane, characterized in that to reduce the lowering speed of the hoist 3, loading and unloading system for. The method of claim 9, wherein the control unit 40,
When the trolley 2 loads the container 7 on the spreader 4 and lowers the hoist 3 at predetermined plane coordinates (Block, Slot, Row), the separation distance H _d from the top container 8 and In consideration of the height (H _c ) of the container, the deceleration height (H _vd ) for decelerating the lowering speed of the hoist (3) to reduce the lowering speed of the hoist (3) below the deceleration height (H _vd ) Characterized by a crane loading and unloading system. The method of claim 9 or 10,
The hoist (3) is loading and unloading system using a crane, characterized in that lowering at a speed of 10% or less of the maximum speed of hoist (3) lower than the deceleration height (H _vd ). The method of claim 1, wherein the control unit 40,
When the trolley 2 loads or unloads the container 7 in the spreader 4, the slot clear height H _sc is automatically calculated so that the hoist 3 can recognize the container 7. The loading and unloading system using a crane, characterized in that the trolley (2) is moved horizontally along the horizontal rail (1a) of the crane (1) after raising to the slot clear height (H _sc ).

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