Patent Description:
There is a demand for a reduction in load swing during transport in a hoisting machine, in order to perform safe and efficient suspended-load transport. As a technology for reducing the load swing, a load-swing inhibition control technology is known, in which a suspended load suspended by a rope is deemed as a pendulum, and a transport speed is controlled based on a model of swing of the pendulum, that is, the load swing.

The load-swing inhibition control is largely divided into feedforward control and feedback control. The feedforward control is a method in which a transport speed command is determined based on the model of the load swing, and thereby the load swing is inhibited.

The feedback control is a method in which the load swing is detected or estimated in real time and feedback is performed such that the transport speed command is determined, and thereby the load swing is inhibited. In addition, in two-degree-of-freedom load-swing inhibition control, both the feedforward control and the feedback control are performed.

In general, in the feedback control, it is possible to handle an error in a load-swing model; however, a response is slower than that in the feedforward control. In general, in the feedforward control, a response is faster than that in the feedback control; however, it is not possible to handle the error in the load-swing model. That is, if it is possible to obtain a highly accurate load-swing model, it is possible to obtain a fast response and inhibit the load swing with high accuracy. Hence, an effect of inhibiting the load swing also improves in the two-degree-of-freedom control.

Here, in the load-swing model, in order to estimate a swing cycle of the pendulum, it is necessary to obtain a pendulum length that is a length from a supporting point of swing to a center of gravity of the pendulum. In general, a rope length from a hoisting drum to a hook is used as the pendulum length. However, since a suspended load is suspended under the hook, the pendulum length is different from the rope length. There are Patent Document <NUM> and Patent Document <NUM> as a technology for obtaining a pendulum length with high accuracy.

Patent Document <NUM> describes a technology in which a load sensor disposed on a floor, on which a suspended load is placed, detects separation of the suspended load from the floor, and a distance from a bottom of a hook to a lower end of the suspended load is obtained from a height of a floor surface of a trolley and a rope length at the time of separation from the floor.

Patent Document <NUM> describes a technology in which a pendulum length is used as a rope length when there is no suspended load, and a pendulum length is obtained from the rope length and a correction value obtained in advance when there is a suspended load. Patent Document <NUM> discloses a hoisting machine comprising a trolley that is transported by self-propulsion means, a hoisting motor mounted on the trolley,a hoisting drum attached to the hoisting motor, a rope attached to the hoisting drum, a hook attached to the rope and a controller that is configured to specify a transport speed of the trolley based on a center-of-gravity distance between a predetermined position and a center-of-gravity position of a suspended load suspended from the hook.

Patent Document <NUM> relates to a method for controlling a crane when moving a load, wherein image-numerical data on two differing load positions, created by a camera, is used, and the movements of the crane are controlled by comparing the said two data. Patent Document <NUM> discloses a gravity center position detection device, which is provided with: a distance calculation unit for calculating the distance between the rope support position and the center of gravity of the suspended load; and a gravity center height calculation unit for calculating the height, within the suspended load, of the center of gravity of the suspended load by subtracting the distance between the rope support position and the upper surface of the suspended load from the distance between the rope support position and the center of gravity of the suspended load.

According to the technology described in Patent Document <NUM>, it is possible to define a distance from a hoisting drum to the lower end of the suspended load as the pendulum length. Consequently, compared with a case where the rope length is used as the pendulum length, it is possible to inhibit the load swing with higher accuracy. However, the center of gravity of the suspended load is different from a position of the lower end of the suspended load, and thus there is a possibility that the load-swing model has an error and the load swing remains.

According to the technology described in Patent Document <NUM>, the pendulum length is corrected by using a preobtained center-of-gravity position of the suspended load. Consequently, compared with a case where the rope length is used as the pendulum length, it is possible to inhibit the load swing with higher accuracy. However, the correction value changes due to only presence or absence of the suspended load, and thus it is not possible to apply the technology to a hoisting machine for various suspended loads.

