抄録
This paper describes a new automatic operation system suitable for RTG (Rubber Tired Gantry Crane) used in container yards. It has been very difficult to realize automated RTG, because RTG is mounted on rubber tires that rigidity is low. We developed new technologies to realize automated RTG. (1) Image sensors installed at corners of spreader to detect accurate container position directly (2) Automatic landing control (3) Automatic gantry travel and positioning control
