Crane
AssigneeTadano Ltd.
InventorYoshimasa Minami
Life of this patent
Estimating the term…
Abstract
A crane is provided. A slewing base camera detects a load W that is suspended by a wire rope, the current coordinate location of the load is calculated from the location of the detected load, the current coordinate location of a tip end of a boom is calculated from the position of a crane, a target velocity signal that was inputted from a manipulation tool is converted into a target coordinate location of the load, a wire rope direction vector is calculated from the current coordinate location of the load and the target coordinate location of the load, a target location of the tip end of the boom for the target coordinate location of the load is calculated from a wire rope reel-out amount and the wire rope direction vector, and an actuator operation signal is generated.
Claims4
A crane comprising:
- a crane apparatus;
- a monitoring apparatus provided in the crane apparatus and configured to monitor a surrounding area and obtain positional information;
- and
- a control circuitry including a processor and configured to control an actuator of the crane apparatus based on a target speed signal relating to a moving direction and a speed of a load suspended by a wire rope from a boom of the crane apparatus, the target speed signal being input from a manipulation tool, wherein
- the control circuitry is configured to control the actuator of the crane apparatus by:
- determining, based on the obtained positional information, a current position of the load and a target position of the load,
- computing, based on the determined current position of the load and target position of the load, a direction vector of the wire rope,
- computing, based on a let-out amount of the wire rope and the direction vector of the wire rope, a target position of a boom tip for the target position of the load, and
- generating an operation signal for the actuator of the crane apparatus, based on the target position of the boom tip, to control the actuator so as to move the load along a target course.
Dependencies are inferred from the claim text.