An object of the invention is to reduce a load swing in a hoisting machine.

The aforementioned object is solved by the invention according to the independent claim <NUM>. Further preferred developments are described by the dependent claims. In particular a hoisting machine according to an aspect of the invention includes: a trolley that is transported by self-propulsion means; a hoisting motor mounted on the trolley; a hoisting drum attached to the hoisting motor; a rope attached to the hoisting drum; a hook attached to the rope; and a controller that identifies a transport speed of the trolley. The controller identifies the transport speed of the trolley based on a center-of-gravity distance between a predetermined position and a center-of-gravity position of a load suspended from the hook.

According to an aspect of the invention, it is possible to reduce a load swing in a hoisting machine.

The invention relates to a hoisting machine that mainly transports a load suspended by a rope, especially, to a hoisting machine in which a transport speed is determined based on a model of a load swing, and thereby the load swing during transport is inhibited. Additionally, the invention is also applicable to a crane that transports a suspended load in the same manner.

<FIG> is a diagram schematically illustrating an example of a configuration of a hoisting machine in the embodiment.

In <FIG>, a suspended load <NUM> which is a transport target is suspended from a hook <NUM> by a sling rope <NUM>. The hook <NUM> is suspended from a hoisting drum <NUM> by a rope <NUM>. Here, the suspended load <NUM> may be configured to be directly suspended from the hook <NUM> without the sling rope <NUM>.

The hoisting drum <NUM> is connected to a hoisting motor <NUM> and a hoisting encoder <NUM> by a hoisting shaft <NUM> and is disposed on a trolley <NUM>. Consequently, rotation of the hoisting motor <NUM> causes the rope <NUM> to be hoisted or lowered, and thus the suspended load <NUM> can be transported in a z direction in the drawings. The transport in the z direction is referred to as hoisting.

A traversing wheel <NUM> is connected to a traversing motor <NUM> via a traversing shaft <NUM> and is disposed on the trolley <NUM>. In addition, the traversing wheel <NUM> is disposed to rotate on a beam <NUM> and generate a drive force when the traversing motor <NUM> rotates. Consequently, rotation of the traversing motor <NUM> enables the trolley <NUM> and the suspended load <NUM> to be transported along the beam in an x direction in the drawings. The transport in the x direction is referred to as traversing.

A transport operating unit <NUM> is provided in an operation terminal <NUM>, and an operator inputs a transport operating signal which is a command of traversing, hoisting, or both the traversing and the hoisting in the transport operating unit. The input transport operating signal is transmitted through communication to the controller <NUM> via a communication unit <NUM>.

A center-of-gravity distance inputting unit <NUM> is provided in the operation terminal <NUM>, and the operator inputs a deemed center-of-gravity distance h to be described below is input in the center-of-gravity distance inputting unit. The input deemed center-of-gravity distance h is transmitted through communication to the controller <NUM> via the communication unit <NUM>. The deemed center-of-gravity distance h is a predetermined center-of-gravity distance input by the operator.

Here, the center-of-gravity distance inputting unit <NUM> and the transport operating unit <NUM> do not need to be provided in the same operation terminal <NUM> and may be provided in respective separate operation terminals <NUM>.

The controller <NUM> generates the transport speed command based on the transport operating signal and the deemed center-of-gravity distance h and drives the traversing motor <NUM>, the hoisting motor <NUM>, or both the motors. Consequently, the suspended load <NUM> is caused to perform traversing and is hoisted in response to a transport operation by the operator. Similarly, the suspended load <NUM> can be caused to perform the traversing after being hoisted, can be hoisted during the traversing, and can be caused to perform the traversing during being hoisted.

Incidentally, the suspended load <NUM> and the sling rope <NUM> are transport targets and are not a configurational element of a hoisting machine <NUM>. In addition, a jig used to suspend the suspended load <NUM> is not limited to the sling rope <NUM> and may not be provided.

<FIG> is a schematic diagram illustrating another example of the hoisting machine <NUM>.

