To find a load swing angle of a crane accurately at low cost.SOLUTION: A load swing angle estimating device 50 for cranes comprises: a sound wave transmitter 105 mounted to a suspended load support unit or a suspended load; a plurality of sound wave receivers; a time difference calculation unit 51 for calculating a time difference that is a difference in timing at which each sound wave receiver receives the sound wave transmitted by the sound wave transmitter 105; and a load swing angle calculation unit 52 for calculating a swing angle of load on the basis of the time difference and position information of each sound wave receiver. The time difference calculation unit 51 performs frequency conversion on an acoustic signal received by each sound wave receiver, calculates a phase difference of the acoustic signal among the sound wave receivers, and calculates a time difference using the phase difference and the transmission frequency of the sound wave transmitter. Assuming that f represents the transmission frequency, and fs and N represent the sampling frequency and the number of sampling data of each sound wave receiver, f is set to equal to at least one of n×fs/N (where, n=0, 1, 2, etc., N-1).SELECTED DRAWING: Figure 3

    【課題】クレーンの荷振れ角度を正確且つ低コストに求める。【解決手段】クレーン用荷振れ角度推定装置50は、吊り荷支持部又は吊り荷に装着された音波発信器105と、複数の音波受信器と、音波発信器105が発信した音波を各音波受信器が受信するタイミングの差である時間差を算出する時間差算出部51と、当該時間差及び各音波受信器の位置情報に基づき荷振れ角度を算出する荷振れ角算出部52とを備える。時間差算出部51は、各音波受信器により受信された音響信号に対して周波数変換を行って、各音波受信器の間における音響信号の位相差を算出し、当該位相差と音波発信器の発信周波数とを用いて時間差を算出する。発信周波数をf、各音波受信器のサンプリング周波数及びサンプリングデータ数をfs及びNとすると、fは、n×fs/N(但しn=0,1,2,・・・,N−1)の少なくとも1つと等しく設定される。【選択図】図3


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    Title :

    LOAD SWING ANGLE ESTIMATING DEVICE FOR CRANES


    Additional title:

    クレーン用荷振れ角度推定装置


    Contributors:

    Publication date :

    2021-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B66C Krane , CRANES



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