To provide a load swing angle estimation device for cranes that can accurately estimate the swing angle of a suspended load.SOLUTION: A load swing angle estimation device 5 includes a sound wave transmitter 105 mounted around a suspended load 1, a plurality of sound wave receivers M1 and M2, a time difference calculation unit 503, and a load swing angle calculation unit 504. A relationship of f=m×fs/(2 N) is satisfied where the frequency of the sound wave transmitter 105 is f, the sampling frequency of plural pieces of sampling data extracted from the acoustic signals of the plurality of sound wave receivers is fs, the number of sampling periods is m, and the number of sampling data is N, respectively. The time difference calculation unit 503 calculates the phase difference of the acoustic signal between the plurality of sound wave receivers based on the inner product and the norm of the acoustic signal, and calculates the arrival time difference of the sound wave based on the phase difference and the transmission frequency f. The load swing angle calculation unit 504 calculates the load swing angle based on the time difference.SELECTED DRAWING: Figure 3
【課題】吊り荷の荷振れ角度を精度良く推定することが可能なクレーン用荷振れ角度推定装置を提供する。【解決手段】荷振れ角度推定装置5は、吊り荷1の周囲に装着された音波発信器105と、複数の音波受信器M1、M2と、時間差算出部503と、荷振れ角度算出部504とを備える。音波発信器105の発信周波数、複数の音波受信器の音響信号から抽出する複数のサンプリングデータのサンプリング周波数、サンプリング周期数およびサンプリングデータ数をそれぞれf、fs、mおよびNとすると、f=m×fs/(2N)の関係が満たされている。時間差算出部503は、前記音響信号の内積およびノルムに基づいて複数の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および前記発信周波数fに基づいて音波の到達時間差を算出する。荷振れ角度算出部504は当該時間差に基づいて荷振れ角度を算出する。【選択図】図3
LOAD SWING ANGLE ESTIMATION DEVICE FOR CRANE, AND CRANE EQUIPPED WITH THE SAME
クレーン用荷振れ角度推定装置およびこれを備えたクレーン
2022-05-11
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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