In <FIG>, the beam <NUM> is connected to a traveling beam <NUM> via a traveling device <NUM>. A traveling motor <NUM> rotates, and thereby the traveling device <NUM> causes the beam <NUM> to move along the traveling beam <NUM> in the y direction in the drawings. Consequently, the trolley <NUM> connected to the beam <NUM> and the suspended load <NUM> suspended from the hook <NUM> (refer to <FIG>) are transported in the y direction in the drawings. The transport in the y direction is referred to as traveling.

The transport operating signal that is input to the transport operating unit 141provided in the operation terminal <NUM> (refer to <FIG>) includes a command signal for traveling in addition to traversing/hoisting. At least the traveling command signal of the input transport operating signals is transmitted to a traveling controller <NUM> via the communication unit <NUM> (refer to <FIG>).

In addition, the deemed center-of-gravity distance h input in the center-of-gravity distance inputting unit <NUM> (refer to <FIG>) is transmitted to the traveling controller <NUM> in addition to the controller <NUM> via the communication unit <NUM>. The traveling controller <NUM> generates the transport speed command for at least the traveling based on the transport operating signal and the deemed center-of-gravity distance h and drives the traveling motor <NUM>. Consequently, the suspended load <NUM> (refer to <FIG>) is caused to perform traveling in addition to traversing/being hoisted in response to the transport operation by the operator.

Incidentally, the description that the controller <NUM> generates the transport speed command for traversing or hoisting, and the traveling controller <NUM> generates the transport speed command for traveling is provided; however, the invention is not limited to such a configuration.

For example, the controller <NUM> generates the transport speed commands for traversing, traveling, and hoisting, and at least the command for traveling of the generated transport speed commands may be transmitted from the controller <NUM> to the traveling controller <NUM> such that the traveling controller <NUM> may drive the traveling motor <NUM> based on the received transport speed command. In this case, the transport operating signal and the deemed center-of-gravity distance h may be transmitted to at least the controller <NUM> and may not need to be transmitted to the traveling controller <NUM>.

<FIG> is a diagram schematically illustrating an example of a parameter of a pendulum in the embodiment.

In <FIG>, the suspended load <NUM>, the sling rope <NUM>, the hook <NUM>, and the rope <NUM> configure the pendulum in the hoisting machine <NUM>.

The load swing of the suspended load <NUM> occurs with the hoisting drum <NUM> as a supporting point due to acceleration applied to the trolley <NUM> during the traversing or the traveling. In this case, a load-swing frequency Fr which is a resonance frequency of the pendulum satisfies Expression <NUM>. In Expression <NUM>, g represents gravitational acceleration, and a pendulum length L is a distance from the supporting point to a center of gravity <NUM> of the suspended load illustrated in <FIG>. [Expression <NUM>] <MAT>.

When the transport speed command does not include a component of the load-swing frequency Fr, the load swing is not excited. Hence, regarding the transport speed command, the transport speed command that is configured of only a frequency lower than the load-swing frequency Fr is shaped by a bandwidth cutoff filter that cuts off a frequency bandwidth including the load-swing frequency Fr, for example. Consequently, the component of the load-swing frequency Fr is inhibited from the transport speed command, and thereby it is possible to inhibit the load swing.

Hence, in order for the controller <NUM> to generate the transport speed command by which it is possible to inhibit the load swing, it is necessary to identify the load-swing frequency Fr with high accuracy. When the gravitational acceleration g is constant in a use environment of the hoisting machine <NUM>, it is necessary to identify the pendulum length L with high accuracy, in order to identify the load-swing frequency with high accuracy.

Here, as illustrated in <FIG>, the pendulum length L is a value obtained by adding a rope length L0 and a center-of-gravity distance H. The rope length L0 is a distance from a supporting point, which is a position separated from a pulley when the rope <NUM> has the drum <NUM> or the pulley, to a bottom of the hook <NUM>. In other words, the rope length is a distance from a position of a top of the rope <NUM> to the bottom of the hook <NUM>. The rope length L0 is referred to as a first distance.

