PROBLEM TO BE SOLVED: To prevent a collision with a vessel wall of a scraping part by transmitting a refuge command, saving the scraping part and automatically interrupting an operation when continuous time when absolute values of rates of change of angles of a roll angle and a pitch angle of a vessel from the relative location of a continuous unloader and the vessel exceed reference values exceed danger references. ;SOLUTION: The relative location between a continuous unloader and a vessel is detected by a relative location detection sensor 10 and a computer 14 calculates a rate of change of a shaft angle of the relative location based on the data. When time when the rage of change of the shaft angle exceeds a reference value is continuous, an oscillation refuge location is calculated when occurrence of danger oscillation is decided and a scraping part 5 is saved. When the refuge at the time of oscillation is not completed, the refuge is continued. When the refuge is completed, the monitoring of a rate of change of the shaft angle is continued and an oscillation decision is performed. When a state that the absolute value of the rate of change of angle becomes a safety reference or below is continued for fixed time, dangerous oscillation is decided to be finished, the scraping part 5 automatically recovers tracks before the refuge and scraping is continued.;COPYRIGHT: (C)1999,JPO
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