1. Seismic Damage for Quayside Crane in the case of Hanshin(Japan) Earthquake
The earthquake that struck Hyogo Prefecture, Japan in 1995 caused breakage and derailment in 52 of 55 quayside cranes located in Kobe Port, including the total collapse of one crane.
A report by the Japan Cargo Handling Mechanization Association indicated two major reasons for the breakage and derailment of these quayside cranes.
First, displacement of the caissons forming the quay structures caused widened crane rail spans.
Second, crane legs were lifted by the effects of horizontal seismic forces, and then fell to the ground.
Buckling of Legs
Derailing 22

2. Purpose ・ Principle 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
Principle
The purpose of the seismic isolation system is to reduce seismic stress on the crane so there is no need to strengthen the crane legs, prevent locking to avoid derailing, reduce reaction force to the ground, and ensure that crane functions and safety are maintained immediately after an earthquake.
The seismic isolation system makes natural vibration period of quayside crane is much longer than conventional crane, so that seismic acceleration is much smaller , and seismic force applied to the crane can be dramatically reduced.
Details we can show the demonstration video.
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 23

3. Seismic Isolation System
　　　　　VTR 24

4. Automated RTG
Next, I introduce the automated rubber tired transfer crane. 25

5. 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 !
Magic Eye achieves automated picking / stacking
Image sensors installed at corners of spreader detect the target container edge to find accurate container position directly.
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.
The most prominent feature of the Mitsubishi automated RTG is that a single operator can control multiple cranes　from the control room.
This is made possible by automated stacking with Magic Eye, an automated steering travel system, Stack profile sensors system and a wireless remote operation system.
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.
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. 26

6. ＜Automated Operation Zone＞
Automated RTG System
＜Automated Operation Zone＞
Chassis with driver　
　Automated guided vehicle
Automated Operation
Automated Operation
Manual Operation
This drawing is indicated automated zone.
In case of using chassis, stacking zone can be automated , and zone above chassis is done by manual.
In case of using automated guided vehicle , we can do fully automated operation. 27

7. Automated RTG System 1. Magic Eye （Automated picking and stacking）
Girder accelerometer
　Camera for monitoring under trolley (Sway sensor)
Magnetic sensor for auto steering
Guide line for auto steering
Magic Eye
Stack profile sensor
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
This drawing is indicated the sensor location of automated RTG system. This system is applied magic eye,auto steering system and stack profile system.
The function of Magic eye is relative sensing device based on image processing and fast positioning and landing control to the target slot.
I introduce each these system. 28

8. 1. Magic Eye Sensing Device Magic Eye
First, magic eye system.
Magic eye sensors are installed at the corner of the spreader. These sensors can detecte lower container position for stacking or picking container
Automated stacking systems that use the Magic Eye can detect swaying in the spreader, calculate the amount of motion, and adjust the lowering speed for stacking onto other containers.
This system achieves a stacking control precision of +-25 mm.
Magic Eye
Detection of lower container position by Image processing technique. 29

9. Magic Eye View during operation
Target container
Lifted container
This is Magic Eye view during operation for monitoring 30