The rope length L0 can be identified by a length of the rope <NUM> pulled out of the hoisting drum <NUM>, which is observed by the hoisting encoder <NUM>, and a length of the hook <NUM>.

The center-of-gravity distance H is a distance from the bottom of the hook <NUM> to the center of gravity <NUM> of the suspended load, and it is difficult to identify the center-of-gravity distance in the case of using various types of suspended loads <NUM> or sling ropes <NUM>. Hence, an example of an identification method will be described in another embodiment.

Here, an example of the bottom of the hook <NUM> is described. The bottom is a contact surface of the hook <NUM> with the sling rope <NUM> that is suspended from the hook <NUM>. That is, the contact surface does not mean an underside of the hook <NUM> but a supporting point of the sling rope <NUM> means the bottom of the hook <NUM>. This is because the center-of-gravity distance H is a distance from the supporting point of the sling rope <NUM> to the center of gravity of the suspended load. In addition, the center-of-gravity distance H is referred to as a second distance. Incidentally, the bottom of the hook <NUM> may not be the contact surface of the hook <NUM> with the sling rope <NUM>, depending on a diameter of the sling rope <NUM>. This is because the center-of-gravity distance is the distance from the supporting point of the sling rope <NUM> to the center of gravity of the suspended load, and the contact surface is not the supporting point.

The rope length L0 is a unique value when it is possible to accurately measure the rope length; however, an error in value measured by the encoder <NUM> or a value measured by the operator may be input as the rope length L0 such that the following calculation is performed. In other words, the rope length L0 may be a value obtained by offsetting a measured value. The invention is not limited thereto, and a deemed pendulum length <NUM> may be identified as a value obtained by adding the rope length L0 and the deemed center-of-gravity distance h without an overlapping part.

Here, when it is possible to accurately measure the center-of-gravity distance H, the center-of-gravity distance becomes a unique value. Therefore, a value measured or estimated by the operator is input as the deemed center-of-gravity distance h. As the deemed center-of-gravity distance h approximates the center-of-gravity distance H, it is possible to improve accuracy of the load swing.

The value obtained by adding the rope length L0 and the center-of-gravity distance h is the deemed pendulum length l. The deemed pendulum length <NUM> may be obtained by offsetting the measured value of the rope length L0 and the center-of-gravity distance h.

Here, with reference to <FIG>, a difference in center-of-gravity distance H depending on the suspended load <NUM> or the sling rope <NUM> is described.

<FIG> is an example of a schematic diagram illustrating a relationship between the suspended load <NUM>, the sling rope <NUM>, and the center-of-gravity distances H. When <FIG> is compared with <FIG>, the center-of-gravity distance H changes depending on the sling rope <NUM> that is used, although the same suspended load <NUM> is used.

In addition, when <FIG> is compared with <FIG>, the center-of-gravity distance H changes depending on a shape of the suspended load <NUM>. In this manner, the center-of-gravity distance H changes depending on the shape of the suspended load <NUM> or the sling rope <NUM> that is used. Therefore, it is not possible to identify the pendulum length L only by the rope length L0 that can be identified by the hoisting machine <NUM>.

Here, in <FIG>, a method by which the operator of the hoisting machine <NUM> estimates a position of the center of gravity <NUM> of the suspended load is described. That is, the operator can identify or measure the deemed center-of-gravity distance h which is a distance between the bottom of the hook <NUM> and a deemed center of gravity <NUM> of the suspended load that is a center-of-gravity position of the suspended load <NUM> estimated by the operator, the center-of-gravity distance being illustrated in <FIG>. Hence, the center-of-gravity distance inputting unit <NUM> in which it is possible to input the deemed center-of-gravity distance h is provided.

