Patent ID: 11858785
Assignee: TADANO LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A crane in which an actuator is controlled based on a target speed signal relating to a moving direction and a speed of a load suspended by a wire rope supported by a boom, the crane comprising:
a manipulation tool with which the speed and the moving direction of the load for the target speed signal are input; and
control circuitry that is configured to generate an operation signal for the actuator based on the target speed signal;
wherein the control circuitry is configured to
compute a target course signal by integrating the target speed signal input from the manipulation tool and attenuating a frequency component in a predetermined frequency range via a filter expressed by Expression 1,
compute a target position of the load relative to the reference position based on the target course signal,
compute a current position of a boom tip relative to the reference position based on a swivel angle of the boom, a luffing angle of the boom, and an extension/retraction length of the boom,
compute a let-out amount of the wire rope based on the current position of the load and the current position of the boom tip,
compute a direction vector of the wire rope based on the current position of the load and the target position of the load,
compute a target position of the boom tip for the target position of the load based on the let-out amount of the wire rope and the direction vector of the wire rope, and
generate an operation signal for the actuator based on the target position of the boom tip,
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where each of a and b is a coefficient, c is an index and s is a differentiation element.