Title:
CRANE
Document Type and Number:
WIPO Patent Application WO/2020/026867
Kind Code:
A1
Abstract:
The present invention addresses the problem of providing a crane capable of, when an actuator is controlled on the basis of a load as a reference, moving the load in accordance with a form intended by an operator while inhibiting the load from swinging. A target trajectory signal Pd is calculated by integrating a target speed signal Vd inputted from a suspended-load moving operation tool 35 and passing the integrated signal through a lowpass filter Lp. Target position coordinates P(n+1) of a load W are calculated from the target trajectory signal Pd. The current position coordinates q(n) of a leading end of a boom 9 are calculated from the attitude of a crane device 6. An unwinding amount l(n) of a wire rope is calculated from the current position coordinates P(n) of the load W and the current position coordinates q(n) of the boom 9. A direction vector e(n) of the wire rope is calculated from the current position coordinates P(n) of the load W and the target position coordinates P(n+1) of the load W. Target position coordinates q(n+1) of the boom 9 are calculated from the unwinding amount l(n) and the direction vector e(n). An actuation signal Md of an actuator is generated from the target position coordinates q(n+1) of the boom 9.
Inventors:
MINAMI YOSHIMASA (JP)
Application Number:
PCT/JP2019/028601
Publication Date:
February 06, 2020
Filing Date:
July 22, 2019
Export Citation:
Assignee:
TADANO LTD (JP)
International Classes:
B66C13/22
Foreign References:
| JP2006525928A | 2006-11-16 | |||
| JP2016221661A | 2016-12-28 | |||
| JPH09264736A | 1997-10-07 | |||
| JP2013184826A | 2013-09-19 | |||
| JP2010228905A | 2010-10-14 |
Other References:
YOSHIAKI HAYASHI; MOTOJI YAMAMOTO: "Trajectory planning of rotary crane control based on inverse dynamics", THE ROBOTICS SOCIETY OF JAPAN, PROCEEDINGS OF THE 23RD ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, 15 September 2005 (2005-09-15), pages 1 - 3, XP009525105
See also references of EP 3831765A4
See also references of EP 3831765A4
Attorney, Agent or Firm:
YANO INTERNATIONAL PATENT ATTORNEYS OFFICE, P.C. (JP)
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