The deemed pendulum length <NUM> which is an estimate of the pendulum length L is identified from Expression <NUM>, by using the deemed center-of-gravity distance h input in the center-of-gravity distance inputting unit <NUM> and the rope length L0. That is, even when the suspended load <NUM> is hoisted in response to a transport operating command, it is possible to identify the deemed pendulum length l. [Expression <NUM>] <MAT>.

A deemed load-swing frequency fr which is the estimate of the load-swing frequency Fr can be estimated from Expression <NUM> by using the identified deemed pendulum length l. [Expression <NUM>] <MAT>.

When the deemed load-swing frequency fr is used to estimate the load-swing frequency Fr with high accuracy, a component of the deemed load-swing frequency fr is inhibited and removed from the transport speed command, as described above, for example, and thereby it is possible to inhibit the load swing.

Here, the deemed pendulum length <NUM> is estimated based on the deemed center of gravity <NUM> of the suspended load which is the estimated center-of-gravity position of the suspended load <NUM>, and thus there is a difference between the deemed pendulum length <NUM> and the pendulum length L. However, the following description is clarified. The deemed center of gravity <NUM> of the suspended load is more likely to be present within an occupying range of the suspended load <NUM>, compared with the case of using the rope length L0 as the deemed pendulum length <NUM> or the case of using a distance from the supporting point to a lower end of the suspended load <NUM> as the deemed pendulum length l. Hence, the deemed pendulum length <NUM> can be used to estimate the pendulum length L with high accuracy, and an effect of load-swing inhibition improves.

Here, the hoisting machine <NUM> may have a function of determining validity of the input deemed center-of-gravity distance h and notifying the operator of the validity. For example, when a negative distance is input as the deemed center-of-gravity distance h, when the obtained deemed pendulum length <NUM> is a distance larger than a supporting point height (Reference sign K in <FIG>) that is a height of the hoisting drum <NUM> from a floor surface (Reference sign <NUM> in <FIG>), the height being input in advance, or the like, the hoisting machine can determine that the deemed center of gravity <NUM> is not present within the occupying range of the suspended load <NUM>, and the operator can be notified of no presence thereof.

<FIG> is a diagram illustrating an example of a parameter that can be input in another center-of-gravity distance inputting unit <NUM>.

Inputting in the center-of-gravity distance inputting unit <NUM> is not limited to the inputting of the deemed center-of-gravity distance h, and the deemed pendulum length <NUM> may be input as a deemed center-of-gravity distance, for example. In this case, the deemed center-of-gravity distance h is obtained from the input deemed pendulum length <NUM> and the input rope length L0.

In addition, a deemed center-of-gravity height i which is a height of the deemed center of gravity <NUM> from the floor surface <NUM> may be input as the deemed center-of-gravity distance in the center-of-gravity distance inputting unit <NUM>, for example. In this case, the deemed center-of-gravity distance h is obtained from Expression <NUM> by using the input height i of the center of gravity <NUM> and the supporting point height K. [Expression <NUM>] <MAT>.

In addition, in the center-of-gravity distance inputting unit <NUM>, the deemed center-of-gravity distance h and a distance that can be used to compute the deemed center-of-gravity distance h may be input. For example, the distance such as the deemed pendulum length or the deemed center-of-gravity height i may be input as a ratio with respect to a predetermined distance. The predetermined distance may be an accurately identifiable distance such as the rope length L0, the supporting point height K, or a height (K - L0) of the bottom of the hook <NUM> from the floor surface <NUM>. The deemed center-of-gravity distance h can be computed by using the input ratio and the predetermined distance.

In addition, in the embodiment, the rope length L0 is divided from the deemed center-of-gravity distance h based on the bottom of the hook <NUM>, for example; however, the embodiment is not limited thereto. For example, when a reference position is set to a position separated from the bottom of the hook by a predetermined distance, the deemed pendulum length <NUM> and the deemed center-of-gravity distance h can be computed from the rope length L0 and a distance between the reference position and the deemed center of gravity <NUM> of the suspended load. For example, when the reference position is set to a top of the hook <NUM>, the deemed pendulum length <NUM> can be computed from the length of the hook <NUM>, the rope length L0, and the deemed center-of-gravity distance h.

