To provide a crane which can control behavior of a load hung on a hook with high accuracy.SOLUTION: A crane comprises: various actuators (turning motor 12, telescopic cylinder 13, undulating cylinder 14, winding motor 15) for transporting a load L; and a controller 20 configured by a prediction model 54 for predicting behavior of the load L and an optimizer 55 which determines control input of the actuator (12, 13, 14, 15) by solving an optimization problem. The prediction model 54 in the controller 20 is artificial intelligence with use of a multilayered neural network 60. When inputting control data of the actuators (12, 13, 14, 15) to an input layer 61 of the neural network 60, behavior data of the load L is outputted from an output layer 62 of the neural network 60.SELECTED DRAWING: Figure 4

    【課題】フックに吊り下げられた荷物の挙動を高精度に制御できるクレーンを提供する。【解決手段】荷物Lの運搬に供する各種のアクチュエータ(旋回用モータ12・伸縮用シリンダ13・起伏用シリンダ14・巻回用モータ15)と、荷物Lの挙動を予測する予測モデル54並びに最適化問題を解くことによってアクチュエータ(12・13・14・15)の制御入力を定める最適化器55で構成されたコントローラ20と、を具備し、コントローラ20における予測モデル54は、多階層のニューラルネットワーク60を用いた人工知能であり、ニューラルネットワーク60の入力層61にアクチュエータ(12・13・14・15)の制御データを入力すると、ニューラルネットワーク60の出力層62から荷物Lの挙動データを出力する。【選択図】図4


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    Title :

    CRANE


    Additional title:

    クレーン


    Contributors:

    Publication date :

    2020-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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