<FIG> is a diagram schematically illustrating an example of a marker for assisting the operator in inputting.

The hoisting machine <NUM> may have markers <NUM> for assisting in the inputting in the center-of-gravity distance inputting unit <NUM>. For example, the center-of-gravity distance inputting unit <NUM> is configured to input the deemed center-of-gravity distance h based on a distance between the markers <NUM> or the number of the markers <NUM>. Consequently, it is possible to reduce variations in accuracy of the deemed center-of-gravity distance h due to an individual difference of the operator.

In addition, when the number or positions of the markers are used as the deemed center-of-gravity distance h, the operator can more easily input a value, compared with the case of measuring the center-of-gravity distance H, and thus operation efficiency of a hoist improves. On the other hand, compared with the case of using the number or positions of the markers as the deemed center-of-gravity distance h, it is more easy to reduce the load swing in the case of inputting the measured center-of-gravity distance H as the deemed center-of-gravity distance h.

For example, the markers <NUM> can be realized by coloring or the like of the rope <NUM> or the hook <NUM> at constant intervals. That is, the markers have a color different from that of the rope <NUM>. In addition, the entire rope <NUM> can have the ground color, and the markers <NUM> can be colored with a color different from the ground color of the rope <NUM>. The entire rope <NUM> may be colored, and a part of the rope may have the ground color as the markers <NUM>. In addition, a method for providing the markers is not limited to coloring and may have a different shape.

A display section may be provided in the inputting unit <NUM>, and the input center-of-gravity distance may be displayed. In addition, input means of the inputting unit <NUM> may be a touch panel, a push button, or a potentiometer (volume).

The push button includes an add button and a subtract button and is set to input a number that can be seen to the operator, and thereby it is easy for the operator to perform identification and an input operation of the center-of-gravity distance h by using the markers.

In addition, the potentiometer (volume) may be a device for changing a value in a stepwise manner. In this case, it is easy to perform inputting when the number of markers and the steps of the potentiometer have a corresponding relationship. The number of markers is displayed around the volume, and thereby it is easy to input the number of markers.

Here, the hoisting machine is not limited to the embodiment described above. For example, the communication unit <NUM> may not use wireless communication but may use wired communication. In addition, the center-of-gravity distance inputting unit <NUM> and the transport operating unit <NUM> may be provided in different operation terminals <NUM>, for example. In addition, the inputting in the center-of-gravity distance inputting unit <NUM> may be performed by an inputter other than the operator, for example.

Here, the deemed center-of-gravity distance h is a value that is measured or identified by the operator and is input by input means or an estimate of the center-of-gravity distance that is identified by calculating or correcting the input value. Hence, the deemed center-of-gravity distance does not mean a unique and exact value of the center-of-gravity distance H but means the estimate of the center-of-gravity distance H. The same is true of another deemed pendulum length <NUM>, another deemed center-of-gravity height i, another deemed center of gravity of the suspended load, or the like. Further, a predetermined value of the deemed center-of-gravity distance h that can be used when the operator does not input the deemed center-of-gravity distance h or the like may be set. Consequently, the predetermined value of the center-of-gravity distance h is set or the like based on a condition of the suspended load that is more widely used. In this manner, it is possible to improve estimation accuracy of the pendulum length L, and it is possible to reduce the load swing, even when the operator does not input the deemed center-of-gravity distance h.

<FIG> is a diagram illustrating an example of another configuration of the center-of-gravity distance inputting unit <NUM>.

In <FIG>, the center-of-gravity distance inputting unit <NUM> is configured to have a camera <NUM>, a displaying/inputting section <NUM>, and a calculator <NUM>. The displaying/inputting section <NUM> displays an image acquired from the camera <NUM> by the operator. The calculator <NUM> calculates the deemed center-of-gravity distance h based on the image. The calculated deemed center-of-gravity distance h is transmitted to the controller <NUM> via the communication unit <NUM> so as to be used for determination of the transport speed command.

In <FIG>, a rope (captured image) 13a, a hook (captured image) 131a, a marker (hook, captured image) 132a, a marker (captured image) 132b, a sling rope (captured image) 20a, and a suspended load (captured image) 30a are the image displayed on the displaying/inputting section <NUM>.

For example, the calculator <NUM> identifies the suspended load (captured image) 30a through image processing, and thereby it is possible to estimate a deemed center of gravity (calculation result) 302a of the suspended load in the image. In the case of using only the image captured from one direction, it is possible to estimate the deemed center of gravity (calculation result) 302a of the suspended load when the suspended load <NUM> has a uniform density or depth, for example. When images captured from multiple directions are used, accuracy of the deemed center of gravity (calculation result) 302a of the suspended load to be estimated improves.

In addition, the center-of-gravity distance inputting unit <NUM> may have a function of assisting calculation processing performed by the calculator <NUM>. For example, candidates of an archetypal shape of the suspended load <NUM> are provided, and the operator selects the most approximate candidate. In this manner, it is possible to assist in the image processing and estimating the deemed center of gravity (calculation result) 302a of the suspended load.

Here, the deemed center of gravity (calculation result) 302a of the suspended load may be displayed on the displaying/inputting section <NUM>. Consequently, the operator can confirm a position of the deemed center of gravity (calculation result) 302a of the suspended load in the image. Further, a configuration may be employed, in which the operator can adjust the position of the deemed center of gravity (calculation result) 302a of the suspended load displayed on the displaying/inputting section <NUM>. This can be realized when the displaying/inputting section <NUM> is configured of a touch panel or the like.

In addition, regarding the deemed center of gravity (calculation result) 302a of the suspended load, the operator may input, in the displaying/inputting section <NUM>, the deemed center of gravity 302a of the suspended load estimated in the image by the operator without using the image processing. This can be realized when the displaying/inputting section <NUM> is configured of a touch panel or the like. For example, the deemed center-of-gravity distance h in real space is obtained by the following calculation performed by the calculator <NUM>, by using the identified deemed center of gravity (calculation result) 302a of the suspended load.

A distance between the identified deemed center of gravity (calculation result) 302a of the suspended load and the marker (hook captured image) 132a can be obtained as a distance by a unit of pixels in the image. Similarly, an interval of the markers (captured image) 132b can be obtained as a distance by a unit of pixels in the image. Here, an interval of the markers <NUM> in real space and a distance between a position disposed in the hook among the markers <NUM> (corresponding to the marker (hook captured image) 132a in the image) and the bottom of the hook <NUM> are input in advance.

A distance between the deemed center of gravity (calculation result) 302a of the suspended load and the marker (hook captured image) 132a can be converted into a distance between the deemed center of gravity <NUM> of the suspended load and the marker <NUM> (disposed in the hook) in real space, by using the interval of the markers (captured images) 132b by a unit of pixels and the interval of the markers <NUM> in real space. Further, the deemed center-of-gravity distance h in real space can be calculated by using a distance between the marker <NUM> (disposed in the hook) and the bottom of the hook <NUM>, which is input in advance.

As described above, the deemed center-of-gravity distance h in real space is obtained by the calculator <NUM> by using the deemed center of gravity (calculation result) 302a of the suspended load identified in the image.

In <FIG>, the operator inputs, in a suspended-load ID inputting section <NUM>, an ID of the suspended load <NUM> that is to be transported or has been transported. Regarding the suspended load <NUM>, the deemed center-of-gravity distance h identified by the method described above in Embodiment <NUM> or <NUM> is input in a center-of-gravity distance displaying/inputting section <NUM>. The operator presses a register button <NUM> or the like, and thereby a registration command of the suspended load <NUM> is issued. Consequently, the center-of-gravity distance inputting unit <NUM> stores the suspended-load ID and the deemed center-of-gravity distance h in a memory <NUM>. Then, the deemed center-of-gravity distance h read from the memory <NUM> is transmitted to the controller <NUM> via the communication unit <NUM>.

The operator inputs the ID of the suspended load <NUM> to be transported in the suspended-load ID inputting section <NUM> and presses a read button <NUM> or the like, and thereby a reading command of the suspended load <NUM> is issued. Consequently, the center-of-gravity distance inputting unit <NUM> reads the deemed center-of-gravity distance h associated with the input suspended-load ID from the memory <NUM>, and the deemed center-of-gravity distance is transmitted to the controller <NUM> via the communication unit <NUM>. In this case, the deemed center-of-gravity distance h read from the memory <NUM> may be displayed on the center-of-gravity distance displaying/inputting section <NUM>.

Here, transmission of the registered or read deemed center-of-gravity distance h to the controller <NUM> via the communication unit <NUM> may be performed by an instruction from the operator through issuing a transmission command or the like.

In addition, a configuration of the suspended-load ID inputting section <NUM> may be employed as long as the suspended load <NUM> can be identified, and the configuration thereof is not limited to inputting of an ID number. For example, a name of the suspended load <NUM> may be input. In addition, when a barcode or the like for managing the suspended load <NUM> is attached, the suspended-load ID inputting section <NUM> may have a configuration of a barcode reader, for example. In addition, when the center-of-gravity distance inputting unit <NUM> also has the configuration in <FIG>, the suspended-load ID may include an image, and the center-of-gravity distance inputting unit may have a configuration in which the image of the same suspended load <NUM> is searched from the suspended-load IDs recorded in the memory <NUM> by using the image of the suspended load <NUM> such that the image is displayed to the operator and is selected.

Further, other information may also be recorded, in addition to the suspended-load ID and the deemed center-of-gravity distance h, in the memory <NUM>. For example, a type of the sling rope <NUM> used can be recorded as the other information, and thereby it is possible to record the deemed center-of-gravity distance h for each combination of the suspended load <NUM> and the sling rope <NUM>. Consequently, when various types of sling ropes <NUM> are used with respect to the same suspended load <NUM>, it is possible to identify the deemed pendulum length <NUM> with higher accuracy.

Claim 1:
A hoisting machine (<NUM>) comprising:
a trolley (<NUM>) that is transported by self-propulsion means;
a hoisting motor (<NUM>) mounted on the trolley (<NUM>);
a hoisting drum (<NUM>) attached to the hoisting motor (<NUM>);
a rope (<NUM>) attached to the hoisting drum (<NUM>);
a hook (<NUM>) attached to the rope (<NUM>);
a center-of-gravity distance inputting unit (<NUM>), in which a center-of-gravity distance is input; and
a controller (<NUM>) configured to specify a transport speed of the trolley (<NUM>),
wherein the controller (<NUM>) is configured to specify the transport speed of the trolley (<NUM>) based on the center-of-gravity distance between a center-of-gravity position of a suspended load (<NUM>) suspended from the hook (<NUM>) and a predetermined position located distant from the center-of-gravity position in longitudinal direction of the rope (<NUM>) in an area from the hoisting drum to a floor surface, wherein the center-of-gravity position and the center-of-gravity distance are estimated by an operator,
wherein the center-of-gravity distance inputting unit (<NUM>) includes
a suspended-load ID inputting section (<NUM>) in which an ID of the suspended load (<NUM>) is input,
an inputting section in which the estimated center-of-gravity distance is input, and
a storage section that stores the ID of the suspended load (<NUM>) and the center-of-gravity distance in an associating manner, and
wherein the center-of-gravity distance associated with the ID of the suspended load (<NUM>) input from the suspended-load ID inputting section (<NUM>) is read from the storage section, and the read center-of-gravity distance is transmitted to the controller (<NUM>) via the communication unit (<NUM>).